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= true\nuseDediSpinners = true\nuseAllSpinners = true\n\nrepairMode = true -- Won't fight but try to repair friendlies\nrepairClosestFirst = true -- In repair mode goes to help the most damaged ally first on false\nminDamageNoticed = 0.95 -- 0.95 means the craft won't bother with anything above 95% health\n\nidleAltitude = 100 -- \nactiveAltitude = 50 -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\noptimalDistance = 50 -- Try to maintain this distance from target in both modes(doesn't take altitude into account). If you want to get close consider reducing maxPitchMagnitude\nminAltitude = 20 -- Measured at center of mass, leave some clearance\nmaxAltitude = 500 -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\nmaxPitchMagnitude = 0 -- Pitch with a bigger absolute value will be clamped to match this\nmaxRoll = 0 -- Max this amount of roll will be added to assist left/right movement\nevasiveAltitudeChange = 10 -- Vertical evasive manouvers add/subtract this to/from activeAltitude\nevasiveLeftPeriod = 2 -- Go left for this amount of time (-1: continuously circle to the left)\nevasiveLeftDelay = 0 -- Do not try another horizontal evasion for this amount of time after going to the left\nevasiveRightPeriod = 2 -- Go right for this amount of time (-1: continuously circle to the right)\nevasiveRightDelay = 0 -- Do not try another horizontal evasion for this amount of time after going to the right\nrandomHorizontalEvasion = true -- Cycles between left and right on false, pseudorandom direction and durations up to the given caps otherwise\nrollPerSlipSpeed = 1 -- This amount of roll will be added for every m/s above the target slip speed(evasion target speed is 1000/-1000 so this won't really matter)\n\n-- Tune your craft's PIDs here\n-- P, I, D, IMax, IMin, OutMax, OutMin\nrollPIDData = { 0.01, 0, 0.002, 1, -1, 1, -1}\npitchPIDData = { 0.03, 0.01, 0.005, 1, -1, 1, -1}\naltitudePIDData = { 0.02, 0.01, 0.01, 1, -1, 1, -1}\nyawPIDData = { 0.02, 0, 0.005, 1, -1, 1, -1}\nslipPIDData = { 0.01, 0, 0.0, 1, -1, 1, -1}\ndistancePIDData = { 0.01, 0, 0.01, 1, -1, 1, -1}\n\nfunction SetupPropulsion(I)\n if useJets then\n -- enable all jets\n for i=1,12,1 do I:RequestThrustControl(i) end\n end\n\n JetManager = {\n propulsionCount = I:Component_GetCount(9),\n GetComponent = function (serial) return I:Component_GetBlockInfo(9,serial) end,\n SetImpulse = function (serial,impulse) I:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0)),1) end,\n GetFowardVector = function (propulsion) return propulsion.LocalForwards end\n }\n RotorManager = {\n propulsionCount = I:GetSpinnerCount(),\n GetComponent = function (serial) return I:GetSpinnerInfo(serial) end,\n SetImpulse = function (serial,impulse) if useAllSpinners or I:IsSpinnerDedicatedHelispinner(serial) then I:SetSpinnerInstaSpin(serial, math.min(math.max(impulse, -1),1)) end end,\n GetFowardVector = function (propulsion) return QuaternionUpVector(propulsion.LocalRotation) end\n }\n \n PropulsionManagers = {}\n if useAllSpinners or useDediSpinners then\n table.insert(PropulsionManagers, RotorManager)\n end\n if useJets then\n table.insert(PropulsionManagers, JetManager)\n end\nend\n\nfunction SetPropulsionImpulses(I, pitchInput, yawInput, rollInput, altitudeInput, slipInput, propulsionManager)\n-- Checks alt, pitch and roll based impulses and sums them up for each propulsion component based on its position\n for i=0,propulsionManager.propulsionCount-1,1 do\n local propulsion = propulsionManager.GetComponent(i)\n local orientation = propulsionManager.GetFowardVector(propulsion)\n local position = propulsion.LocalPositionRelativeToCom\n local yawImpulse = 0\n local pitchImpulse = 0\n local rollImpulse = 0\n local slipImpulse = 0\n local combinedImpulse = 0\n\n-- yaw/roll/slip\n if math.abs(orientation.x)>0.95 then\n -- yaw\n if position.z<-0.05 then\n yawImpulse = -yawInput * orientation.x\n elseif position.z>0.05 then\n yawImpulse = yawInput * orientation.x\n end\n -- roll\n if position.y<-0.05 then\n rollImpulse = rollInput * orientation.x\n elseif position.y>0.05 then\n rollImpulse = -rollInput * orientation.x\n end\n\n -- slip\n slipImpulse = slipInput * orientation.x\n-- pitch/roll/altitude\n elseif math.abs(orientation.y)>0.95 then\n -- pitch\n if position.z<-0.05 then\n pitchImpulse = pitchInput * orientation.y\n elseif position.z>0.05 then\n pitchImpulse = -pitchInput * orientation.y\n end\n \n -- roll\n if position.x<-0.05 then\n rollImpulse = -rollInput * orientation.y\n elseif position.x>0.05 then\n rollImpulse = rollInput * orientation.y\n end\n end\n\n combinedImpulse = pitchImpulse + rollImpulse + yawImpulse + slipImpulse + altitudeInput*orientation.y\n propulsionManager.SetImpulse(i, combinedImpulse)\n end\nend\n\nfunction SetStatus(I, targetPitch, targetAzi, targetAltitude, targetSlipSpeed)\n local pitch = I:GetConstructPitch()\n local centerOfMass = I:GetConstructCenterOfMass()\n local roll = I:GetConstructRoll()\n local slipSpeed = GetSlipSpeed(I)\n local slipSpeedDiff = slipSpeed-targetSlipSpeed\n local targetRoll = 0\n\n if pitch>180 then\n pitch = pitch-360\n end\n if roll>180 then\n roll = roll-360\n end\n if targetAzi>180 then\n targetAzi = targetAzi-360\n end\n\n -- roll into side movement if needed\n if maxRoll>0 then\n if slipSpeedDiff>0 then\n targetRoll = targetRoll + math.min(slipSpeedDiff * rollPerSlipSpeed, maxRoll)\n else\n targetRoll = targetRoll + math.max(slipSpeedDiff * rollPerSlipSpeed, -maxRoll)\n end\n end\n\n -- pitch limitations\n targetPitch = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\n if math.abs(targetAzi)>85 then\n targetPitch = 0\n end\n\n -- altitude limitations and terrain avoidance\n local highestTerrainAhead = HighestTerrainAhead(I)\n targetAltitude = math.min(math.max(targetAltitude, highestTerrainAhead+minAltitude), maxAltitude)\n\n pitchInput,pitchPID = GetPIDOutput(0, pitch-targetPitch, pitchPID)\n yawInput,yawPID = GetPIDOutput(0, targetAzi, yawPID)\n rollInput,rollPID = GetPIDOutput(targetRoll, roll, rollPID)\n altitudeInput,altitudePID = GetPIDOutput(targetAltitude, centerOfMass.y, altitudePID)\n slipInput,slipPID = GetPIDOutput(0, slipSpeedDiff, slipPID)\n\n for i=1,table.getn(PropulsionManagers),1 do\n SetPropulsionImpulses(I, pitchInput, yawInput, rollInput, altitudeInput, slipInput, PropulsionManagers[i])\n end\nend\n\nfunction GetEvasionData(I, altitude)\n local centerOfMass = I:GetConstructCenterOfMass()\n local currentTime = I:GetTime()\n\n-- Initialize persistent state\n if not evasionData then\n evasionData = {\n targetSlipSpeed = 0,\n -- Just here to avoid too much clutter in global namespace\n nextAltChange = currentTime,\n nextSlipCycle = currentTime,\n slipPeriod = 0\n }\n end\n\n evasionData.targetAltitude = altitude + evasiveAltitudeChange * math.sin(I:GetTime())\n\n-- Slip evasion\n -- Constant circling\n if evasiveRightPeriod<0 then\n evasionData.targetSlipSpeed = 1000\n elseif evasiveLeftPeriod<0 then\n evasionData.targetSlipSpeed = -1000\n else\n -- Slip evasion\n evasionData.targetSlipSpeed = 0\n if evasiveRightPeriod>0 and evasiveLeftPeriod>0 and currentTime > evasionData.nextSlipCycle then\n local slipDelay\n\n if not goingRight then -- Run around and scream and shout\n if randomHorizontalEvasion then\n evasionData.slipPeriod = math.random()*evasiveLeftPeriod\n slipDelay = math.random()*evasiveLeftDelay\n else\n evasionData.slipPeriod = evasiveLeftPeriod\n slipDelay = evasiveLeftDelay\n end\n\n evasionData.targetSlipSpeed = -1000\n if currentTime > evasionData.nextSlipCycle+evasionData.slipPeriod then\n evasionData.targetSlipSpeed = 0\n if randomHorizontalEvasion then\n goingRight = math.random(0,1)==1\n else\n goingRight = true\n end\n evasionData.nextSlipCycle = I:GetTime() + slipDelay\n end \n else\n if randomHorizontalEvasion then\n evasionData.slipPeriod = math.random()*evasiveRightPeriod\n slipDelay = math.random()*evasiveRightDelay\n else\n evasionData.slipPeriod = evasiveRightPeriod\n slipDelay = evasiveRightDelay\n end\n\n evasionData.targetSlipSpeed = 1000\n if currentTime > evasionData.nextSlipCycle+evasionData.slipPeriod then\n evasionData.targetSlipSpeed = 0\n if randomHorizontalEvasion then\n goingRight = math.random(0,1) == 1\n else\n goingRight = false\n end\n evasionData.nextSlipCycle = I:GetTime() + slipDelay\n end\n end\n end\n end\n\n return evasionData\nend\n\nfunction HighestTerrainAhead(I)\n local centerOfMass = I:GetConstructCenterOfMass()\n local maxAltitude = 0\n local nextAltitude\n\n local xStep = I:GetVelocityVector().x\n local zStep = I:GetVelocityVector().z\n \n for i=-0.5,5,0.25 do\n nextAltitude = I:GetTerrainAltitudeForPosition(centerOfMass.x + xStep*i, centerOfMass.y, centerOfMass.z + zStep*i)\n if nextAltitude>maxAltitude then\n maxAltitude = nextAltitude\n end\n end\n return maxAltitude\nend\n\nfunction FiringStance(I, targetPosition)\n local evasion = GetEvasionData(I, targetPosition.Altitude)\n local pitch = I:GetConstructPitch()-targetPosition.Elevation\n\n SetStatus(I, pitch, targetPosition.Azimuth, evasion.targetAltitude, evasion.targetSlipSpeed)\nend\n\nfunction MaintainDistance(I, targetPosition, distance)\n local forwardSpeed\n forwardSpeed,distancePID = GetPIDOutput(distance, targetPosition.GroundDistance, distancePID)\n\n for i=1,table.getn(PropulsionManagers),1 do\n SetForwardSpeed(I, -forwardSpeed, PropulsionManagers[i])\n end\nend\n\nfunction SetForwardSpeed(I, speed, propulsionManager)\n for i=0,propulsionManager.propulsionCount-1,1 do\n local propulsion = propulsionManager.GetComponent(i)\n local orientation = propulsionManager.GetFowardVector(propulsion)\n\n if math.abs(orientation.z)>0.95 then\n propulsionManager.SetImpulse(i, speed * orientation.z)\n end\n end\nend\n\nfunction GetTarget(I)\n if repairMode then\n return GetRepairTarget(I)\n else\n return GetCombatTarget(I)\n end\nend\n\nfunction GetRepairTarget(I)\n local centerOfMass = I:GetConstructCenterOfMass()\n local forwardVector = I:GetConstructForwardVector()\n\n -- Lower means more important\n local highestPriorityValue = 1000000\n local targetData = false\n local friendlyCount = I:GetFriendlyCount()\n for i=0,friendlyCount-1,1 do\n local friendly = I:GetFriendlyInfo(i)\n local targetCenterOfMass = friendly.CenterOfMass\n\n local health = friendly.HealthFraction\n if health>minDamageNoticed then\n goto continue\n end\n\n if not repairClosestFirst then\n if health PID.IMax) then PID.integral = PID.IMax end\n if (PID.integral < PID.IMin) then PID.integral = PID.IMin end\n\n derivative = (error - PID.previousError)/timeDelta\n\n output = PID.Kp*error + PID.Ki*PID.integral + PID.Kd*derivative\n if (output > PID.OutMax) then output = PID.OutMax end\n if (output < PID.OutMin) then output = PID.OutMin end\n\n PID.previousError = error\n return output,PID\nend\n\nfunction GetSlipSpeed(I)\n local velocityHeading = 180/math.pi*math.atan2(I:GetVelocityVector().x,I:GetVelocityVector().z)\n if velocityHeading<0 then\n velocityHeading = velocityHeading+360\n end\n local slipAngle = velocityHeading - I:GetConstructYaw()\n local groundSpeedx = I:GetVelocityVector().x\n local groundSpeedz = I:GetVelocityVector().z\n local groundSpeed = math.sqrt(groundSpeedx^2 + groundSpeedz^2)\n local slipSpeed = groundSpeed*math.sin(slipAngle/180*math.pi)\n\n return slipSpeed\nend\n\nrollPID = InitPID(rollPIDData)\npitchPID = InitPID(pitchPIDData)\naltitudePID = InitPID(altitudePIDData)\nyawPID = InitPID(yawPIDData)\nslipPID = InitPID(slipPIDData)\ndistancePID = InitPID(distancePIDData)"],"BlockStringDataIds":[96413],"GameVersion":"v1.898","BlockCount":125}}