thoda.dev / du-elevator
[READ-ONLY] Mirror of https://github.com/thoda-dev/du-elevator. a generic elevator script for Dual Universe
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v1.1.2 - improved braking

Thomas (Jul 27, 2023, 9:09 PM +0200) 9c01d784 22993e62

+19 -6
+18 -5
Source/Unit/OnStart.lua
··· 6 6 Bookmarks: you can store several altitudes here to navigate easily 7 7 ]] 8 8 local Bookmarks = { 9 - { name = 'Start Point', altitude = 285 }, 9 + { name = 'Start Point', altitude = 294 }, 10 10 { name = 'Hovering', altitude = 300 }, 11 11 { name = 'Floor 1', altitude = 350 }, 12 12 { name = 'Floor 2', altitude = 500 }, 13 13 { name = 'Space 1', altitude = 5000 }, 14 14 { name = 'Space 2', altitude = 6000 }, 15 15 } 16 + 17 + atlas = require "atlas" 16 18 17 19 --[[ 18 20 LUA PARAMETERS ··· 98 100 ]] 99 101 ConstructInitPos = construct.getWorldPosition() 100 102 --replace that pos by a hand written value to be sure the construct will always realign the same position 101 - --ConstructInitPos = {-1231538.185042, 1201297.6879598, -2617220.2766464} 103 + --ConstructInitPos = {-1231461.6525868,1201334.4594833,-2617227.3718653} 102 104 if __DEBUG then system.print('ConstructInitPos: ' .. json.encode(ConstructInitPos)) end 103 105 BaseForward = vec3(construct.getWorldForward()) 104 106 --replace that pos by a hand written value to be sure the construct will always realign the same forward orientation ··· 120 122 121 123 --TODO: to replace with a computing in flush from the current acceleration and the friction acceleration (construct.getWorldAirFrictionAcceleration) 122 124 MaxSpeed = construct.getFrictionBurnSpeed() -- for security to avoid burning if going too fast 123 - if __DEBUG then system.print('MaxSpeed: ' .. MaxSpeed) end 124 - 125 + if __DEBUG then system.print('MaxSpeed: ' .. (MaxSpeed*3.6) .. 'km/h') end 125 126 --base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua 126 127 selectedBookmarkIndex = 0 127 128 ··· 320 321 local brakeDistance = 0 321 322 local maxBrake = construct.getMaxBrake() 322 323 if maxBrake ~= nil then 323 - brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, construct.getInertialMass(), 0, 0, maxBrake - (core.getGravityIntensity() * construct.getInertialMass()) * utils.sign(ElevatorData.verticalSpeedSigned)) 324 + local g = core.getGravityIntensity() 325 + if ElevatorData.verticalSpeedSigned < 0 then 326 + g = atlas[0][core.getCurrentPlanetId()].gravity --when falling, apply the max gravity to the braking computing to increase braking 327 + end 328 + local inertialMass = construct.getInertialMass() 329 + local speedSign = utils.sign(ElevatorData.verticalSpeedSigned) 330 + brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign)) 324 331 end 325 332 ElevatorData.altitude = core.getAltitude() 326 333 local distance = TargetAltitude - ElevatorData.altitude ··· 351 358 or (finalBrakeInput == 0 and autoBrakeSpeed > 0 and Nav.axisCommandManager.throttle == 0 and constructVelocity:len() < autoBrakeSpeed) 352 359 then 353 360 finalBrakeInput = 1 361 + --use engines to help braking 362 + if ElevatorData.verticalSpeedSigned < 0 then 363 + Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1) 364 + elseif ElevatorData.verticalSpeedSigned > 0 then 365 + Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1) 366 + end 354 367 end 355 368 ElevatorData.isBreaking = (finalBrakeInput == 1) 356 369 local brakeAcceleration = -finalBrakeInput * (brakeSpeedFactor * constructVelocity + brakeFlatFactor * constructVelocityDir)
+1 -1
config.json
··· 1 - {"events":[],"handlers":[{"code":"Script.system:update()","filter":{"args":[],"signature":"onUpdate()","slotKey":"-4"},"key":"9"},{"code":"Script.system:inputText(text)","filter":{"args":[{"variable":"*"}],"signature":"onInputText(text)","slotKey":"-4"},"key":"10"},{"code":"Script.system:flush()","filter":{"args":[],"signature":"onFlush()","slotKey":"-4"},"key":"11"},{"code":"Script.system:actionStop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStop(action)","slotKey":"-4"},"key":"12"},{"code":"Script.system:actionStart(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStart(action)","slotKey":"-4"},"key":"13"},{"code":"Script.system:actionLoop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionLoop(action)","slotKey":"-4"},"key":"14"},{"code":"Script.player:parentChanged(oldId, newId)","filter":{"args":[{"variable":"*"},{"variable":"*"}],"signature":"onParentChanged(oldId,newId)","slotKey":"-3"},"key":"3"},{"code":"Script.construct:VRStationEntered(id)","filter":{"args":[{"variable":"*"}],"signature":"onVRStationEntered(id)","slotKey":"-2"},"key":"4"},{"code":"Script.construct:undocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onUndocked(id)","slotKey":"-2"},"key":"5"},{"code":"Script.construct:PvPTimer(active)","filter":{"args":[{"variable":"*"}],"signature":"onPvPTimer(active)","slotKey":"-2"},"key":"6"},{"code":"Script.construct:playerBoarded(id)","filter":{"args":[{"variable":"*"}],"signature":"onPlayerBoarded(id)","slotKey":"-2"},"key":"7"},{"code":"Script.construct:constructDocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onConstructDocked(id)","slotKey":"-2"},"key":"8"},{"code":"Script.unit:timer(tag)","filter":{"args":[{"variable":"*"}],"signature":"onTimer(tag)","slotKey":"-1"},"key":"0"},{"code":"Script.unit:stop()","filter":{"args":[],"signature":"onStop()","slotKey":"-1"},"key":"1"},{"code":"--[[\n DU-ELEVATOR by Jericho\n]]\n\n--[[\n Bookmarks: you can store several altitudes here to navigate easily\n]]\nlocal Bookmarks = {\n { name = 'Start Point', altitude = 285 },\n { name = 'Hovering', altitude = 300 },\n { name = 'Floor 1', altitude = 350 },\n { name = 'Floor 2', altitude = 500 },\n { name = 'Space 1', altitude = 5000 },\n { name = 'Space 2', altitude = 6000 },\n}\n\n--[[\n LUA PARAMETERS\n]]\n__DEBUG = false --export: Debug mode, will print more information in the console\nShowParentingWidget = false --export: Show the parenting widget\nShowControlUnitWidget = false --export: show the default widget of the construct\n\n--[[\n Version Management\n]]\nlocal version = \"V 1.1.2\"\nlocal log_split = \"=================================================\"\n--printing version in lua chat\nsystem.print(log_split)local a=\"\"local b=math.ceil((50-#version-2)/2)for c=1,b,1 do a=a..'='end;a=a..\" \"..version..\" \"for c=1,b,1 do a=a..'='end;system.print(a)system.print(log_split)\n--[[\n Fuel Tanks Metatable By Jericho\n Version: 1.0.0\n Unminified Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/ElementsMetatable/FuelTank.lua\n]]\nFuelTank={__index={name='',percentage=0,timeLeft=0,lastRefresh=0,fuelType='rocket',refresh=function(self)local a=system.getUtcTime()if lastRefresh~=a then local b=self.getClass():lower()if b:find('atmo')then self.fuelType=\"atmo\"elseif b:find('space')then self.fuelType=\"space\"end;local c=self.getWidgetData()local d=json.decode(c)self.name=d.name;self.percentage=d.percentage;self.timeLeft=tonumber(d.timeLeft)self.lastRefresh=a end end,getName=function(self)self:refresh()return self.name end,getPercentFilled=function(self)self:refresh()return self.percentage end,getSecondsLeft=function(self)self:refresh()return self.timeLeft end,getFuelType=function(self)self:refresh()return self.fuelType end,getTimeLeftString=function(self)local e=self:getSecondsLeft()if e==nil or e<=0 then return\"-\"end;days=string.format(\"%2.f\",math.floor(e/(3600*24)))hours=string.format(\"%2.f\",math.floor(e/3600-days*24))mins=string.format(\"%2.f\",math.floor(e/60-hours*60-days*24*60))secs=string.format(\"%2.f\",math.floor(e-hours*3600-days*24*60*60-mins*60))str=\"\"if tonumber(days)>0 then str=str..days..\"d \"end;if tonumber(hours)>0 then str=str..hours..\"h \"end;if tonumber(mins)>0 then str=str..mins..\"m \"end;if tonumber(secs)>0 then str=str..secs..\"s\"end;return str end,dump=function(self)self:refresh()system.print('{name=\"'..self.name..'\",percentage='..self.percentage..',timeLeft='..self.timeLeft..',fuelType=\"'..self.fuelType..'