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()¶
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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
ReferenceFrame
.- 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()
-
void set_sas_mode(SASMode value)¶
The current
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
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()¶
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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
. SeeAutoPilot::time_to_peak()
andAutoPilot::overshoot()
.- Game Scenes:
Flight
-
std::tuple<double, double, double> time_to_peak()¶
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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()¶
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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.
-
void engage()¶