AutoPilot¶
- public class AutoPilot¶
Provides basic auto-piloting utilities for a vessel. Created by calling
Vessel.getAutoPilot().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 getError()¶
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 getPitchError()¶
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 getHeadingError()¶
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 getRollError()¶
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 getReferenceFrame()¶
- void setReferenceFrame(ReferenceFrame value)¶
The reference frame for the target direction (
AutoPilot.getTargetDirection()).- 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 getTargetPitch()¶
- void setTargetPitch(float value)¶
The target pitch, in degrees, between -90° and +90°.
- Game Scenes:
Flight
- float getTargetHeading()¶
- void setTargetHeading(float value)¶
The target heading, in degrees, between 0° and 360°.
- Game Scenes:
Flight
- float getTargetRoll()¶
- void setTargetRoll(float value)¶
The target roll, in degrees.
NaNif no target roll is set.- Game Scenes:
Flight
- void setTargetDirection(org.javatuples.Triplet<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 targetPitchAndHeading(float pitch, float heading)¶
Set target pitch and heading angles.
- Parameters:
pitch (
float) – Target pitch angle, in degrees between -90° and +90°.heading (
float) – Target heading angle, in degrees between 0° and 360°.
- Game Scenes:
Flight
- boolean getSAS()¶
- void setSAS(boolean value)¶
The state of SAS.
- Game Scenes:
Flight
Note
Equivalent to
Control.getSAS()
- void setSASMode(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.getSASMode()
- double getRollThreshold()¶
- void setRollThreshold(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
- void setStoppingTime(org.javatuples.Triplet<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
- void setDecelerationTime(org.javatuples.Triplet<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
- void setAttenuationAngle(org.javatuples.Triplet<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
- boolean getAutoTune()¶
- void setAutoTune(boolean 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.getTimeToPeak()andAutoPilot.getOvershoot().- Game Scenes:
Flight
- void setTimeToPeak(org.javatuples.Triplet<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
- void setOvershoot(org.javatuples.Triplet<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
- void setPitchPIDGains(org.javatuples.Triplet<Double, Double, Double> value)¶
Gains for the pitch PID controller.
- Game Scenes:
Flight
Note
When
AutoPilot.getAutoTune()is true, these values are updated automatically, which will overwrite any manual changes.