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DEFAULT--ECU.conf
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# Custom ECU by TheGreatSardini
name: (ECU) DEFAULT-- v1.1
slots:
core:
class: CoreUnit
antigrav:
class: AntiGravityGeneratorUnit
gyro:
class: GyroUnit
vBooster:
class: VerticalBooster
hover:
class: Hovercraft
telemeter:
class: TelemeterUnit
handlers:
unit:
onStart:
lua: |
Nav = Navigator.new(system, core, unit)
planetInfluenceThreshold = 0.6
if antigrav ~= nil then
antigrav.activate()
antigrav.showWidget()
end
if unit then unit.hideWidget() end
buildHud()
aggData = {}
local lastvgd = -1
local lasthgd = -1
function AboveGroundLevel()
local function hoverDetectGround()
local vGndDist,vGndMax,hGndDist,hGndMax = -1,-1,-1,-1
if vBooster then
vGndDist = vBooster.getDistance()
vGndMax = vBooster.getMaxDistance()
if vGndDist > -1 and vGndDist < 0.01 then vGndDist = 0 else lastvgd = vGndDist end --account for underwater
end
if hover then
hGndDist = hover.getDistance()
hGndMax = hover.getMaxDistance()
if hGndDist > -1 and hGndDist < 0.01 then hGndDist = 0 else lasthgd = hGndDist end
end
if vGndDist ~= -1 and hGndDist ~= -1 then
if vGndDist < hGndDist then
return vGndDist, math.max(vGndMax,hGndMax)
else
return hGndDist, math.max(vGndMax,hGndMax)
end
elseif vGndDist ~= -1 then
return vGndDist, vGndMax
elseif hGndDist ~= -1 then
return hGndDist, hGndMax
else
return -1, math.max(vGndMax,hGndMax)
end
end
local hovGndDet, hovGndMax = hoverDetectGround()
--system.print("dist="..hovGndDet)
local telGndDet = -1
local cAV = construct.getVelocity()
--local velMag = vectorLen(cAV[1], cAV[2], cAV[3])
if telemeter then
telGndDet = telemeter.raycast().distance
if telGndDet > 0 then return telGndDet, hovGndMax end
end
return hovGndDet, hovGndMax
end
groundDistance = -1
StartTime = system.getArkTime()
function decodeJSON(json)
local decodedInput = string.gsub(json, "%\\u(%x%x%x%x)", function(a) return utf8.char(tonumber(a,16))end)
return load('return ' .. decodedInput:gsub('[[]', '{'):gsub('[]]', '}'):gsub('"(%w+)":', '["%1"]='))()
end
system:
onFlush:
lua: |
Auto_Land = true --export: Should ship Auto_Land if ECU activates. False means continue level flight.
Hold = false --export: Stop moving, hold position and altitude
local Auto_Land_Speed = 50 --export: Vertical auto landing speed in km/h
Hold_And_Land_Height = 10 --export: when both Hold and Auto_Land are on, distance from ground to Auto_Land
local power = 3
local worldUp = vec3(construct.getWorldOrientationUp())
local worldForward = vec3(construct.getWorldOrientationForward())
local worldRight = vec3(construct.getWorldOrientationRight())
local worldVertical = vec3(core.getWorldVertical())
-- Maintain current thrust?
if Hold == false and Auto_Land == false then
--do nothing
elseif antigrav and aggData.State == "ON" and aggData.Power > 10 then
--do nothing AGG is holding in place
else
-- are we in deep space or are we near a planet ?
local planetInfluence = unit.getClosestPlanetInfluence()
if planetInfluence > 0
then
-- stabilize orientation along the gravity
if (rollPID == nil) then
rollPID = pid.new(0.2, 0, 10)
pitchPID = pid.new(0.2, 0, 10)
end
local yawVelocity = vec3(construct.getWorldAngularVelocity()):dot(worldUp)
local currentRoll = getRoll(worldVertical, worldForward, worldRight)
local currentPitch = -math.asin(worldForward:dot(worldVertical)) * constants.rad2deg
rollPID:inject(-currentRoll)
pitchPID:inject(-currentPitch)
local yawAcceleration = - power * yawVelocity
angularAcceleration = rollPID:get() * worldForward + pitchPID:get() * worldRight + yawAcceleration * worldUp
else
-- cancel rotation
local worldAngularVelocity = vec3(construct.getWorldAngularVelocity())
angularAcceleration = - power * worldAngularVelocity
end
Nav:setEngineCommand('torque', vec3(), angularAcceleration)
groundDistance, _ = AboveGroundLevel()
if planetInfluence > planetInfluenceThreshold
and (
Hold == false
or
(Hold == true and Auto_Land == true and groundDistance > -1 and groundDistance < Hold_And_Land_Height)
)
then
local slowLand = Auto_Land_Speed / 10 -- figure out what the deal is with this under water?
