.. default-domain:: cpp .. highlight:: cpp .. namespace:: krpc::services::SpaceCenter AutoPilot ========= .. class:: AutoPilot Provides basic auto-piloting utilities for a vessel. Created by calling :func:`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. .. function:: void engage() Engage the auto-pilot. :Game Scenes: Flight .. function:: void disengage() Disengage the auto-pilot. :Game Scenes: Flight .. function:: 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 .. function:: 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 .. function:: 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 .. function:: 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 .. function:: 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 .. function:: ReferenceFrame reference_frame() .. function:: void set_reference_frame(ReferenceFrame value) The reference frame for the target direction (:func:`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. .. function:: float target_pitch() .. function:: void set_target_pitch(float value) The target pitch, in degrees, between -90° and +90°. :Game Scenes: Flight .. function:: float target_heading() .. function:: void set_target_heading(float value) The target heading, in degrees, between 0° and 360°. :Game Scenes: Flight .. function:: float target_roll() .. function:: void set_target_roll(float value) The target roll, in degrees. ``NaN`` if no target roll is set. :Game Scenes: Flight .. function:: std::tuple target_direction() .. function:: void set_target_direction(std::tuple value) Direction vector corresponding to the target pitch and heading. This is in the reference frame specified by :class:`ReferenceFrame`. :Game Scenes: Flight .. function:: 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 .. function:: bool sas() .. function:: void set_sas(bool value) The state of SAS. :Game Scenes: Flight .. note:: Equivalent to :func:`Control::sas` .. function:: SASMode sas_mode() .. function:: void set_sas_mode(SASMode value) The current :enum:`SASMode`. 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:`Control::sas_mode` .. function:: double roll_threshold() .. function:: 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 .. function:: std::tuple stopping_time() .. function:: void set_stopping_time(std::tuple 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:: std::tuple deceleration_time() .. function:: void set_deceleration_time(std::tuple 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:: std::tuple attenuation_angle() .. function:: void set_attenuation_angle(std::tuple 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:: bool auto_tune() .. function:: 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 :func:`AutoPilot::time_to_peak` and :func:`AutoPilot::overshoot`. :Game Scenes: Flight .. function:: std::tuple time_to_peak() .. function:: void set_time_to_peak(std::tuple 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:: std::tuple overshoot() .. function:: void set_overshoot(std::tuple 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:: std::tuple pitch_pid_gains() .. function:: void set_pitch_pid_gains(std::tuple value) Gains for the pitch PID controller. :Game Scenes: Flight .. note:: When :func:`AutoPilot::auto_tune` is true, these values are updated automatically, which will overwrite any manual changes. .. function:: std::tuple roll_pid_gains() .. function:: void set_roll_pid_gains(std::tuple value) Gains for the roll PID controller. :Game Scenes: Flight .. note:: When :func:`AutoPilot::auto_tune` is true, these values are updated automatically, which will overwrite any manual changes. .. function:: std::tuple yaw_pid_gains() .. function:: void set_yaw_pid_gains(std::tuple value) Gains for the yaw PID controller. :Game Scenes: Flight .. note:: When :func:`AutoPilot::auto_tune` is true, these values are updated automatically, which will overwrite any manual changes.