\"}')end}}\n--[[\n Detecting elements linked\n]]\ncore = nil\nfuelTanks = {}\nfor slot_name, slot in pairs(unit) do\n if\n type(slot) == \"table\"\n and type(slot.export) == \"table\"\n and slot.getClass\n then\n local class = slot.getClass():lower()\n if class:find(\"coreunit\") then\n core = slot\n elseif class:find(\"fuelcontainer\") then\n fuelTanks[#fuelTanks + 1] = setmetatable(slot, FuelTank)\n end\n end\nend\n\n--[[\n stopping the script if required elements are not linked\n]]\nif core == nil then\n system.print('Core unit is not linked, exiting the script')\n unit.exit()\nend\n\n--[[\n Default Unit Start Mechanics\n]]\npitchInput = 0\npitchInputFromDevice = 0\nrollInput = 0\nyawInput = 0\nverticalStrafeInput = 0\nlateralStrafeInput = 0\nbrakeInput = 1 --braking by default\ngoingBack = false\ngoingForward = false\nshiftPressed = false\njumpDelta = 0\nbaseAcceleration = 0.8\n\nNav = Navigator.new(system, core, unit)\nNav.axisCommandManager:setupCustomTargetSpeedRanges(axisCommandId.longitudinal, {100, 500, 1000, 2000,3000, 5000})\nNav.axisCommandManager:setTargetGroundAltitude(0)\nunit.deactivateGroundEngineAltitudeStabilization()\n\n-- Parenting widget\nif ShowParentingWidget then\n parentingPanelId = system.createWidgetPanel(\"Docking\")\n parentingWidgetId = system.createWidget(parentingPanelId,\"parenting\")\n system.addDataToWidget(unit.getWidgetDataId(),parentingWidgetId)\nend\nif not ShowControlUnitWidget then\n unit.hideWidget()\nend\n\n--[[\n Storing base position and orientation of the elevator\n]]\nConstructInitPos = construct.getWorldPosition()\n--replace that pos by a hand written value to be sure the construct will always realign the same position\n--ConstructInitPos = {-1231538.185042, 1201297.6879598, -2617220.2766464}\nif __DEBUG then system.print('ConstructInitPos: ' .. json.encode(ConstructInitPos)) end\nBaseForward = vec3(construct.getWorldForward())\n--replace that pos by a hand written value to be sure the construct will always realign the same forward orientation\n--BaseForward = vec3({-0.085554607212543,0.2445342447567,-0.9658600687807})\nif __DEBUG then system.print('BaseForward: ' .. json.encode(BaseForward)) end\nBaseAltitute = Bookmarks[1].altitude --getting the base altitude from the 1st bookmark\n--init a value to store the target altitude\nTargetAltitude = core.getAltitude() --by default to the start altitude to avoid falling down if in the air\n\nElevatorData = {\n isBreaking = brakeInput == 1,\n verticalSpeed = 0,\n verticalSpeedSigned = 0,\n lateralSpeed = 0,\n longitudinalSpeed = 0,\n altitude = TargetAltitude,\n direction = 'stabilizing',\n}\n\n--TODO: to replace with a computing in flush from the current acceleration and the friction acceleration (construct.getWorldAirFrictionAcceleration)\nMaxSpeed = construct.getFrictionBurnSpeed() -- for security to avoid burning if going too fast\nif __DEBUG then system.print('MaxSpeed: ' .. MaxSpeed) end\n\n--base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua\nselectedBookmarkIndex = 0\n\n--[[\n init the HUD\n]]\nsystem.showScreen(true)\n\n--[[\n Kinematics functions by Jaylebreak\n Source available at https://gitlab.com/JayleBreak/dualuniverse/-/blob/master/DUflightfiles/autoconf/custom/kinematics.lua\n]]\nfunction computeAccelerationTime(initial, acceleration, final) return (final - initial)/acceleration end\nfunction computeDistanceAndTime(initial, final, mass, thrust, t50, brakeThrust)\n t50 = t50 or 0\n brakeThrust = brakeThrust or 0\n local speedUp = initial < final\n local a0 = thrust / (speedUp and mass or -mass)\n local b0 = -brakeThrust/mass\n local totA = a0+b0\n if initial == final then\n return 0, 0\n elseif speedUp and totA <= 0 or not speedUp and totA >= 0 then\n return -1, -1\n end\n local distanceToMax, timeToMax = 0, 0\n if a0 ~= 0 and t50 > 0 then\n local c1 = math.pi/t50/2\n local v = function(t)\n return a0*(t/2 - t50*math.sin(c1*t)/math.pi) + b0*t + initial\n end\n local speedchk = speedUp and function(s) return s >= final end or function(s) return s <= final end\n timeToMax = 2*t50\n if speedchk(v(timeToMax)) then\n local lasttime = 0\n while math.abs(timeToMax - lasttime) > 0.25 do\n local t = (timeToMax + lasttime)/2\n if speedchk(v(t)) then\n timeToMax = t\n else\n lasttime = t\n end\n end\n end\n local K = 2*a0*t50^2/math.pi^2\n distanceToMax = K*(math.cos(c1*timeToMax) - 1) + (a0+2*b0)*timeToMax^2/4 + initial*timeToMax\n if timeToMax < 2*t50 then\n return distanceToMax, timeToMax\n end\n initial = v(timeToMax)\n end\n local a = a0+b0\n local t = computeAccelerationTime(initial, a, final)\n local d = initial*t + a*t*t/2\n return distanceToMax+d, timeToMax+t\nend\n\n--[[\n Compute angle between vectors by Jericho\n]]\nfunction signedAngleBetween(vec1, vec2, planeNormal)\n local normVec1 = vec1:project_on_plane(planeNormal):normalize()\n local normVec2 = vec2:normalize()\n local v1v2dot = normVec1:dot(normVec2)\n local angle = math.acos(utils.clamp(v1v2dot,-1,1))\n local crossProduct = vec1:cross(vec2)\n if crossProduct:dot(planeNormal) < 0 then\n return -angle\n end\n return angle\nend\n--[[\n\tformatting numbers by adding a space between thousands by Jericho\n]]\nfunction format_number(a)local b=a;while true do b,k=string.gsub(b,\"^(-?%d+)(%d%d%d)\",'%1 %2')if k==0 then break end end;local c=string.sub(b,-2)if c=='.0'then b=string.sub(b,1,b:len()-2)end;return b end\n--[[\n DU-LUA-Framework by Jericho\n Permit to code easier by grouping most of the code in a single event Unit > Start\n Unminified Source available here: https://github.com/Jericho1060/du-lua-framework\n]]--\nlocal a=system.print;local b=error;local c=pcall;local d=assert;local e=coroutine;local f=e.create;local g=e.status;local h=e.resume;local i=\"dead\"local j=\"suspended\"function runFunction(k,l,...)local m,n=c(k,...)if not m then b(l..n)end end;local o={__index={cos={update={},flush={}},fns={update={},flush={},action={start={},stop={},loop={}},inputText=nil,start=nil,stop=nil},ACTIONS={FORWARD=\"forward\",BACKWARD=\"backward\",YAW_LEFT=\"yawleft\",YAW_RIGHT=\"yawright\",STRAFE_LEFT=\"strafeleft\",STRAFE_RIGHT=\"straferight\",LEFT=\"left\",RIGHT=\"right\",UP=\"up\",DOWN=\"down\",GROUND_ALTITUDE_UP=\"groundaltitudeup\",GROUND_ALTITUDE_DOWN=\"groundaltitudedown\",LEFT_ALT=\"lalt\",LEFT_SHIFT=\"lshift\",GEAR=\"gear\",LIGHT=\"light\",BRAKE=\"brake\",OPTION_1=\"option1\",OPTION_2=\"option2\",OPTION_3=\"option3\",OPTION_4=\"option4\",OPTION_5=\"option5\",OPTION_6=\"option6\",OPTION_7=\"option7\",OPTION_8=\"option8\",OPTION_9=\"option9\",OPTION_10=\"option10\",OPTION_11=\"option11\",OPTION_12=\"option12\",OPTION_13=\"option13\",OPTION_14=\"option14\",OPTION_15=\"option15\",OPTION_16=\"option16\",OPTION_17=\"option17\",OPTION_18=\"option18\",OPTION_19=\"option19\",OPTION_20=\"option20\",OPTION_21=\"option21\",OPTION_22=\"option22\",OPTION_23=\"option23\",OPTION_24=\"option24\",OPTION_25=\"option25\",OPTION_26=\"option26\",OPTION_27=\"option27\",OPTION_28=\"option28\",OPTION_29=\"option29\",LEFT_MOUSE=\"leftmouse\",STOP_ENGINES=\"stopengines\",SPEED_UP=\"speedup\",SPEED_DOWN=\"speeddown\",ANTIGRAVITY=\"antigravity\",BOOSTER=\"booster\"},main={update=f(function()end),flush=f(function()end)},update=function(self)local p=g(self.main.update)if p==i then self.main.update=f(function()self:runUpdate()end)elseif p==j then d(h(self.main.update))end end,flush=function(self)local p=g(self.main.flush)if p==i then self.main.flush=f(function()self:runFlush()end)elseif p==j then d(h(self.main.flush))end end,action=function(self,q,r)if self.fns.action[q][r]then runFunction(self.fns.action[q][r],\"System Action \"..q..\" Error: \")end end,actionStart=function(self,r)self:action('start',r)end,actionStop=function(self,r)self:action('stop',r)end,actionLoop=function(self,r)self:action('loop',r)end,inputText=function(self,s)if self.fns.inputText then runFunction(self.fns.inputText,\"System Input Text Error: \",s)end end,runUpdate=function(self)for t,u in pairs(self.cos.update)do local m=g(u)if m==i then self.cos.update[t]=f(self.fns.update[t])elseif m==j then d(h(u))end end end,runFlush=function(self)for t,u in pairs(self.cos.flush)do local m=g(u)if m==i then self.cos.flush[t]=f(self.fns.flush[t])elseif m==j then d(h(u))end end end,onUpdate=function(self,v)for t,w in pairs(v)do self.fns.update[t]=w;self.cos.update[t]=f(w)end end,onFlush=function(self,v)for t,w in pairs(v)do self.fns.flush[t]=w;self.cos.flush[t]=f(w)end end,onAction=function(self,q,v)for t,w in pairs(v)do self.fns.action[q][t]=w end end,onActionStart=function(self,v)self:onAction(\"start\",v)end,onActionStop=function(self,v)self:onAction(\"stop\",v)end,onActionLoop=function(self,v)self:onAction(\"loop\",v)end,onInputText=function(self,k)self.fns.inputText=k end}}local x={__index={timers={},stopFn=function()end,timer=function(self,y)if self.timers[y]then runFunction(self.timers[y],\"Unit Timer \"..y..