.. default-domain:: c
.. highlight:: c


AutoPilot
=========


.. type:: krpc_SpaceCenter_AutoPilot_t

   Provides basic auto-piloting utilities for a vessel.
   Created by calling :func:`krpc_SpaceCenter_Vessel_AutoPilot`.

   .. 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.

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_Engage(krpc_connection_t connection)

      Engage the auto-pilot.


      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_Disengage(krpc_connection_t connection)

      Disengage the auto-pilot.


      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_Wait(krpc_connection_t connection)

      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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_Error(krpc_connection_t connection, float * result)

      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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_PitchError(krpc_connection_t connection, float * result)

      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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_HeadingError(krpc_connection_t connection, float * result)

      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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_RollError(krpc_connection_t connection, float * result)

      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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_ReferenceFrame(krpc_connection_t connection, krpc_SpaceCenter_ReferenceFrame_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_ReferenceFrame(krpc_SpaceCenter_ReferenceFrame_t value)

      The reference frame for the target direction (:func:`krpc_SpaceCenter_AutoPilot_TargetDirection`).

      :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.

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TargetPitch(krpc_connection_t connection, float * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_TargetPitch(float value)

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

      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TargetHeading(krpc_connection_t connection, float * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_TargetHeading(float value)

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

      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TargetRoll(krpc_connection_t connection, float * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_TargetRoll(float value)

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

      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TargetDirection(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_TargetDirection(const krpc_tuple_double_double_double_t * value)

      Direction vector corresponding to the target pitch and heading.
      This is in the reference frame specified by :type:`krpc_SpaceCenter_ReferenceFrame_t`.

      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TargetPitchAndHeading(krpc_connection_t connection, 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_SAS(krpc_connection_t connection, bool * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_SAS(bool value)

      The state of SAS.

      :Game Scenes: Flight


      .. note::

         Equivalent to :func:`krpc_SpaceCenter_Control_SAS`

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_SASMode(krpc_connection_t connection, krpc_SpaceCenter_SASMode_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_SASMode(krpc_SpaceCenter_SASMode_t value)

      The current :type:`krpc_SpaceCenter_SASMode_t`.
      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 :func:`krpc_SpaceCenter_Control_SASMode`

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_RollThreshold(krpc_connection_t connection, double * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_RollThreshold(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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_StoppingTime(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_StoppingTime(const krpc_tuple_double_double_double_t * 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_DecelerationTime(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_DecelerationTime(const krpc_tuple_double_double_double_t * 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_AttenuationAngle(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_AttenuationAngle(const krpc_tuple_double_double_double_t * 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_AutoTune(krpc_connection_t connection, bool * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_AutoTune(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 :func:`krpc_SpaceCenter_AutoPilot_TimeToPeak` and :func:`krpc_SpaceCenter_AutoPilot_Overshoot`.

      :Game Scenes: Flight

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_TimeToPeak(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_TimeToPeak(const krpc_tuple_double_double_double_t * 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_Overshoot(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_Overshoot(const krpc_tuple_double_double_double_t * 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

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_PitchPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_PitchPIDGains(const krpc_tuple_double_double_double_t * value)

      Gains for the pitch PID controller.

      :Game Scenes: Flight


      .. note::

         When :func:`krpc_SpaceCenter_AutoPilot_AutoTune` is true, these values are updated automatically,
         which will overwrite any manual changes.

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_RollPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_RollPIDGains(const krpc_tuple_double_double_double_t * value)

      Gains for the roll PID controller.

      :Game Scenes: Flight


      .. note::

         When :func:`krpc_SpaceCenter_AutoPilot_AutoTune` is true, these values are updated automatically,
         which will overwrite any manual changes.

   .. function:: krpc_error_t krpc_SpaceCenter_AutoPilot_YawPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
   .. function:: void krpc_SpaceCenter_AutoPilot_set_YawPIDGains(const krpc_tuple_double_double_double_t * value)

      Gains for the yaw PID controller.

      :Game Scenes: Flight


      .. note::

         When :func:`krpc_SpaceCenter_AutoPilot_AutoTune` is true, these values are updated automatically,
         which will overwrite any manual changes.