finally working landing script

poweredLanding.ks

@@ -1,20 +1,28 @@
 run "library/lib_vessel_utils".
+run "library/lib_math".
 run "library/lib_location_constants".
-run tests.
+run "defaults".
 
 CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
 
+
 function TestSetup{
+	parameter tgt is 5000.
+	if altitude > 100 {
+		return.
+	}
 	print "Setting up test".
 	lock throttle to 100.
-	wait until apoapsis > 5000.
+	lock steering to heading(90, 89).
+	gear off.
+	wait until apoapsis > tgt.
 	lock steering to up.
 	lock throttle to 0.
 	unlock throttle.
+	unlock steering.
 }
 
-
-function LandAtPad{
+function Landing{
 	print "Starting Landing".
 	gear on.
 	set pad to location_constants:kerbin:launchpad:position.
@@ -23,14 +31,25 @@ function LandAtPad{
 	rcs on.
 
 	set landingThrottle to 0.
+	set steerPitch to 0.0.
+	set steerYaw to 0.0.
 	lock throttle to landingThrottle.
-	set hoverPid to PIDLoop(5, 0.1, 30, 0, 1).
-	set tgtAlt to 100.
-	set hoverPid:setpoint to tgtAlt.
+	set tgtAlt to 80.
+
+
+	set pitchPid to PIDLoop(0.55, 0.06, 0.3, -1, 1).
+	set yawPid to PIDLoop(0.55, 0.06, 0.3, -1, 1).
+	set hoverPid to PIDLoop(0.1, 0.06, 0.01, 0, 1).
+
+	set hoverPid:setpoint to -1.
+	set pitchPid:setpoint to 0.
+	set yawPid:setpoint to 0.
 
 	set landed to false.
 
-	when abs(verticalSpeed) < 10 or verticalSpeed > 1 then{
+	
+
+	when verticalSpeed > -10 then{
 		lock steering to up.
 		preserve.
 	}
@@ -40,54 +59,57 @@ function LandAtPad{
 		preserve.
 	}
 
-	until landed {
-		set landingThrottle to hoverPid:update(time:seconds, alt:radar).
 
-		// print "offset " + dist.
+	until landed {
+		set landingThrottle to hoverPid:update(time:seconds, verticalSpeed).
+		set hoverPid:setpoint to Map(alt:radar, 0, 100, -0.5, -30).
 		wait 0.001.
 	}
+	print "Landed".
+	lock throttle to 0.
 }
 
-function Descent{
+function WaitFalling{
+	parameter targetSpeed is 100.
 	print "Coasting to apoapsis.".
 	rcs on.
 	lock steering to up.
 	set warp to 1.
-	wait until verticalSpeed < -100.
+	wait until verticalSpeed < -targetSpeed.
 	set warp to 0.
 	print "Falling...".
 	lock steering to srfRetrograde.
 	brakes on.
+}
 
+
+function Descent {
+
+	local lock curAlt to alt:radar.
 	local lock vertSpeed to verticalSpeed.
-	local lock isp to GetIsp().
 	local lock localGravity to GetLocalGravity(altitude).
-	local lock burnDuration to CalculateSuicideBurnDuration(isp).
-	local lock imactTime to CalculateTimeToImpact(abs(vertSpeed), alt:radar, localGravity).
-	local lock burnAlt to CalculateSuicideBurnAltitude(vertSpeed, localGravity).
-	local lock timeToBurn to imactTime - burnDuration.
-	
-	until timeToBurn < 0.5 {
-		// print "time: " + round(timeToBurn) + " len: " + burnDuration + " impact: " + imactTime + " alt: " + burnAlt.
-	}
+	local lock drag to GetDragDir(localGravity, ship:up:vector).
+	local lock burnDist to CalculateSuicideBurnAltitude(vertSpeed, localGravity, 80, drag).
 
-	wait until timeToBurn < 0.5.
+	wait until burnDist >= curAlt.
+	print "Starting Burn".
+	print burnDist.
+	gear on.
 
-
-	until abs(verticalSpeed) < 50{
+	until abs(verticalSpeed) < 30{
 		lock throttle to 1.
 	}
-
-
-	SET V0 TO GETVOICE(0). 
-	V0:PLAY( NOTE(400, 0.5) ).
 	lock throttle to 0.
+	print "Final".
+	print curAlt.
+
 }
 
 
 print "Launch to start.".
 WaitForEngineStart().
-TestSetup().
+TestSetup(5000).
+WaitFalling(100).
 Descent().
-LandAtPad().
+Landing().