\" Error: \")end end,setTimer=function(self,y,z,k)self.timers[y]=k;unit.setTimer(y,z)end,stopTimer=function(self,y)unit.stopTimer(y)self.timers[y]=nil end,onStop=function(self,k)self.stopFn=k end,stop=function(self)if self.stopFn then runFunction(self.stopFn,\"Unit Stop Error: \")end end}}local A={__index={parentChangedFn=function(B,C)end,onParentChange=function(self,k)self.parentChangedFn=k end,parentChanged=function(self,B,C)if self.parentChangedFn then runFunction(self.parentChangedFn,\"Player Parent Changed Error: \",B,C)end end}}local D={__index={dockedFn=function(E)end,onDocked=function(self,k)self.dockedFn=k end,docked=function(self,E)if self.dockedFn then runFunction(self.dockedFn,\"Construct Docked Error: \",E)end end,undockedFn=function(E)end,onUndocked=function(self,k)self.undockedFn=k end,undocked=function(self,E)if self.undockedFn then runFunction(self.undockedFn,\"Construct Undocked Error: \",E)end end,playerBoardedFn=function(E)end,onPlayerBoarded=function(self,k)self.playerBoardedFn=k end,playerBoarded=function(self,E)if self.playerBoardedFn then runFunction(self.playerBoardedFn,\"Construct Player Boarded Error: \",E)end end,VRStationEnteredFn=function(E)end,onVRStationEntered=function(self,k)self.VRStationEnteredFn=k end,VRStationEntered=function(self,E)if self.VRStationEnteredFn then runFunction(self.VRStationEnteredFn,\"Construct VR Station Entered Error: \",E)end end,constructDockedFn=function(E)end,onConstructDocked=function(self,k)self.constructDockedFn=k end,constructDocked=function(self,E)if self.constructDockedFn then runFunction(self.constructDockedFn,\"Construct Construct Docked Error: \",E)end end,PvPTimerFn=function(F)end,onPvPTimer=function(self,k)self.PvPTimerFn=k end,PvPTimer=function(self,F)if self.PvPTimerFn then runFunction(self.PvPTimerFn,\"Construct PvP Timer Error: \",F)end end}}DU_Framework={__index={system=setmetatable({},o),unit=setmetatable({},x),player=setmetatable({},A),construct=setmetatable({},D)}}\n\nScript = {}\nsetmetatable(Script, DU_Framework)\n\n--[[\n String Helpers For Lua By Jericho\n]]\nString = {\n __index = {\n split = function(self, delimiter)\n local result = {}\n for match in (self..delimiter):gmatch(\"(.-)\"..delimiter) do\n table.insert(result, match)\n end\n return result\n end\n }\n}\nstring = setmetatable(string, String)\nstring.__index = string\n\nlocal systemOnFlush = {\n function()\n local yawSpeedFactor = 0.1 --export: the auto yaw speed multiplier\n local yawAccelerationFactor = 3\n local lateralAntiDriftFactor = 1\n local lateralStrafeFactor = 5\n local brakeSpeedFactor = 1\n local brakeFlatFactor = 4\n local autoBrakeSpeed = 15\n -- validate params\n brakeSpeedFactor = math.max(brakeSpeedFactor, 0.01)\n brakeFlatFactor = math.max(brakeFlatFactor, 0.01)\n yawSpeedFactor = math.max(yawSpeedFactor, 0.01)\n yawAccelerationFactor = math.max(yawAccelerationFactor, 0.01)\n --init all the PIDs as global if first flush\n if (rollPID == nil) then rollPID = pid.new(0.2, 0, 10) end\n if (pitchPID == nil) then pitchPID = pid.new(0.2, 0, 10) end\n if (yawPID == nil) then yawPID = pid.new(0.2, 0, 10) end\n if (lateralPID == nil) then lateralPID = pid.new(0.2, 0, 10) end\n if (longitudinalPID == nil) then longitudinalPID = pid.new(0.2, 0, 10) end\n if (distancePID == nil) then distancePID = pid.new(0.2, 0, 10) end\n\n -- final inputs\n if unit.isMouseDirectControlActivated() then\n -- in direct control, we tweak the pitch to behave inbetween virtual joystick and direct control\n -- this helps a lot for ground construct control\n pitchInputFromDevice = utils.clamp(pitchInputFromDevice + system.getControlDeviceForwardInput() * system.getActionUpdateDeltaTime(), -1.0, 1.0)\n else\n pitchInputFromDevice = system.getControlDeviceForwardInput()\n end\n local finalPitchInput = pitchInput + pitchInputFromDevice\n local finalRollInput = rollInput + system.getControlDeviceYawInput()\n local finalYawInput = yawInput - system.getControlDeviceLeftRightInput()\n local combinedRollYawInput = utils.clamp(finalRollInput - finalYawInput, -1.0, 1.0);\n local finalVerticalStrafeInput = verticalStrafeInput\n local finalLateralStrafeInput = lateralStrafeInput;\n local finalBrakeInput = brakeInput\n\n -- Axis\n local worldVertical = vec3(core.getWorldVertical())\n local worldRight = vec3(core.getWorldRight())\n local worldForward = vec3(core.getWorldForward())\n local constructUp = vec3(construct.getWorldOrientationUp())\n local constructForward = vec3(construct.getWorldOrientationForward())\n local constructRight = vec3(construct.getWorldOrientationRight())\n local constructVelocity = vec3(construct.getWorldVelocity())\n local constructVelocityDir = vec3(construct.getWorldVelocity()):normalize()\n local constructAngularVelocity = vec3(construct.getWorldAngularVelocity())\n local constructYawVelocity = constructAngularVelocity:dot(constructUp)\n local constructWorldPosition = vec3(construct.getWorldPosition())\n local constructTargetPosition = vec3(ConstructInitPos)\n\n -- Engine commands\n local keepCollinearity = 0 -- for easier reading\n local dontKeepCollinearity = 1 -- for easier reading\n local tolerancePercentToSkipOtherPriorities = 1 -- if we are within this tolerance (in%), we don't go to the next priorities\n\n --fake braking value\n local canBrake = false\n\n -- keeping the start position alignement\n local StrafeSpeedFactor = 1 --export: useg to increase the force of the alignement, decrease the value if the alignement is too strong or increase it if it's too slow\n local positionDifference = constructTargetPosition - constructWorldPosition\n local lateralOffset = positionDifference:project_on(constructRight):len() * utils.sign(positionDifference:dot(constructRight))\n ElevatorData.lateralSpeed = constructVelocity:project_on(worldRight):len()\n local lateralDistance = math.abs(lateralOffset)\n local longitudinalOffset = positionDifference:project_on(constructForward):len() * utils.sign(positionDifference:dot(constructForward))\n ElevatorData.longitudinalSpeed = constructVelocity:project_on(worldForward):len()\n local longitudinalDistance = math.abs(longitudinalOffset)\n if (lateralDistance < .25) and (longitudinalDistance < .25) then canBrake = true end\n if ((ElevatorData.lateralSpeed*3.6) > lateralDistance) or ((ElevatorData.longitudinalSpeed*3.6) > longitudinalDistance) then canBrake = true end\n lateralPID:inject(lateralOffset)\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.lateral, lateralPID:get() * StrafeSpeedFactor)\n longitudinalPID:inject(longitudinalOffset)\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.longitudinal, longitudinalPID:get() * StrafeSpeedFactor)\n\n -- Rotation\n local currentRollDeg = getRoll(worldVertical, constructForward, constructRight)\n local currentPitchDeg = -math.asin(constructForward:dot(worldVertical)) * constants.rad2deg\n local targetRollDeg = 0\n local targetPitchDeg = 0\n local targetYawDeg = signedAngleBetween(BaseForward,constructForward,constructUp)*180/math.pi\n rollPID:inject(targetRollDeg - currentRollDeg)\n pitchPID:inject(targetPitchDeg - currentPitchDeg)\n yawPID:inject(-targetYawDeg*yawSpeedFactor)\n\n local constructTargetAngularVelocity = rollPID:get() * constructForward + pitchPID:get() * constructRight + yawPID:get() * constructUp\n\n Nav:setEngineTorqueCommand('torque', constructTargetAngularVelocity, keepCollinearity, 'airfoil', '', '', tolerancePercentToSkipOtherPriorities)\n\n -- moving up or down from TargetAltitude\n ElevatorData.verticalSpeed = constructVelocity:project_on(worldVertical):len()\n ElevatorData.verticalSpeedSigned = ElevatorData.verticalSpeed * -utils.sign(constructVelocity:dot(worldVertical))\n local brakeDistance = 0\n local maxBrake = construct.getMaxBrake()\n if maxBrake ~= nil then\n brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, construct.getInertialMass(), 0, 0, maxBrake - (core.getGravityIntensity() * construct.getInertialMass()) * utils.sign(ElevatorData.verticalSpeedSigned))\n end\n ElevatorData.altitude = core.getAltitude()\n local distance = TargetAltitude - ElevatorData.altitude\n local targetDistance = utils.sign(distance) * (math.abs(distance)-brakeDistance)\n distancePID:inject(targetDistance)\n if distancePID:get() > 0.5 or ElevatorData.verticalSpeedSigned < -MaxSpeed then --using a 0.5 meter deadband for stabilizing\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\n ElevatorData.direction = 'up'\n if ElevatorData.verticalSpeedSigned < 0 then\n finalBrakeInput = 1\n end\n elseif distancePID:get() < -0.5 or ElevatorData.verticalSpeedSigned > MaxSpeed then\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)\n ElevatorData.direction = 'down'\n if ElevatorData.verticalSpeedSigned > 0 then\n finalBrakeInput = 1\n end\n else\n Nav.axisCommandManager:resetCommand(axisCommandId.vertical)\n ElevatorData.direction = 'stabilizing'\n end\n\n --Brakes\n if\n (math.abs(distance) < (ElevatorData.verticalSpeed*3.6) and canBrake)\n or (ElevatorData.verticalSpeed >= MaxSpeed)\n or ((brakeDistance > math.abs(distance)) and