local factor = groundDistance >= 0 and 0.2+0.8/(80/groundDistance) or 1
--system.print("factor="..factor.." grnd="..groundDistance)
-- go down at verticalTargetSpeed when very close to a planet
targetVelocity = (Auto_Land_Speed / 3.6) * factor * worldVertical
else
-- immobilize ship when not
targetVelocity = vec3()
--system.print("immobilize")
end
stabilization = (power * (targetVelocity - vec3(construct.getWorldVelocity()))) -vec3(core.getWorldGravity())
Nav:setEngineCommand('airfoil,brake,not_ground thrust,ground', stabilization, vec3(), false, 1, 'airfoil,brake', 'hover_engine', 'eco', 0)
end
onUpdate:
lua: |
local accelThreshold = 0.1
local speedThreshold = 0.1
local time = system.getArkTime()
if antigrav then
local decodeAGG = decodeJSON(antigrav.getWidgetData())
aggData.Power = decodeAGG.antiGPower ~= nil and math.floor(decodeAGG["antiGPower"]*100) or 0
aggData.Field = decodeAGG.antiGravityField ~= nil and math.floor(decodeAGG["antiGravityField"]*100).."Es" or "LOADING"
aggData.Compensation = math.floor(antigrav.getCompensationRate()*1000)/10 .."％" or "N/A"
aggData.Altitude = decodeAGG.baseAltitude ~= nil and decodeAGG.baseAltitude or 0
aggData.State = antigrav.isActive() == true and "ON" or "OFF"
aggData.Target = antigrav.getTargetAltitude()
end
if Hold_And_Land_Height == nil then local Hold_And_Land_Height = 0 end --for when it bugs and doesn't update before onupdate
-- auto stopping mechanism when immobile and close to planet and not holding
local accel = vec3(construct.getWorldAcceleration()):len()
local speed = vec3(construct.getWorldVelocity()):len()
if accel < accelThreshold
and speed < speedThreshold
and unit.getClosestPlanetInfluence() > planetInfluenceThreshold
and Auto_Land == true --there's a bug where it shows nil on first iteration
and (Hold == true and groundDistance < Hold_And_Land_Height and groundDistance > -1 or Hold == false)
and time - StartTime > 2
then
--system.print("Auto Land Complete: Exiting ECU")
unit.exit()
end
library:
onStart:
lua: |
function buildHud()
WLP = {}
WLP.css = [[
BODY {
background:rgba(0, 0, 0, 0);
color:#000000;
width:100vw;
height:100vh;
}
DIV.WinLib_window {
position:absolute;
background:rgba(255, 0, 0, 0);
font-family:"Arial", Sans-Serif;
box-shadow:0px 0px rgba(0, 0, 0, 0);
}
DIV.WinLib_window>.WinLib_content {
padding:4px;
}
#main {
width:{wlib_width}px;
height:{wlib_height}px;
top:{wlib_posY}px;
left:{wlib_posX}px;
z-index:{wlib_zIndex};
}
]]
WLP.html = [[
<style type="text/css">
{wlib_css}
</style>
<DIV class="WinLib_window" id="main">
<DIV class="WinLib_content">
{wlib_html}
</DIV>
</DIV>
]]
local window = {}
window.width = system.getScreenWidth()
window.height = system.getScreenHeight()
window.SVGSize = {x=300,y=104}
window.scale = 1
window.w_pos = {x=window.width/2 -(window.SVGSize.x*window.scale)/2, y=window.height*0.9 -(window.SVGSize.y*window.scale)}
window.zIndex = 1
local SVG = [[
<g text-anchor="middle" font-family="Play" alignment-baseline="bottom" stroke-width="0" style="fill: white" >
<text x="150" y="40" font-size="40" >ECU ACTIVE</text>
<text x="150" y="65" font-size="22">CTRL + Backspace to Exit</text>
</g>
]]
local SVGfinal = '<div><svg viewBox="0 0 '.. window.SVGSize.x ..' '.. window.SVGSize.y ..'" style="fill: white; filter: drop-shadow(0px 0px 4px #800);">'..SVG..'</svg></div>'
local css = WLP.css
:gsub("{wlib_width}",window.SVGSize.x*window.scale)
:gsub("{wlib_height}",window.SVGSize.y*window.scale)
:gsub("{wlib_posX}",window.w_pos.x)
:gsub("{wlib_posY}",window.w_pos.y)
:gsub("{wlib_zIndex}",window.zIndex)
local generated = WLP.html
:gsub("{wlib_css}",css)
:gsub("{wlib_html}",SVGfinal)
system.setScreen(generated)
system.showScreen(1)
end