AutoPilot

krpc_SpaceCenter_AutoPilot_t

Provides basic auto-piloting utilities for a vessel. Created by calling 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.

krpc_error_t krpc_SpaceCenter_AutoPilot_Engage(krpc_connection_t connection)

Engage the auto-pilot.

Game Scenes:Flight
krpc_error_t krpc_SpaceCenter_AutoPilot_Disengage(krpc_connection_t connection)

Disengage the auto-pilot.

Game Scenes:Flight
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
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
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
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
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
krpc_error_t krpc_SpaceCenter_AutoPilot_ReferenceFrame(krpc_connection_t connection, krpc_SpaceCenter_ReferenceFrame_t * result)
void krpc_SpaceCenter_AutoPilot_set_ReferenceFrame(krpc_SpaceCenter_ReferenceFrame_t value)

The reference frame for the target direction (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.

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

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

Game Scenes:Flight
krpc_error_t krpc_SpaceCenter_AutoPilot_TargetHeading(krpc_connection_t connection, float * result)
void krpc_SpaceCenter_AutoPilot_set_TargetHeading(float value)

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

Game Scenes:Flight
krpc_error_t krpc_SpaceCenter_AutoPilot_TargetRoll(krpc_connection_t connection, float * result)
void krpc_SpaceCenter_AutoPilot_set_TargetRoll(float value)

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

Game Scenes:Flight
krpc_error_t krpc_SpaceCenter_AutoPilot_TargetDirection(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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 krpc_SpaceCenter_ReferenceFrame_t.

Game Scenes:Flight
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

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

The state of SAS.

Game Scenes:Flight

Note

Equivalent to krpc_SpaceCenter_Control_SAS()

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

The current 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
krpc_error_t krpc_SpaceCenter_AutoPilot_RollThreshold(krpc_connection_t connection, double * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_StoppingTime(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_DecelerationTime(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_AttenuationAngle(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_AutoTune(krpc_connection_t connection, bool * result)
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 krpc_SpaceCenter_AutoPilot_TimeToPeak() and krpc_SpaceCenter_AutoPilot_Overshoot().

Game Scenes:Flight
krpc_error_t krpc_SpaceCenter_AutoPilot_TimeToPeak(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_Overshoot(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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
krpc_error_t krpc_SpaceCenter_AutoPilot_PitchPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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 krpc_SpaceCenter_AutoPilot_AutoTune() is true, these values are updated automatically, which will overwrite any manual changes.

krpc_error_t krpc_SpaceCenter_AutoPilot_RollPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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 krpc_SpaceCenter_AutoPilot_AutoTune() is true, these values are updated automatically, which will overwrite any manual changes.

krpc_error_t krpc_SpaceCenter_AutoPilot_YawPIDGains(krpc_connection_t connection, krpc_tuple_double_double_double_t * result)
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 krpc_SpaceCenter_AutoPilot_AutoTune() is true, these values are updated automatically, which will overwrite any manual changes.