canBrake)\n or (finalBrakeInput == 0 and autoBrakeSpeed > 0 and Nav.axisCommandManager.throttle == 0 and constructVelocity:len() < autoBrakeSpeed)\n then\n finalBrakeInput = 1\n end\n ElevatorData.isBreaking = (finalBrakeInput == 1)\n local brakeAcceleration = -finalBrakeInput * (brakeSpeedFactor * constructVelocity + brakeFlatFactor * constructVelocityDir)\n\n Nav:setEngineForceCommand('brake', brakeAcceleration)\n\n -- AutoNavigation regroups all the axis command by 'TargetSpeed'\n local autoNavigationEngineTags = ''\n local autoNavigationAcceleration = vec3()\n local autoNavigationUseBrake = false\n\n -- Longitudinal Translation\n local longitudinalEngineTags = 'thrust analog longitudinal'\n local longitudinalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.longitudinal)\n if (longitudinalCommandType == axisCommandType.byThrottle) then\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(longitudinalEngineTags,axisCommandId.longitudinal)\n Nav:setEngineForceCommand(longitudinalEngineTags, longitudinalAcceleration, keepCollinearity)\n elseif (longitudinalCommandType == axisCommandType.byTargetSpeed) then\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.longitudinal)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. longitudinalEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + longitudinalAcceleration\n if (Nav.axisCommandManager:getTargetSpeed(axisCommandId.longitudinal) == 0 or -- we want to stop\n Nav.axisCommandManager:getCurrentToTargetDeltaSpeed(axisCommandId.longitudinal) < - Nav.axisCommandManager:getTargetSpeedCurrentStep(axisCommandId.longitudinal) * 0.5) -- if the longitudinal velocity would need some braking\n then\n autoNavigationUseBrake = true\n end\n end\n\n -- Lateral Translation\n local lateralStrafeEngineTags = 'thrust analog lateral'\n local lateralCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.lateral)\n if (lateralCommandType == axisCommandType.byThrottle) then\n local lateralStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(lateralStrafeEngineTags,axisCommandId.lateral)\n Nav:setEngineForceCommand(lateralStrafeEngineTags, lateralStrafeAcceleration, keepCollinearity)\n elseif (lateralCommandType == axisCommandType.byTargetSpeed) then\n local lateralAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.lateral)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. lateralStrafeEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + lateralAcceleration\n end\n\n -- Vertical Translation\n local verticalStrafeEngineTags = 'thrust analog vertical'\n local verticalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.vertical)\n if (verticalCommandType == axisCommandType.byThrottle) then\n local verticalStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(verticalStrafeEngineTags,axisCommandId.vertical)\n Nav:setEngineForceCommand(verticalStrafeEngineTags, verticalStrafeAcceleration, keepCollinearity, 'airfoil', 'ground', '', tolerancePercentToSkipOtherPriorities)\n elseif (verticalCommandType == axisCommandType.byTargetSpeed) then\n local verticalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.vertical)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. verticalStrafeEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + verticalAcceleration\n end\n\n -- Auto Navigation (Cruise Control)\n if (autoNavigationAcceleration:len() > constants.epsilon) then\n if (brakeInput ~= 0 or autoNavigationUseBrake or math.abs(constructVelocityDir:dot(constructForward)) < 0.95) -- if the velocity is not properly aligned with the forward\n then\n autoNavigationEngineTags = autoNavigationEngineTags .. ', brake'\n end\n Nav:setEngineForceCommand(autoNavigationEngineTags, autoNavigationAcceleration, dontKeepCollinearity, '', '', '', tolerancePercentToSkipOtherPriorities)\n end\n\n -- Rockets\n Nav:setBoosterCommand('rocket_engine')\n end\n}\n\nlocal systemOnUpdate = {\n function ()\n Nav:update()\n end,\n function ()\n --That function is used for rendering the HUD, you can update it or replace all its content to customise it. You can also remove it if you don't want a HUD\n local direction = 'Stabilizing'\n if ElevatorData.verticalSpeedSigned > 0 then\n direction = 'Up'\n elseif ElevatorData.verticalSpeedSigned < 0 then\n direction = 'Down'\n end\n\n local brakeStatus = 'Off'\n if ElevatorData.isBreaking then\n brakeStatus = 'On'\n end\n local html = [[\n <style>\n * {\n font-size:1vh !important;\n }\n .hud {\n position: absolute;\n left: 5vh;\n top: 5vh;\n right: 5vh;\n display: flex;\n flex-direction: column;\n justify-content: left;\n align-items: left;\n }\n .widget_container {\n border: 2px solid orange;\n border-radius:.5vh;\n background-color: rgba(0, 0, 0, .5);\n display: flex;\n flex-direction: column;\n padding:.5vh;\n margin-top:1vh;\n }\n .widget_container div {\n display: flex;\n flex-direction: row;\n justify-content: space-between;\n }\n .widget_container div div {\n margin:.25vh;\n }\n .widget_container div div:first-child {\n text-transform: uppercase;\n font-weight: bold;\n }\n .selected {\n color: teal;\n }\n .movingto {\n color: green;\n }\n .atmo .gauge {\n background-color: #22d3ee;\n }\n .atmo .gauge_label {\n color: #155e75;\n }\n .space .gauge {\n background-color: #fbbf24;\n }\n .space .gauge_label {\n color: #92400e;\n }\n .rocket .gauge {\n background-color: #a78bfa;\n }\n .rocket .gauge_label {\n color: #5b21b6;\n }\n .gauge_container {\n display:block;\n width:100%;\n min-width:10vw;\n position: relative;\n border: 1px solid black;\n background-color: rgba(0, 0, 0, .75);\n height: 1.5vh;\n }\n .gauge {\n position: absolute;\n z-index:1;\n top:-.25vh;\n left:-.25vh;\n height:100%;\n margin:0;\n background-color: cyan;\n }\n .gauge_label {\n position:relative;\n display:block;\n z-index:10;\n margin:0;\n padding:0;\n width:100%;\n text-align:center;\n }\n </style>\n <div class=\"hud\">\n <div class=\"widget_container\">\n <div>\n <div>Base Altitude</div><div>]] .. format_number(utils.round(BaseAltitute)) .. [[m</div>\n </div>\n <div>\n <div>Target Altitude</div><div>]] .. format_number(utils.round(TargetAltitude)) .. [[m</div>\n </div>\n <div>\n <div>Current Altitude</div><div>]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m</div>\n </div>\n <div>\n <div>Vertical Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Lateral Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Longitudinal Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Direction</div><div>]] .. ElevatorData.direction .. [[</div>\n </div>\n <div>\n <div>Brake</div><div>]] .. brakeStatus .. [[</div>\n </div>\n </div>\n ]]\n if #fuelTanks > 0 then\n html = html .. '<div class=\"widget_container\">'\n for _, tank in pairs(fuelTanks) do\n html = html .. '<div><div>' .. tank:getName() .. '</div><div>' .. tank:getTimeLeftString() .. '</div></div><div class=\"gauge_container ' .. tank:getFuelType() .. '\"><div class=\"gauge\" style=\"width:' .. utils.round(tank:getPercentFilled()) .. '%;\"></div><div class=\"gauge_label\"><div style=\"margin-left:auto;margin-right:auto;padding:0;margin-top:-.25vh;\">' .. format_number(utils.round(tank:getPercentFilled())) .. '%</div></div></div>'\n end\n html = html .. '</div>'\n end\n if #Bookmarks > 0 then\n html = html .. '<div class=\"widget_container\"><div><div>Bookmarks</div></div>'\n for index, bookmark in ipairs(Bookmarks) do\n local class=''\n if selectedBookmarkIndex == index then\n class = 'selected'\n end\n local displayName = bookmark.name\n if selectedBookmarkIndex > 0 and bookmark.altitude == TargetAltitude then\n displayName = ' >> ' .. bookmark.name\n class = 'movingto'\n end\n html = html .. '<div class=\"' .. class .. '\"><div>' .. displayName .. '</div><div>' .. format_number(bookmark.altitude) .. 'm</div></div>'\n end\n html = html .. '</div>'\n end\n\n html = html .. '</div>'\n system.setScreen(html)\n end\n}\n\nScript.system:onUpdate(systemOnUpdate)\nScript.system:onFlush(systemOnFlush)\n\n--[[\n Actions\n]]\nlocal systemActionsStart = {}\n\nsystemActionsStart[Script.system.ACTIONS.DOWN] = function ()\n if selectedBookmarkIndex < #Bookmarks then\n selectedBookmarkIndex = selectedBookmarkIndex + 1\n else\n selectedBookmarkIndex = 1\n end\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\nend\nsystemActionsStart[Script.system.ACTIONS.UP] = function ()\n if selectedBookmarkIndex > 1 then\n selectedBookmarkIndex = selectedBookmarkIndex - 1\n else\n selectedBookmarkIndex = #Bookmarks\n end\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\nend\nsystemActionsStart[Script.system.ACTIONS.STRAFE_RIGHT] = function ()\n brakeInput = 0\n if selectedBookmarkIndex > 0 then\n TargetAltitude = Bookmarks[selectedBookmarkIndex].altitude\n if __DEBUG then system.print('Target Altitude: ' .. TargetAltitude) end\n else\n system.print('No bookmark selected')\n end\nend\nScript.system:onActionStart(systemActionsStart) --loading all \"actionStart\" functions\n\n--[[\n Chat Commands\n]]\n\nScript.system:onInputText(function (text)\n if text:lower():find('goto:') then\n TargetAltitude = tonumber(text:split(':')[2]) or BaseAltitute\n brakeInput = 0\n system.print('Target Altitude set to ' .. TargetAltitude .. 