finalized raden launch

wip landing script

poweredLanding.ks

@@ -1,58 +1,93 @@
+run "library/lib_vessel_utils".
+run "library/lib_location_constants".
+run tests.
 
-//-126
-function DeOrbit{
-	parameter burnLng, deltaV.
+CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
 
-	lock pos to SHIP:geoposition.
+function TestSetup{
+	print "Setting up test".
+	lock throttle to 100.
+	wait until apoapsis > 5000.
+	lock steering to up.
+	lock throttle to 0.
+	unlock throttle.
+}
 
-	lock curLng to pos:lng.
 
-	DECLARE LOCAL tgtLng IS burnLng - 5.
-	if curLng > burnLng or curLng < tgtLng {
-		SET WARPMODE TO "RAILS".
-		SET WARP TO 3.
-		print "warping to " + tgtLng.
-		WAIT UNTIL curLng > tgtLng and curLng < burnLng.  
-		SET WARP TO 0.
-		print "arived at dst " + tgtLng.
-		print "burn at " + burnLng.
+function LandAtPad{
+	print "Starting Landing".
+	gear on.
+	set pad to location_constants:kerbin:launchpad:position.
+	lock dist to pad.
+	lock steering to srfRetrograde.
+	rcs on.
+
+	set landingThrottle to 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 landed to false.
+
+	when abs(verticalSpeed) < 10 or verticalSpeed > 1 then{
+		lock steering to up.
+		preserve.
 	}
-	print "currently at" + curLng.
 
-	BRAKES ON.
-	RCS ON.
-	LOCK steering to retrograde.
-	wait until curLng >= burnLng.
-
-}
-
-function CalculateBurnDuration{
-	parameter dv.
-
-	declare local isp is GetIsp().
-	declare local finalMass is mass * exp(-dv / (isp * constant:g0)).
-	declare local twr is ship:maxThrust / (((mass + finalMass)/2) * constant:g0).
-
-
-	local t is dv / (twr * constant.g0).
-	return t.
-}
-
-function GetIsp{
-	LIST ENGINES IN allEngines.
-	declare local totalThrust is ship:maxThrust.
-	local sum is 0.
-	local weights is 0.
-	for eng in allEngines{
-		if eng:IGNITION and not eng:flameout{
-			local w is  eng:AVAILABLETHRUST / totalThrust.
-			local ispW is eng:isp * w.
-			set sum to sum + ispW.
-			set weights to weights + w.
-		}
+	when verticalSpeed < -10 then{
+		lock steering to srfRetrograde.
+		preserve.
+	}
+
+	until landed {
+		set landingThrottle to hoverPid:update(time:seconds, alt:radar).
+
+		// print "offset " + dist.
+		wait 0.001.
 	}
-	return sum / weights.
 }
 
-// DeOrbit(-126, 250).
-print CalculateBurnDuration(250).
+function Descent{
+	print "Coasting to apoapsis.".
+	rcs on.
+	lock steering to up.
+	set warp to 1.
+	wait until verticalSpeed < -100.
+	set warp to 0.
+	print "Falling...".
+	lock steering to srfRetrograde.
+	brakes on.
+
+	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.
+	}
+
+	wait until timeToBurn < 0.5.
+
+
+	until abs(verticalSpeed) < 50{
+		lock throttle to 1.
+	}
+
+
+	SET V0 TO GETVOICE(0). 
+	V0:PLAY( NOTE(400, 0.5) ).
+	lock throttle to 0.
+}
+
+
+print "Launch to start.".
+WaitForEngineStart().
+TestSetup().
+Descent().
+LandAtPad().
+