Public Member Functions
void	AutoTuneReset ()

void	AutoTuneScalar ()
	Autotune the PID channel as a factor of maximum angular acceleration (torque-to-MOI ratio). Autoscalar Formula: scalarFactor * angularAccelerationMax + scalarIntx Higher Ratio gives lower scalar (reducing the PID response) More...

bool	CanEngageSAS ()

void	ConnectFlyByWire (bool reset)

void	Destroy ()

void	DisconnectFlyByWire ()

void	LockRotation (Quaternion newRotation)

void	ModuleSetup ()

void	ResetAllPIDS ()

void	ResetTuningScalars ()

void	SetDampingMode (bool isEnabled)

void	SetLockPitchPID (float Kp, float Ki, float Kd, float clamp)

void	SetLockRollPID (float Kp, float Ki, float Kd, float clamp)

void	SetLockYawPID (float Kp, float Ki, float Kd, float clamp)

void	SetTargetOrientation (Vector3 tgtOrientation, bool reset)
	Connects the fly-by-wire and sets the target orientation for non-stability hold modes. More...

void	SetTuningScalar (float scalar)

void	Start ()

void	TuneScalars (float scalar)

void	Update ()

	VesselSAS (Vessel v)

Public Attributes
Vector3	autoScalarMax = new Vector3(10f, 10f, 10f)
	Clamp maximum autoScalar. More...

Vector3	autoScalarMin = new Vector3(0.50f, 0.50f, 0.50f)
	Clamp minimum autoScalar. More...

bool	autoTune = true
	Flags use of the PID auto tuner. More...

float	coastScalar = 2f
	When switching targets, this scales when to coast (reduce SAS inputs) More...

float	controlDetectionThreshold = 0.05f
	Input deadband. More...

int	dampingCooldown = 20

bool	dampingMode = false
	True if the SAS is in damping mode (not stuck on a heading yet). Used to flag the UI button. More...

Vector3	decayDeltaThreshold = 0.1f * Vector3.one
	Decay when delta error below threshold. More...

Vector3	decayMin = 0.10f * Vector3.one
	Min clamp for the decay scalar. More...

Vector3	decayRate = 0.005f * Vector3.one
	Rate to decay the scalar. More...

Vector3	decayResponseThreshold = 0.02f * Vector3.one
	Decay when sas response below threshold. More...

bool	lockedMode = true
	Set to true for stability assist, false for all other SAS modes. More...

Quaternion	lockedRotation
	The rotation the SAS is trying to maintain. More...

Vector3	negTorque

float	overrideMinimumMagnitude = 0.1f
	Above this angular velocity, the SAS enters damping mode. More...

PIDclamp	pidLockedPitch
	Pitch PID controller (Pitch is X axis) More...

PIDclamp	pidLockedRoll
	Roll PID controller (Roll is Y axis) More...

PIDclamp	pidLockedYaw
	Yaw PID controller (Yaw is Z axis) More...

Vector3	posTorque

Vector3	scalarFactor = new Vector3(-0.3f, -0.3f, -0.3f)
	Slope factor for autoScalar. More...

Vector3	scalarIntx = new Vector3(2f, 2f, 2f)
	Intercept factor for autoScalar. More...

float	scalarRate = 0.9f
	Lerp rate for change in scalar. More...

float	stopScalar = 1f
	When switching targets, this scales when to reverse SAS inputs to stop the turn. More...

Vector3	targetOrientation
	Orientation SAS is trying to reach. More...

bool	useDecay = true
	Flag usage of the decay response. More...

Constructor & Destructor Documentation

VesselAutopilot.VesselSAS.VesselSAS ( Vessel v )

inline

Member Function Documentation

void VesselAutopilot.VesselSAS.AutoTuneReset ( )

inline

void VesselAutopilot.VesselSAS.AutoTuneScalar ( )

inline

Autotune the PID channel as a factor of maximum angular acceleration (torque-to-MOI ratio). Autoscalar Formula: scalarFactor * angularAccelerationMax + scalarIntx Higher Ratio gives lower scalar (reducing the PID response)