'm')\n else\n system.print('Unknown command')\n end\nend)\n","filter":{"args":[],"signature":"onStart()","slotKey":"-1"},"key":"2"}],"methods":[],"slots":{"0":{"name":"slot1","type":{"events":[],"methods":[]}},"1":{"name":"slot2","type":{"events":[],"methods":[]}},"2":{"name":"slot3","type":{"events":[],"methods":[]}},"3":{"name":"slot4","type":{"events":[],"methods":[]}},"4":{"name":"slot5","type":{"events":[],"methods":[]}},"5":{"name":"slot6","type":{"events":[],"methods":[]}},"6":{"name":"slot7","type":{"events":[],"methods":[]}},"7":{"name":"slot8","type":{"events":[],"methods":[]}},"8":{"name":"slot9","type":{"events":[],"methods":[]}},"9":{"name":"slot10","type":{"events":[],"methods":[]}},"-5":{"name":"library","type":{"events":[],"methods":[]}},"-4":{"name":"system","type":{"events":[],"methods":[]}},"-3":{"name":"player","type":{"events":[],"methods":[]}},"-2":{"name":"construct","type":{"events":[],"methods":[]}},"-1":{"name":"unit","type":{"events":[],"methods":[]}}}} 1 + {"events":[],"handlers":[{"code":"Script.system:update()","filter":{"args":[],"signature":"onUpdate()","slotKey":"-4"},"key":"9"},{"code":"Script.system:inputText(text)","filter":{"args":[{"variable":"*"}],"signature":"onInputText(text)","slotKey":"-4"},"key":"10"},{"code":"Script.system:flush()","filter":{"args":[],"signature":"onFlush()","slotKey":"-4"},"key":"11"},{"code":"Script.system:actionStop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStop(action)","slotKey":"-4"},"key":"12"},{"code":"Script.system:actionStart(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStart(action)","slotKey":"-4"},"key":"13"},{"code":"Script.system:actionLoop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionLoop(action)","slotKey":"-4"},"key":"14"},{"code":"Script.player:parentChanged(oldId, newId)","filter":{"args":[{"variable":"*"},{"variable":"*"}],"signature":"onParentChanged(oldId,newId)","slotKey":"-3"},"key":"3"},{"code":"Script.construct:VRStationEntered(id)","filter":{"args":[{"variable":"*"}],"signature":"onVRStationEntered(id)","slotKey":"-2"},"key":"4"},{"code":"Script.construct:undocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onUndocked(id)","slotKey":"-2"},"key":"5"},{"code":"Script.construct:PvPTimer(active)","filter":{"args":[{"variable":"*"}],"signature":"onPvPTimer(active)","slotKey":"-2"},"key":"6"},{"code":"Script.construct:playerBoarded(id)","filter":{"args":[{"variable":"*"}],"signature":"onPlayerBoarded(id)","slotKey":"-2"},"key":"7"},{"code":"Script.construct:constructDocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onConstructDocked(id)","slotKey":"-2"},"key":"8"},{"code":"Script.unit:timer(tag)","filter":{"args":[{"variable":"*"}],"signature":"onTimer(tag)","slotKey":"-1"},"key":"0"},{"code":"Script.unit:stop()","filter":{"args":[],"signature":"onStop()","slotKey":"-1"},"key":"1"},{"code":"--[[\n DU-ELEVATOR by Jericho\n]]\n\n--[[\n Bookmarks: you can store several altitudes here to navigate easily\n]]\nlocal Bookmarks = {\n { name = 'Start Point', altitude = 294 },\n { name = 'Hovering', altitude = 300 },\n { name = 'Floor 1', altitude = 350 },\n { name = 'Floor 2', altitude = 500 },\n { name = 'Space 1', altitude = 5000 },\n { name = 'Space 2', altitude = 6000 },\n}\n\natlas = require \"atlas\"\n\n--[[\n LUA PARAMETERS\n]]\n__DEBUG = false --export: Debug mode, will print more information in the console\nShowParentingWidget = false --export: Show the parenting widget\nShowControlUnitWidget = false --export: show the default widget of the construct\n\n--[[\n Version Management\n]]\nlocal version = \"V 1.1.2\"\nlocal log_split = \"=================================================\"\n--printing version in lua chat\nsystem.print(log_split)local a=\"\"local b=math.ceil((50-#version-2)/2)for c=1,b,1 do a=a..'='end;a=a..\" \"..version..\" \"for c=1,b,1 do a=a..'='end;system.print(a)system.print(log_split)\n--[[\n Fuel Tanks Metatable By Jericho\n Version: 1.0.0\n Unminified Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/ElementsMetatable/FuelTank.lua\n]]\nFuelTank={__index={name='',percentage=0,timeLeft=0,lastRefresh=0,fuelType='rocket',refresh=function(self)local a=system.getUtcTime()if lastRefresh~=a then local b=self.getClass():lower()if b:find('atmo')then self.fuelType=\"atmo\"elseif b:find('space')then self.fuelType=\"space\"end;local c=self.getWidgetData()local d=json.decode(c)self.name=d.name;self.percentage=d.percentage;self.timeLeft=tonumber(d.timeLeft)self.lastRefresh=a end end,getName=function(self)self:refresh()return self.name end,getPercentFilled=function(self)self:refresh()return self.percentage end,getSecondsLeft=function(self)self:refresh()return self.timeLeft end,getFuelType=function(self)self:refresh()return self.fuelType end,getTimeLeftString=function(self)local e=self:getSecondsLeft()if e==nil or e<=0 then return\"-\"end;days=string.format(\"%2.f\",math.floor(e/(3600*24)))hours=string.format(\"%2.f\",math.floor(e/3600-days*24))mins=string.format(\"%2.f\",math.floor(e/60-hours*60-days*24*60))secs=string.format(\"%2.f\",math.floor(e-hours*3600-days*24*60*60-mins*60))str=\"\"if tonumber(days)>0 then str=str..days..\"d \"end;if tonumber(hours)>0 then str=str..hours..\"h \"end;if tonumber(mins)>0 then str=str..mins..\"m \"end;if tonumber(secs)>0 then str=str..secs..\"s\"end;return str end,dump=function(self)self:refresh()system.print('{name=\"'..self.name..'\",percentage='..self.percentage..',timeLeft='..self.timeLeft..',fuelType=\"'..self.fuelType..'\"}')end}}\n--[[\n Detecting elements linked\n]]\ncore = nil\nfuelTanks = {}\nfor slot_name, slot in pairs(unit) do\n if\n type(slot) == \"table\"\n and type(slot.export) == \"table\"\n and slot.getClass\n then\n local class = slot.getClass():lower()\n if class:find(\"coreunit\") then\n core = slot\n elseif class:find(\"fuelcontainer\") then\n fuelTanks[#fuelTanks + 1] = setmetatable(slot, FuelTank)\n end\n end\nend\n\n--[[\n stopping the script if required elements are not linked\n]]\nif core == nil then\n system.print('Core unit is not linked, exiting the script')\n unit.exit()\nend\n\n--[[\n Default Unit Start Mechanics\n]]\npitchInput = 0\npitchInputFromDevice = 0\nrollInput = 0\nyawInput = 0\nverticalStrafeInput = 0\nlateralStrafeInput = 0\nbrakeInput = 1 --braking by default\ngoingBack = false\ngoingForward = false\nshiftPressed = false\njumpDelta = 0\nbaseAcceleration = 0.8\n\nNav = Navigator.new(system, core, unit)\nNav.axisCommandManager:setupCustomTargetSpeedRanges(axisCommandId.longitudinal, {100, 500, 1000, 2000,3000, 5000})\nNav.axisCommandManager:setTargetGroundAltitude(0)\nunit.deactivateGroundEngineAltitudeStabilization()\n\n-- Parenting widget\nif ShowParentingWidget then\n parentingPanelId = system.createWidgetPanel(\"Docking\")\n parentingWidgetId = system.createWidget(parentingPanelId,\"parenting\")\n system.addDataToWidget(unit.getWidgetDataId(),parentingWidgetId)\nend\nif not ShowControlUnitWidget then\n unit.hideWidget()\nend\n\n--[[\n Storing base position and orientation of the elevator\n]]\nConstructInitPos = construct.getWorldPosition()\n--replace that pos by a hand written value to be sure the construct will always realign the same position\n--ConstructInitPos = {-1231461.6525868,1201334.4594833,-2617227.3718653}\nif __DEBUG then system.print('ConstructInitPos: ' .. json.encode(ConstructInitPos)) end\nBaseForward = vec3(construct.getWorldForward())\n--replace that pos by a hand written value to be sure the construct will always realign the same forward orientation\n--BaseForward = vec3({-0.085554607212543,0.2445342447567,-0.9658600687807})\nif __DEBUG then system.print('BaseForward: ' .. json.encode(BaseForward)) end\nBaseAltitute = Bookmarks[1].altitude --getting the base altitude from the 1st bookmark\n--init a value to store the target altitude\nTargetAltitude = core.getAltitude() --by default to the start altitude to avoid falling down if in the air\n\nElevatorData = {\n isBreaking = brakeInput == 1,\n verticalSpeed = 0,\n verticalSpeedSigned = 0,\n lateralSpeed = 0,\n longitudinalSpeed = 0,\n altitude = TargetAltitude,\n direction = 'stabilizing',\n}\n\n--TODO: to replace with a computing in flush from the current acceleration and the friction acceleration (construct.getWorldAirFrictionAcceleration)\nMaxSpeed = construct.getFrictionBurnSpeed() -- for security to avoid burning if going too fast\nif __DEBUG then system.print('MaxSpeed: ' .. (MaxSpeed*3.6) .. 