AutoPilot#

class AutoPilot#

Provides basic auto-piloting utilities for a vessel. Created by calling Vessel::auto_pilot().

Note

If a client engages the auto-pilot and then closes its connection to the server, the auto-pilot will be disengaged and its target reference frame, direction and roll reset to default.

void engage()#

Engage the auto-pilot.

Game Scenes:: Flight

void disengage()#

Disengage the auto-pilot.

Game Scenes:: Flight

void wait()#

Blocks until the vessel is pointing in the target direction and has the target roll (if set). Throws an exception if the auto-pilot has not been engaged.

Game Scenes:: Flight

float error()#

The error, in degrees, between the direction the ship has been asked to point in and the direction it is pointing in. Throws an exception if the auto-pilot has not been engaged and SAS is not enabled or is in stability assist mode.

Game Scenes:: Flight

float pitch_error()#

The error, in degrees, between the vessels current and target pitch. Throws an exception if the auto-pilot has not been engaged.

Game Scenes:: Flight

float heading_error()#

The error, in degrees, between the vessels current and target heading. Throws an exception if the auto-pilot has not been engaged.

Game Scenes:: Flight

float roll_error()#

The error, in degrees, between the vessels current and target roll. Throws an exception if the auto-pilot has not been engaged or no target roll is set.

Game Scenes:: Flight

ReferenceFrame reference_frame()#

void set_reference_frame(ReferenceFrame value)#

The reference frame for the target direction (AutoPilot::target_direction()).

Game Scenes:: Flight

Note

An error will be thrown if this property is set to a reference frame that rotates with the vessel being controlled, as it is impossible to rotate the vessel in such a reference frame.

float target_pitch()#

void set_target_pitch(float value)#

The target pitch, in degrees, between -90° and +90°.

Game Scenes:: Flight

float target_heading()#

void set_target_heading(float value)#

The target heading, in degrees, between 0° and 360°.

Game Scenes:: Flight

float target_roll()#

void set_target_roll(float value)#

The target roll, in degrees. NaN if no target roll is set.

Game Scenes:: Flight

std::tuple<double, double, double> target_direction()#

void set_target_direction(std::tuple<double, double, double> value)#

Direction vector corresponding to the target pitch and heading. This is in the reference frame specified by AutoPilot::reference_frame().

Game Scenes:: Flight

void target_pitch_and_heading(float pitch, float heading)#

Set target pitch and heading angles.

Parameters:

pitch – Target pitch angle, in degrees between -90° and +90°.
heading – Target heading angle, in degrees between 0° and 360°.

Game Scenes:

Flight

bool sas()#

void set_sas(bool value)#

The state of SAS.

Game Scenes:: Flight

Note

Equivalent to Control::sas()

SASMode sas_mode()#

void set_sas_mode(SASMode value)#

The current AutoPilot::sas_mode(). These modes are equivalent to the mode buttons to the left of the navball that appear when SAS is enabled.

Game Scenes:: Flight

Note

Equivalent to Control::sas_mode()

double roll_threshold()#

void set_roll_threshold(double value)#

The threshold at which the autopilot will try to match the target roll angle, if any. Defaults to 5 degrees.

Game Scenes:: Flight

std::tuple<double, double, double> stopping_time()#

void set_stopping_time(std::tuple<double, double, double> value)#

The maximum amount of time that the vessel should need to come to a complete stop. This determines the maximum angular velocity of the vessel. A vector of three stopping times, in seconds, one for each of the pitch, roll and yaw axes. Defaults to 0.5 seconds for each axis.

Game Scenes:: Flight

std::tuple<double, double, double> deceleration_time()#

void set_deceleration_time(std::tuple<double, double, double> value)#

The time the vessel should take to come to a stop pointing in the target direction. This determines the angular acceleration used to decelerate the vessel. A vector of three times, in seconds, one for each of the pitch, roll and yaw axes. Defaults to 5 seconds for each axis.

Game Scenes:: Flight

std::tuple<double, double, double> attenuation_angle()#

void set_attenuation_angle(std::tuple<double, double, double> value)#

The angle at which the autopilot considers the vessel to be pointing close to the target. This determines the midpoint of the target velocity attenuation function. A vector of three angles, in degrees, one for each of the pitch, roll and yaw axes. Defaults to 1° for each axis.

Game Scenes:: Flight

bool auto_tune()#

void set_auto_tune(bool value)#

Whether the rotation rate controllers PID parameters should be automatically tuned using the vessels moment of inertia and available torque. Defaults to true. See AutoPilot::time_to_peak() and AutoPilot::overshoot().

Game Scenes:: Flight

std::tuple<double, double, double> time_to_peak()#

void set_time_to_peak(std::tuple<double, double, double> value)#

The target time to peak used to autotune the PID controllers. A vector of three times, in seconds, for each of the pitch, roll and yaw axes. Defaults to 3 seconds for each axis.

Game Scenes:: Flight

std::tuple<double, double, double> overshoot()#

void set_overshoot(std::tuple<double, double, double> value)#

The target overshoot percentage used to autotune the PID controllers. A vector of three values, between 0 and 1, for each of the pitch, roll and yaw axes. Defaults to 0.01 for each axis.

Game Scenes:: Flight

std::tuple<double, double, double> pitch_pid_gains()#

void set_pitch_pid_gains(std::tuple<double, double, double> value)#

Gains for the pitch PID controller.

Game Scenes:: Flight

Note

When AutoPilot::auto_tune() is true, these values are updated automatically, which will overwrite any manual changes.

std::tuple<double, double, double> roll_pid_gains()#

void set_roll_pid_gains(std::tuple<double, double, double> value)#

Gains for the roll PID controller.

Game Scenes:: Flight

Note

When AutoPilot::auto_tune() is true, these values are updated automatically, which will overwrite any manual changes.

std::tuple<double, double, double> yaw_pid_gains()#

void set_yaw_pid_gains(std::tuple<double, double, double> value)#

Gains for the yaw PID controller.

Game Scenes:: Flight

Note

When AutoPilot::auto_tune() is true, these values are updated automatically, which will overwrite any manual changes.