// Basically NAVMODE_KILLROT in a single dimension. Returns true when the rate has been nulled
// out, otherwise it returns false.
bool NullRate(AXIS Axis)
{
VESSEL *Vessel = oapiGetFocusInterface();
VESSELSTATUS Status;
Vessel->GetStatus(Status);
double RateDeadband = Radians(0.001), Thrust, Level, Rate = Status.vrot.data[Axis],
Mass = Vessel->GetMass(),
MaxThrust = Vessel->GetMaxThrust(ENGINE_ATTITUDE),
Size = Vessel->GetSize();
VECTOR3 PMI;
Vessel->GetPMI(PMI);
if (fabs(Rate) < RATE_NULL) {
Vessel->SetAttitudeRotLevel(Axis, 0.0);
return true;
}
Thrust = -(Mass * PMI.data[Axis] * Rate) / (Size);
Level = min((Thrust/MaxThrust), 1);
Vessel->SetAttitudeRotLevel(Axis, Level);
return false;
}
// Generates rotational commands in order to achieve a target attitude in a given axis.
// Note that the user is responsible for providing an accurate current attitude information.
// This allows for greater flexability but also can be a source of problems if you pass
// incorrect data to the function. For example, if you invert signs, then the spacecraft will
// fly out of control because as it rotates in the correct direction, the DeltaAngle will
// increase! Please be careful :-) The function returns true when the desired attitude
// has been reached (within the given deadband) and the velocity has been nulled; otherwise,
// it returns false.
bool SetAttitude(double TargetAttitude, double CurrentAttitude, double RotRate,
AXIS Axis, DEADBAND DeadbandLow)
{
VESSEL *Vessel; // Spacecraft interface
double Rate; // Depends on magnitude of DeltaAngle
double RateDeadband; // Depends on the magnitude of Rate
double Thrust; // Thrust required
double Level; // Required thrust level [0 - 1]
VECTOR3 PMI; // Prinicple moment of inertia
double MaxThrust; // Maximum thrust delivered by the engines
double Size; // Spacecraft radius
double Mass; // Spacecraft mass
double DeltaRate; // The difference between the desired and the actual rate
double DeltaAngle = TargetAttitude - CurrentAttitude;
// Get State
Vessel = oapiGetFocusInterface();
Vessel->GetPMI(PMI);
MaxThrust = Vessel->GetMaxThrust(ENGINE_ATTITUDE);
Mass = Vessel->GetMass();
Size = Vessel->GetSize();
// Let's take care of the good case first :-)
if ((fabs(DeltaAngle) < DeadbandLow)) {
//sprintf(oapiDebugString(), "NULL");
if (fabs(RotRate) < RATE_NULL) {
Vessel->SetAttitudeRotLevel(Axis, 0);
return true;
}
return (NullRate(Axis));
}
// CCK
// Now, we actually have to DO something! ;-) Well divide it up into two cases, once
// for each direction. There's probably a better way, but not right now :-)
//if (fabs(DeltaAngle) < DEADBAND_MID) {
// Rate = RATE_LOW;
// sprintf(oapiDebugString(), "LOW");
//} else if(fabs(DeltaAngle) < DEADBAND_HIGH) {
// Rate = RATE_MID;
// sprintf(oapiDebugString(), "MID");
//} else {
// Rate = RATE_HIGH;
// sprintf(oapiDebugString(), "HIGH");
//}
if (fabs(DeltaAngle) < DEADBAND_LOW) {
Rate = RATE_FINE;
//sprintf(oapiDebugString(), "FINE");
} else if (fabs(DeltaAngle) < DEADBAND_MID) {
Rate = RATE_LOW;
//sprintf(oapiDebugString(), "LOW");
} else if (fabs(DeltaAngle) < DEADBAND_HIGH) {
Rate = RATE_MID;
//sprintf(oapiDebugString(), "MID");
} else if (fabs(DeltaAngle) < DEADBAND_MAX) {
Rate = RATE_HIGH;
//sprintf(oapiDebugString(), "HIGH");
} else {
Rate = RATE_MAX;
//sprintf(oapiDebugString(), "MAX");
}
// CCK End
RateDeadband = min(Rate / 2, Radians(0.01/*2*/));
if (DeltaAngle < 0 ) {
Rate = -Rate;
RateDeadband = -RateDeadband;
}
DeltaRate = Rate - RotRate;
if (DeltaAngle > 0) {
if (DeltaRate > RateDeadband) {
Thrust = (Mass * PMI.data[Axis] * DeltaRate) / (Size);
Level = min((Thrust/MaxThrust), 1);
Vessel->SetAttitudeRotLevel(Axis, Level);
} else if (DeltaRate < -RateDeadband) {
Thrust = (Mass * PMI.data[Axis] * DeltaRate) / (Size);
Level = max((Thrust/MaxThrust), -1);
Vessel->SetAttitudeRotLevel(Axis, Level);
} else {
Vessel->SetAttitudeRotLevel(Axis, 0);
}
} else {
if (DeltaRate < RateDeadband) {
Thrust = (Mass * PMI.data[Axis] * DeltaRate) / (Size);
Level = max((Thrust/MaxThrust), -1);
Vessel->SetAttitudeRotLevel(Axis, Level);
} else if (DeltaRate > -RateDeadband) {
Thrust = (Mass * PMI.data[Axis] * DeltaRate) / (Size);
Level = min((Thrust/MaxThrust), 1);
Vessel->SetAttitudeRotLevel(Axis, Level);
} else {
Vessel->SetAttitudeRotLevel(Axis, 0);
}
}
return false;
}