'km/h') end\n--base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua\nselectedBookmarkIndex = 0\n\n--[[\n init the HUD\n]]\nsystem.showScreen(true)\n\n--[[\n Kinematics functions by Jaylebreak\n Source available at https://gitlab.com/JayleBreak/dualuniverse/-/blob/master/DUflightfiles/autoconf/custom/kinematics.lua\n]]\nfunction computeAccelerationTime(initial, acceleration, final) return (final - initial)/acceleration end\nfunction computeDistanceAndTime(initial, final, mass, thrust, t50, brakeThrust)\n t50 = t50 or 0\n brakeThrust = brakeThrust or 0\n local speedUp = initial < final\n local a0 = thrust / (speedUp and mass or -mass)\n local b0 = -brakeThrust/mass\n local totA = a0+b0\n if initial == final then\n return 0, 0\n elseif speedUp and totA <= 0 or not speedUp and totA >= 0 then\n return -1, -1\n end\n local distanceToMax, timeToMax = 0, 0\n if a0 ~= 0 and t50 > 0 then\n local c1 = math.pi/t50/2\n local v = function(t)\n return a0*(t/2 - t50*math.sin(c1*t)/math.pi) + b0*t + initial\n end\n local speedchk = speedUp and function(s) return s >= final end or function(s) return s <= final end\n timeToMax = 2*t50\n if speedchk(v(timeToMax)) then\n local lasttime = 0\n while math.abs(timeToMax - lasttime) > 0.25 do\n local t = (timeToMax + lasttime)/2\n if speedchk(v(t)) then\n timeToMax = t\n else\n lasttime = t\n end\n end\n end\n local K = 2*a0*t50^2/math.pi^2\n distanceToMax = K*(math.cos(c1*timeToMax) - 1) + (a0+2*b0)*timeToMax^2/4 + initial*timeToMax\n if timeToMax < 2*t50 then\n return distanceToMax, timeToMax\n end\n initial = v(timeToMax)\n end\n local a = a0+b0\n local t = computeAccelerationTime(initial, a, final)\n local d = initial*t + a*t*t/2\n return distanceToMax+d, timeToMax+t\nend\n\n--[[\n Compute angle between vectors by Jericho\n]]\nfunction signedAngleBetween(vec1, vec2, planeNormal)\n local normVec1 = vec1:project_on_plane(planeNormal):normalize()\n local normVec2 = vec2:normalize()\n local v1v2dot = normVec1:dot(normVec2)\n local angle = math.acos(utils.clamp(v1v2dot,-1,1))\n local crossProduct = vec1:cross(vec2)\n if crossProduct:dot(planeNormal) < 0 then\n return -angle\n end\n return angle\nend\n--[[\n\tformatting numbers by adding a space between thousands by Jericho\n]]\nfunction format_number(a)local b=a;while true do b,k=string.gsub(b,\"^(-?%d+)(%d%d%d)\",'%1 %2')if k==0 then break end end;local c=string.sub(b,-2)if c=='.0'then b=string.sub(b,1,b:len()-2)end;return b end\n--[[\n DU-LUA-Framework by Jericho\n Permit to code easier by grouping most of the code in a single event Unit > Start\n Unminified Source available here: https://github.com/Jericho1060/du-lua-framework\n]]--\nlocal a=system.print;local b=error;local c=pcall;local d=assert;local e=coroutine;local f=e.create;local g=e.status;local h=e.resume;local i=\"dead\"local j=\"suspended\"function runFunction(k,l,...)local m,n=c(k,...)if not m then b(l..n)end end;local o={__index={cos={update={},flush={}},fns={update={},flush={},action={start={},stop={},loop={}},inputText=nil,start=nil,stop=nil},ACTIONS={FORWARD=\"forward\",BACKWARD=\"backward\",YAW_LEFT=\"yawleft\",YAW_RIGHT=\"yawright\",STRAFE_LEFT=\"strafeleft\",STRAFE_RIGHT=\"straferight\",LEFT=\"left\",RIGHT=\"right\",UP=\"up\",DOWN=\"down\",GROUND_ALTITUDE_UP=\"groundaltitudeup\",GROUND_ALTITUDE_DOWN=\"groundaltitudedown\",LEFT_ALT=\"lalt\",LEFT_SHIFT=\"lshift\",GEAR=\"gear\",LIGHT=\"light\",BRAKE=\"brake\",OPTION_1=\"option1\",OPTION_2=\"option2\",OPTION_3=\"option3\",OPTION_4=\"option4\",OPTION_5=\"option5\",OPTION_6=\"option6\",OPTION_7=\"option7\",OPTION_8=\"option8\",OPTION_9=\"option9\",OPTION_10=\"option10\",OPTION_11=\"option11\",OPTION_12=\"option12\",OPTION_13=\"option13\",OPTION_14=\"option14\",OPTION_15=\"option15\",OPTION_16=\"option16\",OPTION_17=\"option17\",OPTION_18=\"option18\",OPTION_19=\"option19\",OPTION_20=\"option20\",OPTION_21=\"option21\",OPTION_22=\"option22\",OPTION_23=\"option23\",OPTION_24=\"option24\",OPTION_25=\"option25\",OPTION_26=\"option26\",OPTION_27=\"option27\",OPTION_28=\"option28\",OPTION_29=\"option29\",LEFT_MOUSE=\"leftmouse\",STOP_ENGINES=\"stopengines\",SPEED_UP=\"speedup\",SPEED_DOWN=\"speeddown\",ANTIGRAVITY=\"antigravity\",BOOSTER=\"booster\"},main={update=f(function()end),flush=f(function()end)},update=function(self)local p=g(self.main.update)if p==i then self.main.update=f(function()self:runUpdate()end)elseif p==j then d(h(self.main.update))end end,flush=function(self)local p=g(self.main.flush)if p==i then self.main.flush=f(function()self:runFlush()end)elseif p==j then d(h(self.main.flush))end end,action=function(self,q,r)if self.fns.action[q][r]then runFunction(self.fns.action[q][r],\"System Action \"..q..\" Error: \")end end,actionStart=function(self,r)self:action('start',r)end,actionStop=function(self,r)self:action('stop',r)end,actionLoop=function(self,r)self:action('loop',r)end,inputText=function(self,s)if self.fns.inputText then runFunction(self.fns.inputText,\"System Input Text Error: \",s)end end,runUpdate=function(self)for t,u in pairs(self.cos.update)do local m=g(u)if m==i then self.cos.update[t]=f(self.fns.update[t])elseif m==j then d(h(u))end end end,runFlush=function(self)for t,u in pairs(self.cos.flush)do local m=g(u)if m==i then self.cos.flush[t]=f(self.fns.flush[t])elseif m==j then d(h(u))end end end,onUpdate=function(self,v)for t,w in pairs(v)do self.fns.update[t]=w;self.cos.update[t]=f(w)end end,onFlush=function(self,v)for t,w in pairs(v)do self.fns.flush[t]=w;self.cos.flush[t]=f(w)end end,onAction=function(self,q,v)for t,w in pairs(v)do self.fns.action[q][t]=w end end,onActionStart=function(self,v)self:onAction(\"start\",v)end,onActionStop=function(self,v)self:onAction(\"stop\",v)end,onActionLoop=function(self,v)self:onAction(\"loop\",v)end,onInputText=function(self,k)self.fns.inputText=k end}}local x={__index={timers={},stopFn=function()end,timer=function(self,y)if self.timers[y]then runFunction(self.timers[y],\"Unit Timer \"..y..\" Error: \")end end,setTimer=function(self,y,z,k)self.timers[y]=k;unit.setTimer(y,z)end,stopTimer=function(self,y)unit.stopTimer(y)self.timers[y]=nil end,onStop=function(self,k)self.stopFn=k end,stop=function(self)if self.stopFn then runFunction(self.stopFn,\"Unit Stop Error: \")end end}}local A={__index={parentChangedFn=function(B,C)end,onParentChange=function(self,k)self.parentChangedFn=k end,parentChanged=function(self,B,C)if self.parentChangedFn then runFunction(self.parentChangedFn,\"Player Parent Changed Error: \",B,C)end end}}local D={__index={dockedFn=function(E)end,onDocked=function(self,k)self.dockedFn=k end,docked=function(self,E)if self.dockedFn then runFunction(self.dockedFn,\"Construct Docked Error: \",E)end end,undockedFn=function(E)end,onUndocked=function(self,k)self.undockedFn=k end,undocked=function(self,E)if self.undockedFn then runFunction(self.undockedFn,\"Construct Undocked Error: \",E)end end,playerBoardedFn=function(E)end,onPlayerBoarded=function(self,k)self.playerBoardedFn=k end,playerBoarded=function(self,E)if self.playerBoardedFn then runFunction(self.playerBoardedFn,\"Construct Player Boarded Error: \",E)end end,VRStationEnteredFn=function(E)end,onVRStationEntered=function(self,k)self.VRStationEnteredFn=k end,VRStationEntered=function(self,E)if self.VRStationEnteredFn then runFunction(self.VRStationEnteredFn,\"Construct VR Station Entered Error: \",E)end end,constructDockedFn=function(E)end,onConstructDocked=function(self,k)self.constructDockedFn=k end,constructDocked=function(self,E)if self.constructDockedFn then runFunction(self.constructDockedFn,\"Construct Construct Docked Error: \",E)end end,PvPTimerFn=function(F)end,onPvPTimer=function(self,k)self.PvPTimerFn=k end,PvPTimer=function(self,F)if self.PvPTimerFn then runFunction(self.PvPTimerFn,\"Construct PvP Timer Error: \",F)end end}}DU_Framework={__index={system=setmetatable({},o),unit=setmetatable({},x),player=setmetatable({},A),construct=setmetatable({},D)}}\n\nScript = {}\nsetmetatable(Script, DU_Framework)\n\n--[[\n String Helpers For Lua By Jericho\n]]\nString = {\n __index = {\n split = function(self, delimiter)\n local result = {}\n for match in (self..delimiter):gmatch(\"(.-)\"..delimiter) do\n table.insert(result, match)\n end\n return result\n end\n }\n}\nstring = setmetatable(string, String)\nstring.