< ki decays as craft settles onto target orientation (prevents accumulation of integral error)

bool VesselAutopilot.VesselSAS.CanEngageSAS ( )

inline

void VesselAutopilot.VesselSAS.ConnectFlyByWire ( bool reset )

inline

void VesselAutopilot.VesselSAS.Destroy ( )

inline

void VesselAutopilot.VesselSAS.DisconnectFlyByWire ( )

inline

< Disconnect the Fly By Wire

void VesselAutopilot.VesselSAS.LockRotation ( Quaternion newRotation )

inline

void VesselAutopilot.VesselSAS.ModuleSetup ( )

inline

void VesselAutopilot.VesselSAS.ResetAllPIDS ( )

inline

void VesselAutopilot.VesselSAS.ResetTuningScalars ( )

inline

void VesselAutopilot.VesselSAS.SetDampingMode ( bool isEnabled )

inline

void VesselAutopilot.VesselSAS.SetLockPitchPID	(	float	Kp,
		float	Ki,
		float	Kd,
		float	clamp
	)

inline

void VesselAutopilot.VesselSAS.SetLockRollPID	(	float	Kp,
		float	Ki,
		float	Kd,
		float	clamp
	)

inline

void VesselAutopilot.VesselSAS.SetLockYawPID	(	float	Kp,
		float	Ki,
		float	Kd,
		float	clamp
	)

inline

void VesselAutopilot.VesselSAS.SetTargetOrientation	(	Vector3	tgtOrientation,
		bool	reset
	)

inline

Connects the fly-by-wire and sets the target orientation for non-stability hold modes.

Parameters

tgtOrientation	The desired orientation
reset	Resets the PID when true

void VesselAutopilot.VesselSAS.SetTuningScalar ( float scalar )

inline

void VesselAutopilot.VesselSAS.Start ( )

inline

void VesselAutopilot.VesselSAS.TuneScalars ( float scalar )

inline

void VesselAutopilot.VesselSAS.Update ( )

inline

Member Data Documentation

Vector3 VesselAutopilot.VesselSAS.autoScalarMax = new Vector3(10f, 10f, 10f)

Clamp maximum autoScalar.

Vector3 VesselAutopilot.VesselSAS.autoScalarMin = new Vector3(0.50f, 0.50f, 0.50f)

Clamp minimum autoScalar.

bool VesselAutopilot.VesselSAS.autoTune = true

Flags use of the PID auto tuner.

float VesselAutopilot.VesselSAS.coastScalar = 2f

When switching targets, this scales when to coast (reduce SAS inputs)

float VesselAutopilot.VesselSAS.controlDetectionThreshold = 0.05f

Input deadband.

int VesselAutopilot.VesselSAS.dampingCooldown = 20

bool VesselAutopilot.VesselSAS.dampingMode = false

True if the SAS is in damping mode (not stuck on a heading yet). Used to flag the UI button.

Vector3 VesselAutopilot.VesselSAS.decayDeltaThreshold = 0.1f * Vector3.one

Decay when delta error below threshold.

Vector3 VesselAutopilot.VesselSAS.decayMin = 0.10f * Vector3.one

Min clamp for the decay scalar.

Vector3 VesselAutopilot.VesselSAS.decayRate = 0.005f * Vector3.one

Rate to decay the scalar.

Vector3 VesselAutopilot.VesselSAS.decayResponseThreshold = 0.02f * Vector3.one

Decay when sas response below threshold.

bool VesselAutopilot.VesselSAS.lockedMode = true

Set to true for stability assist, false for all other SAS modes.

Quaternion VesselAutopilot.VesselSAS.lockedRotation

The rotation the SAS is trying to maintain.

Vector3 VesselAutopilot.VesselSAS.negTorque

float VesselAutopilot.VesselSAS.overrideMinimumMagnitude = 0.1f

Above this angular velocity, the SAS enters damping mode.

PIDclamp VesselAutopilot.VesselSAS.pidLockedPitch

Pitch PID controller (Pitch is X axis)

PIDclamp VesselAutopilot.VesselSAS.pidLockedRoll

Roll PID controller (Roll is Y axis)

PIDclamp VesselAutopilot.VesselSAS.pidLockedYaw

Yaw PID controller (Yaw is Z axis)

Vector3 VesselAutopilot.VesselSAS.posTorque

Vector3 VesselAutopilot.VesselSAS.scalarFactor = new Vector3(-0.3f, -0.3f, -0.3f)

Slope factor for autoScalar.

Vector3 VesselAutopilot.VesselSAS.scalarIntx = new Vector3(2f, 2f, 2f)

Intercept factor for autoScalar.

float VesselAutopilot.VesselSAS.scalarRate = 0.9f

Lerp rate for change in scalar.

float VesselAutopilot.VesselSAS.stopScalar = 1f

When switching targets, this scales when to reverse SAS inputs to stop the turn.

Vector3 VesselAutopilot.VesselSAS.targetOrientation

Orientation SAS is trying to reach.

bool VesselAutopilot.VesselSAS.useDecay = true

Flag usage of the decay response.

The documentation for this class was generated from the following file:

KSP/Assets/Scripts/Flight/VesselAutopilot.cs

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation