glidePIDController
GlidePIDController is a PID oriented controller, it contains methods that will guide your rocket through glide towards target maneuver. During the descent glidePIDController will adjust the course only through means of control surfaces and RCS controls.
Table of contents:
Contructing
| parameters | type | default | Description |
|---|---|---|---|
| ldata | landingDataModel | - | landingDataModel constructed with desired landing position |
| Kp | float | - | proportional response |
| Ki* | float | 0 | integral response |
| Kd* | float | 0 | derivative response |
| minOut* | float | -10 | minimal PID output(basically aoa difference) |
| maxOut* | float | 10 | maximal PID output(aoa difference) |
* optional parameters
Public methods
| public methods | return type | Description |
|---|---|---|
| getSteering() | Direction | returns steering direction |
| getThrottle() | Float | returns 0 |
| completed() | Boolean | is throttle larger than 0? |
| passControl(bool) | None | passes control |
getSteering()
No parameters
Returns steering direction.
getThrottle()
No parameters
Because gliding is unpowered flight, always returns 0.
completed()
No parameters
Returns true if throttle is larger than 0.
passControl(bool)
Parameters:
- isUnlocking::Boolean -> should
throttleandsteeringbe unlocked?
Takes control over both steering and throttle until completed() returns true.
Code examples
// minimal tuning because gliding doesn't have to be
// exceptionally precise in most cases
local ldata is landingDataModel(target:geoposition).
local glide is glidePIDController(ldata, 2000).
lock steering to glide["getSteering"]().local ldata is landingDataModel(target:geoposition).
// max aoa of 5 and derivative response
local glide is glidePIDController(ldata, 2000, 0, 500, -5, 5).
lock steering to glide["getSteering"]().