__index = string\n\nlocal systemOnFlush = {\n function()\n local yawSpeedFactor = 0.1 --export: the auto yaw speed multiplier\n local yawAccelerationFactor = 3\n local lateralAntiDriftFactor = 1\n local lateralStrafeFactor = 5\n local brakeSpeedFactor = 1\n local brakeFlatFactor = 4\n local autoBrakeSpeed = 15\n -- validate params\n brakeSpeedFactor = math.max(brakeSpeedFactor, 0.01)\n brakeFlatFactor = math.max(brakeFlatFactor, 0.01)\n yawSpeedFactor = math.max(yawSpeedFactor, 0.01)\n yawAccelerationFactor = math.max(yawAccelerationFactor, 0.01)\n --init all the PIDs as global if first flush\n if (rollPID == nil) then rollPID = pid.new(0.2, 0, 10) end\n if (pitchPID == nil) then pitchPID = pid.new(0.2, 0, 10) end\n if (yawPID == nil) then yawPID = pid.new(0.2, 0, 10) end\n if (lateralPID == nil) then lateralPID = pid.new(0.2, 0, 10) end\n if (longitudinalPID == nil) then longitudinalPID = pid.new(0.2, 0, 10) end\n if (distancePID == nil) then distancePID = pid.new(0.2, 0, 10) end\n\n -- final inputs\n if unit.isMouseDirectControlActivated() then\n -- in direct control, we tweak the pitch to behave inbetween virtual joystick and direct control\n -- this helps a lot for ground construct control\n pitchInputFromDevice = utils.clamp(pitchInputFromDevice + system.getControlDeviceForwardInput() * system.getActionUpdateDeltaTime(), -1.0, 1.0)\n else\n pitchInputFromDevice = system.getControlDeviceForwardInput()\n end\n local finalPitchInput = pitchInput + pitchInputFromDevice\n local finalRollInput = rollInput + system.getControlDeviceYawInput()\n local finalYawInput = yawInput - system.getControlDeviceLeftRightInput()\n local combinedRollYawInput = utils.clamp(finalRollInput - finalYawInput, -1.0, 1.0);\n local finalVerticalStrafeInput = verticalStrafeInput\n local finalLateralStrafeInput = lateralStrafeInput;\n local finalBrakeInput = brakeInput\n\n -- Axis\n local worldVertical = vec3(core.getWorldVertical())\n local worldRight = vec3(core.getWorldRight())\n local worldForward = vec3(core.getWorldForward())\n local constructUp = vec3(construct.getWorldOrientationUp())\n local constructForward = vec3(construct.getWorldOrientationForward())\n local constructRight = vec3(construct.getWorldOrientationRight())\n local constructVelocity = vec3(construct.getWorldVelocity())\n local constructVelocityDir = vec3(construct.getWorldVelocity()):normalize()\n local constructAngularVelocity = vec3(construct.getWorldAngularVelocity())\n local constructYawVelocity = constructAngularVelocity:dot(constructUp)\n local constructWorldPosition = vec3(construct.getWorldPosition())\n local constructTargetPosition = vec3(ConstructInitPos)\n\n -- Engine commands\n local keepCollinearity = 0 -- for easier reading\n local dontKeepCollinearity = 1 -- for easier reading\n local tolerancePercentToSkipOtherPriorities = 1 -- if we are within this tolerance (in%), we don't go to the next priorities\n\n --fake braking value\n local canBrake = false\n\n -- keeping the start position alignement\n local StrafeSpeedFactor = 1 --export: useg to increase the force of the alignement, decrease the value if the alignement is too strong or increase it if it's too slow\n local positionDifference = constructTargetPosition - constructWorldPosition\n local lateralOffset = positionDifference:project_on(constructRight):len() * utils.sign(positionDifference:dot(constructRight))\n ElevatorData.lateralSpeed = constructVelocity:project_on(worldRight):len()\n local lateralDistance = math.abs(lateralOffset)\n local longitudinalOffset = positionDifference:project_on(constructForward):len() * utils.sign(positionDifference:dot(constructForward))\n ElevatorData.longitudinalSpeed = constructVelocity:project_on(worldForward):len()\n local longitudinalDistance = math.abs(longitudinalOffset)\n if (lateralDistance < .25) and (longitudinalDistance < .25) then canBrake = true end\n if ((ElevatorData.lateralSpeed*3.6) > lateralDistance) or ((ElevatorData.longitudinalSpeed*3.6) > longitudinalDistance) then canBrake = true end\n lateralPID:inject(lateralOffset)\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.lateral, lateralPID:get() * StrafeSpeedFactor)\n longitudinalPID:inject(longitudinalOffset)\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.longitudinal, longitudinalPID:get() * StrafeSpeedFactor)\n\n -- Rotation\n local currentRollDeg = getRoll(worldVertical, constructForward, constructRight)\n local currentPitchDeg = -math.asin(constructForward:dot(worldVertical)) * constants.rad2deg\n local targetRollDeg = 0\n local targetPitchDeg = 0\n local targetYawDeg = signedAngleBetween(BaseForward,constructForward,constructUp)*180/math.pi\n rollPID:inject(targetRollDeg - currentRollDeg)\n pitchPID:inject(targetPitchDeg - currentPitchDeg)\n yawPID:inject(-targetYawDeg*yawSpeedFactor)\n\n local constructTargetAngularVelocity = rollPID:get() * constructForward + pitchPID:get() * constructRight + yawPID:get() * constructUp\n\n Nav:setEngineTorqueCommand('torque', constructTargetAngularVelocity, keepCollinearity, 'airfoil', '', '', tolerancePercentToSkipOtherPriorities)\n\n -- moving up or down from TargetAltitude\n ElevatorData.verticalSpeed = constructVelocity:project_on(worldVertical):len()\n ElevatorData.verticalSpeedSigned = ElevatorData.verticalSpeed * -utils.sign(constructVelocity:dot(worldVertical))\n local brakeDistance = 0\n local maxBrake = construct.getMaxBrake()\n if maxBrake ~= nil then\n local g = core.getGravityIntensity()\n if ElevatorData.verticalSpeedSigned < 0 then\n g = atlas[0][core.getCurrentPlanetId()].gravity --when falling, apply the max gravity to the braking computing to increase braking\n end\n local inertialMass = construct.getInertialMass()\n local speedSign = utils.sign(ElevatorData.verticalSpeedSigned)\n brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign))\n end\n ElevatorData.altitude = core.getAltitude()\n local distance = TargetAltitude - ElevatorData.altitude\n local targetDistance = utils.sign(distance) * (math.abs(distance)-brakeDistance)\n distancePID:inject(targetDistance)\n if distancePID:get() > 0.5 or ElevatorData.verticalSpeedSigned < -MaxSpeed then --using a 0.5 meter deadband for stabilizing\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\n ElevatorData.direction = 'up'\n if ElevatorData.verticalSpeedSigned < 0 then\n finalBrakeInput = 1\n end\n elseif distancePID:get() < -0.5 or ElevatorData.verticalSpeedSigned > MaxSpeed then\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)\n ElevatorData.direction = 'down'\n if ElevatorData.verticalSpeedSigned > 0 then\n finalBrakeInput = 1\n end\n else\n Nav.axisCommandManager:resetCommand(axisCommandId.vertical)\n ElevatorData.direction = 'stabilizing'\n end\n\n --Brakes\n if\n (math.abs(distance) < (ElevatorData.verticalSpeed*3.6) and canBrake)\n or (ElevatorData.verticalSpeed >= MaxSpeed)\n or ((brakeDistance > math.abs(distance)) and canBrake)\n or (finalBrakeInput == 0 and autoBrakeSpeed > 0 and Nav.axisCommandManager.throttle == 0 and constructVelocity:len() < autoBrakeSpeed)\n then\n finalBrakeInput = 1\n --use engines to help braking\n if ElevatorData.verticalSpeedSigned < 0 then\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\n elseif ElevatorData.verticalSpeedSigned > 0 then\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)\n end\n end\n ElevatorData.isBreaking = (finalBrakeInput == 1)\n local brakeAcceleration = -finalBrakeInput * (brakeSpeedFactor * constructVelocity + brakeFlatFactor * constructVelocityDir)\n\n Nav:setEngineForceCommand('brake', brakeAcceleration)\n\n -- AutoNavigation regroups all the axis command by 'TargetSpeed'\n local autoNavigationEngineTags = ''\n local autoNavigationAcceleration = vec3()\n local autoNavigationUseBrake = false\n\n -- Longitudinal Translation\n local longitudinalEngineTags = 'thrust analog longitudinal'\n local longitudinalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.longitudinal)\n if (longitudinalCommandType == axisCommandType.byThrottle) then\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(longitudinalEngineTags,axisCommandId.longitudinal)\n Nav:setEngineForceCommand(longitudinalEngineTags, longitudinalAcceleration, keepCollinearity)\n elseif (longitudinalCommandType == axisCommandType.byTargetSpeed) then\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.longitudinal)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. longitudinalEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + longitudinalAcceleration\n if (Nav.axisCommandManager:getTargetSpeed(axisCommandId.longitudinal) == 0 or -- we want to stop\n Nav.axisCommandManager:getCurrentToTargetDeltaSpeed(axisCommandId.longitudinal) < - Nav.axisCommandManager:getTargetSpeedCurrentStep(axisCommandId.longitudinal) * 0.5) -- if the longitudinal velocity would need some braking\n then\n autoNavigationUseBrake = true\n end\n end\n\n -- Lateral Translation\n local lateralStrafeEngineTags = 'thrust analog lateral'\n local lateralCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.lateral)\n if (lateralCommandType == axisCommandType.byThrottle) then\n local lateralStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(lateralStrafeEngineTags,axisCommandId.lateral)\n Nav:setEngineForceCommand(lateralStrafeEngineTags, lateralStrafeAcceleration, keepCollinearity)\n elseif (lateralCommandType == axisCommandType.byTargetSpeed) then\n local lateralAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.lateral)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. lateralStrafeEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + lateralAcceleration\n end\n\n -- Vertical Translation\n local verticalStrafeEngineTags = 'thrust analog vertical'\n local verticalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.vertical)\n if (verticalCommandType == axisCommandType.byThrottle) then\n local verticalStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(verticalStrafeEngineTags,axisCommandId.vertical)\n Nav:setEngineForceCommand(verticalStrafeEngineTags, verticalStrafeAcceleration, keepCollinearity, 'airfoil', 'ground', '', tolerancePercentToSkipOtherPriorities)\n elseif (verticalCommandType == axisCommandType.byTargetSpeed) then\n local verticalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.vertical)\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. verticalStrafeEngineTags\n autoNavigationAcceleration = autoNavigationAcceleration + verticalAcceleration\n end\n\n -- Auto Navigation (Cruise Control)\n if (autoNavigationAcceleration:len() > constants.epsilon) then\n if (brakeInput ~= 0 or autoNavigationUseBrake or math.abs(constructVelocityDir:dot(constructForward)) < 0.95) -- if the velocity is not properly aligned with the forward\n then\n autoNavigationEngineTags = autoNavigationEngineTags .. ', brake'\n end\n Nav:setEngineForceCommand(autoNavigationEngineTags, autoNavigationAcceleration, dontKeepCollinearity, '', '', '', tolerancePercentToSkipOtherPriorities)\n end\n\n -- Rockets\n Nav:setBoosterCommand('rocket_engine')\n end\n}\n\nlocal systemOnUpdate = {\n function ()\n Nav:update()\n end,\n function ()\n --That function is used for rendering the HUD, you can update it or replace all its content to customise it. You can also remove it if you don't want a HUD\n local direction = 'Stabilizing'\n if ElevatorData.verticalSpeedSigned > 0 then\n direction = 'Up'\n elseif ElevatorData.verticalSpeedSigned < 0 then\n direction = 'Down'\n end\n\n local brakeStatus = 'Off'\n if ElevatorData.isBreaking then\n brakeStatus = 'On'\n end\n local html = [[\n <style>\n * {\n font-size:1vh !important;\n }\n .hud {\n position: absolute;\n left: 5vh;\n top: 5vh;\n right: 5vh;\n display: flex;\n flex-direction: column;\n justify-content: left;\n align-items: left;\n }\n .widget_container {\n border: 2px solid orange;\n border-radius:.5vh;\n background-color: rgba(0, 0, 0, .5);\n display: flex;\n flex-direction: column;\n padding:.5vh;\n margin-top:1vh;\n }\n .widget_container div {\n display: flex;\n flex-direction: row;\n justify-content: space-between;\n }\n .widget_container div div {\n margin:.25vh;\n }\n .widget_container div div:first-child {\n text-transform: uppercase;\n font-weight: bold;\n }\n .selected {\n color: teal;\n }\n .movingto {\n color: green;\n }\n .atmo .gauge {\n background-color: #22d3ee;\n }\n .atmo .gauge_label {\n color: #155e75;\n }\n .space .gauge {\n background-color: #fbbf24;\n }\n .space .gauge_label {\n color: #92400e;\n }\n .rocket .gauge {\n background-color: #a78bfa;\n }\n .rocket .gauge_label {\n color: #5b21b6;\n }\n .gauge_container {\n display:block;\n width:100%;\n min-width:10vw;\n position: relative;\n border: 1px solid black;\n background-color: rgba(0, 0, 0, .75);\n height: 1.5vh;\n }\n .gauge {\n position: absolute;\n z-index:1;\n top:-.25vh;\n left:-.25vh;\n height:100%;\n margin:0;\n background-color: cyan;\n }\n .gauge_label {\n position:relative;\n display:block;\n z-index:10;\n margin:0;\n padding:0;\n width:100%;\n text-align:center;\n }\n </style>\n <div class=\"hud\">\n <div class=\"widget_container\">\n <div>\n <div>Base Altitude</div><div>]] .. format_number(utils.round(BaseAltitute)) .. [[m</div>\n </div>\n <div>\n <div>Target Altitude</div><div>]] .. format_number(utils.round(TargetAltitude)) .. [[m</div>\n </div>\n <div>\n <div>Current Altitude</div><div>]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m</div>\n </div>\n <div>\n <div>Vertical Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Lateral Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Longitudinal Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h</div>\n </div>\n <div>\n <div>Direction</div><div>]] .. ElevatorData.direction .. [[</div>\n </div>\n <div>\n <div>Brake</div><div>]] .. brakeStatus .. [[</div>\n </div>\n </div>\n ]]\n if #fuelTanks > 0 then\n html = html .. '<div class=\"widget_container\">'\n for _, tank in pairs(fuelTanks) do\n html = html .. '<div><div>' .. tank:getName() .. '</div><div>' .. tank:getTimeLeftString() .. '</div></div><div class=\"gauge_container ' .. tank:getFuelType() .. '\"><div class=\"gauge\" style=\"width:' .. utils.round(tank:getPercentFilled()) .. '%;\"></div><div class=\"gauge_label\"><div style=\"margin-left:auto;margin-right:auto;padding:0;margin-top:-.25vh;\">' .. format_number(utils.round(tank:getPercentFilled())) .. '%</div></div></div>'\n end\n html = html .. '</div>'\n end\n if #Bookmarks > 0 then\n html = html .. '<div class=\"widget_container\"><div><div>Bookmarks</div></div>'\n for index, bookmark in ipairs(Bookmarks) do\n local class=''\n if selectedBookmarkIndex == index then\n class = 'selected'\n end\n local displayName = bookmark.name\n if selectedBookmarkIndex > 0 and bookmark.altitude == TargetAltitude then\n displayName = ' >> ' .. bookmark.name\n class = 'movingto'\n end\n html = html .. '<div class=\"' .. class .. '\"><div>' .. displayName .. '</div><div>' .. format_number(bookmark.altitude) .. 'm</div></div>'\n end\n html = html .. '</div>'\n end\n\n html = html .. '</div>'\n system.setScreen(html)\n end\n}\n\nScript.system:onUpdate(systemOnUpdate)\nScript.system:onFlush(systemOnFlush)\n\n--[[\n Actions\n]]\nlocal systemActionsStart = {}\n\nsystemActionsStart[Script.system.ACTIONS.DOWN] = function ()\n if selectedBookmarkIndex < #Bookmarks then\n selectedBookmarkIndex = selectedBookmarkIndex + 1\n else\n selectedBookmarkIndex = 1\n end\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\nend\nsystemActionsStart[Script.system.ACTIONS.UP] = function ()\n if selectedBookmarkIndex > 1 then\n selectedBookmarkIndex = selectedBookmarkIndex - 1\n else\n selectedBookmarkIndex = #Bookmarks\n end\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\nend\nsystemActionsStart[Script.system.ACTIONS.STRAFE_RIGHT] = function ()\n brakeInput = 0\n if selectedBookmarkIndex > 0 then\n TargetAltitude = Bookmarks[selectedBookmarkIndex].altitude\n if __DEBUG then system.print('Target Altitude: ' .. TargetAltitude) end\n else\n system.print('No bookmark selected')\n end\nend\nScript.system:onActionStart(systemActionsStart) --loading all \"actionStart\" functions\n\n--[[\n Chat Commands\n]]\n\nScript.system:onInputText(function (text)\n if text:lower():find('goto:') then\n TargetAltitude = tonumber(text:split(':')[2]) or BaseAltitute\n brakeInput = 0\n system.print('Target Altitude set to ' .. TargetAltitude .. 'm')\n else\n system.print('Unknown command')\n end\nend)\n","filter":{"args":[],"signature":"onStart()","slotKey":"-1"},"key":"2"}],"methods":[],"slots":{"0":{"name":"slot1","type":{"events":[],"methods":[]}},"1":{"name":"slot2","type":{"events":[],"methods":[]}},"2":{"name":"slot3","type":{"events":[],"methods":[]}},"3":{"name":"slot4","type":{"events":[],"methods":[]}},"4":{"name":"slot5","type":{"events":[],"methods":[]}},"5":{"name":"slot6","type":{"events":[],"methods":[]}},"6":{"name":"slot7","type":{"events":[],"methods":[]}},"7":{"name":"slot8","type":{"events":[],"methods":[]}},"8":{"name":"slot9","type":{"events":[],"methods":[]}},"9":{"name":"slot10","type":{"events":[],"methods":[]}},"-5":{"name":"library","type":{"events":[],"methods":[]}},"-4":{"name":"system","type":{"events":[],"methods":[]}},"-3":{"name":"player","type":{"events":[],"methods":[]}},"-2":{"name":"construct","type":{"events":[],"methods":[]}},"-1":{"name":"unit","type":{"events":[],"methods":[]}}}}