.. default-domain:: py .. highlight:: py .. currentmodule:: SpaceCenter AutoPilot ========= .. class:: AutoPilot Provides basic auto-piloting utilities for a vessel. Created by calling :attr:`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. Its configuration and target are left unchanged. .. attribute:: sas The state of SAS. :Attribute: Can be read or written :rtype: bool :Game Scenes: Flight .. note:: Equivalent to :attr:`Control.sas`. Throws an exception if set to ``True`` while the auto-pilot is engaged, as the auto-pilot holds SAS off for as long as it is flying the vessel. .. attribute:: sas_mode The current :attr:`AutoPilot.sas_mode`. These modes are equivalent to the mode buttons to the left of the navball that appear when SAS is enabled. :Attribute: Can be read or written :rtype: :class:`SASMode` :Game Scenes: Flight .. note:: Equivalent to :attr:`Control.sas_mode` .. attribute:: engaged Whether the auto-pilot is engaged. Setting to ``True`` engages the auto-pilot; setting to ``False`` disengages it. :Attribute: Can be read or written :rtype: bool :Game Scenes: Flight .. attribute:: show_info_ui Whether an in-game window showing the auto-pilot's state (engagement, attitude error, target, angular rate, inner-loop PID gains and oscillation suppression) is displayed for this vessel. Defaults to ``False``. This is a debugging aid; the window is reset to hidden when the game is restarted. :Attribute: Can be read or written :rtype: bool :Game Scenes: Flight .. method:: reset() Disengages the auto-pilot and resets all configuration parameters to their defaults. Also resets the target pitch, heading and roll, and clears all internal controller state, including the oscillation detector's structural level — which otherwise persists across engagements so that a craft known to be flexible re-latches quickly. :Game Scenes: Flight .. attribute:: reference_frame The reference frame for the target direction (:attr:`AutoPilot.target_direction`). :Attribute: Can be read or written :rtype: :class:`ReferenceFrame` :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. .. attribute:: target_pitch The target pitch, in degrees, between -90° and +90°. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. note:: A convenience for aiming the nose by angle. Heading (and hence roll) is ill-defined when the nose is near vertical (pitch → ±90°); near the vertical prefer :attr:`AutoPilot.target_direction` or :meth:`AutoPilot.set_direction_and_up`. The setter preserves the current roll relative to :attr:`AutoPilot.up_reference`. .. attribute:: target_heading The target heading, in degrees, between 0° and 360°. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. note:: A convenience for aiming the nose by angle, ill-defined when the nose is near vertical (pitch → ±90°) — see :attr:`AutoPilot.target_pitch`. The setter preserves the current roll relative to :attr:`AutoPilot.up_reference`. .. attribute:: target_roll The target roll, in degrees, measured about the vessel's nose relative to the :attr:`AutoPilot.up_reference` (roll 0 aligns the vessel's dorsal/roof axis with the reference; positive roll banks right). ``NaN`` if no target roll is set. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. note:: When left unset (``NaN``) the auto-pilot suppresses roll rotation — it drives the roll rate to zero rather than holding a specific roll angle. Setting a value re-rolls the current target to that angle relative to the up reference while keeping the nose direction. With the default reference (the frame's up) this reproduces the historical roll away from the vertical, and is ill-defined only when the nose points along the reference (near straight up or down). To hold a well-defined roll through the vertical — for example a gravity turn — set the up reference off the flight path (see :meth:`AutoPilot.set_direction_and_up` / :attr:`AutoPilot.up_reference`). .. attribute:: up_reference The reference direction, in the reference frame specified by :attr:`AutoPilot.reference_frame`, that :attr:`AutoPilot.target_roll` is measured against: at roll 0 the vessel's dorsal (roof) axis is aligned with this vector's component perpendicular to the nose. Defaults to the frame's up (the zenith / radial-out direction). :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. note:: Setting this re-anchors how roll is measured without moving the current target, so the reference can be set once and then rolls commanded against it with :attr:`AutoPilot.target_roll` while the nose direction changes freely. It is also set as a side effect of :meth:`AutoPilot.set_direction_and_up`. Setting the target rotation, target direction, or the scalar pitch/heading leaves it unchanged. Choosing a reference off the flight path keeps roll well-defined through the vertical. .. method:: target_pitch_and_heading(pitch, heading) Set target pitch and heading angles. :param float pitch: Target pitch angle, in degrees between -90° and +90°. :param float heading: Target heading angle, in degrees between 0° and 360°. :Game Scenes: Flight .. note:: A convenience for aiming the nose by angle; heading is ill-defined when the nose is near vertical (pitch → ±90°), so near the vertical prefer :attr:`AutoPilot.target_direction` or :meth:`AutoPilot.set_direction_and_up`. Preserves the current roll relative to :attr:`AutoPilot.up_reference`. .. attribute:: target_direction Direction vector corresponding to the target pitch and heading. This is in the reference frame specified by :attr:`AutoPilot.reference_frame`. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: target_rotation The target rotation quaternion. Setting this also sets the target roll. This is in the reference frame specified by :attr:`AutoPilot.reference_frame`. :Attribute: Can be read or written :rtype: tuple(float, float, float, float) :Game Scenes: Flight .. method:: set_direction_and_up(direction, up, [roll = 0.0]) Set the target attitude from a nose direction and an up vector: point the nose along *direction* and roll so the vessel's dorsal (roof) axis aligns with *up* (its component perpendicular to the nose), then apply an optional *roll* offset about the nose. Both vectors are in the reference frame specified by :attr:`AutoPilot.reference_frame`. :param tuple direction: The direction to point the nose in. :param tuple up: The reference direction the roof is rolled towards. Need not be normalized or perpendicular to *direction* — its component perpendicular to the nose is used. Stored as the :attr:`AutoPilot.up_reference`. :param float roll: An additional roll about the nose, in degrees (positive banks right). Defaults to 0. :Game Scenes: Flight .. note:: This is the way to hold a well-defined orientation through a maneuver — for example a gravity turn: pass a fixed *up* (say north) and the roll stays defined the whole way, with no singularity at the vertical. It is well-defined for every nose direction except *up* parallel to *direction* (asking the roof to point where the nose already points), where it falls back to pointing the nose only. Equivalent to setting :attr:`AutoPilot.up_reference` to *up*, aiming at *direction* and setting :attr:`AutoPilot.target_roll` to *roll*. .. attribute:: current_target_pitch The current target pitch the auto-pilot is tracking, in degrees. When :attr:`AutoPilot.target_smoothing_time` is non-zero this lags the commanded :attr:`AutoPilot.target_pitch` while a change is slewed in; otherwise the two are equal. A convenience scalar, ill-defined near the vertical — see :attr:`AutoPilot.target_pitch`. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: current_target_heading The current target heading the auto-pilot is tracking, in degrees. When :attr:`AutoPilot.target_smoothing_time` is non-zero this lags the commanded :attr:`AutoPilot.target_heading` while a change is slewed in; otherwise the two are equal. A convenience scalar, ill-defined near the vertical — see :attr:`AutoPilot.target_heading`. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: current_target_roll The current target roll the auto-pilot is tracking, in degrees. When :attr:`AutoPilot.target_smoothing_time` is non-zero this lags the commanded :attr:`AutoPilot.target_roll` while a change is slewed in; otherwise the two are equal. ``NaN`` if no target roll is set. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: current_target_direction Direction vector corresponding to the current target pitch and heading (see :attr:`AutoPilot.current_target_pitch`), in the reference frame specified by :attr:`AutoPilot.reference_frame`. Lags :attr:`AutoPilot.target_direction` while a change is slewed in when :attr:`AutoPilot.target_smoothing_time` is non-zero. :Attribute: Read-only, cannot be set :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: current_target_rotation The current target rotation quaternion the auto-pilot is tracking, in the reference frame specified by :attr:`AutoPilot.reference_frame`. Lags :attr:`AutoPilot.target_rotation` while a change is slewed in when :attr:`AutoPilot.target_smoothing_time` is non-zero. :Attribute: Read-only, cannot be set :rtype: tuple(float, float, float, float) :Game Scenes: Flight .. method:: wait([timeout = -1.0]) 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. :param float timeout: Maximum time to wait in seconds. If not specified, waits indefinitely. :Game Scenes: Flight .. attribute:: stopping_angle_threshold The threshold, in degrees, below which the pointing error must fall for :meth:`AutoPilot.wait` to return. Defaults to 1 degree. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: stopping_velocity_threshold The threshold angular velocity, in rad/s, below which the vessel's angular velocity magnitude must fall for :meth:`AutoPilot.wait` to return. Defaults to 0.05 rad/s. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: 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. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: This is the error relative to the commanded target. While a change is being slewed in (see :attr:`AutoPilot.target_smoothing_time`) it differs from :attr:`AutoPilot.current_error`, the error relative to the target the auto-pilot is currently tracking. .. attribute:: attitude_error The per-axis attitude error (pitch, yaw, roll), in degrees, between the vessel's current attitude and the commanded target. All three components come from one singularity-free residual decomposition, so they stay well-defined near the vertical (unlike a subtraction of pitch/heading/roll angles). The scalar :attr:`AutoPilot.pitch_error`, :attr:`AutoPilot.heading_error` and :attr:`AutoPilot.roll_error` are the magnitudes of the pitch, yaw and roll components respectively. Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: pitch_error The error, in degrees, between the vessels current and target pitch. Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: The pitch component of :attr:`AutoPilot.attitude_error` — the pitch part of the direction error resolved in the roll-invariant frame, well-defined near the vertical. .. attribute:: heading_error The error, in degrees, between the vessels current and target heading. Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: The yaw component of :attr:`AutoPilot.attitude_error` — the yaw part of the direction error resolved in the roll-invariant frame, well-defined near the vertical (unlike the absolute heading, which is undefined at the pole). .. attribute:: 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. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: Measured about the vessel's nose axis, so it stays well-defined near the vertical singularity — unlike a subtraction of pitch/heading/roll angles, whose roll term is ill-conditioned when the vessel points close to straight up or down. .. attribute:: current_error The error, in degrees, between the direction the auto-pilot is currently tracking and the direction the ship is pointing in. Unlike :attr:`AutoPilot.error` (which is relative to the commanded target), this is relative to the slewed target the auto-pilot is currently holding, so it stays small while a smoothed change (see :attr:`AutoPilot.target_smoothing_time`) is fed in. Equal to :attr:`AutoPilot.error` when smoothing is off. Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: current_attitude_error The per-axis attitude error (pitch, yaw, roll), in degrees, between the vessel's current attitude and the target the auto-pilot is currently tracking (the slewed target — see :attr:`AutoPilot.current_target_rotation`). Like :attr:`AutoPilot.attitude_error` but relative to the current target, so it stays small while a smoothed change (see :attr:`AutoPilot.target_smoothing_time`) is fed in; equal to :attr:`AutoPilot.attitude_error` when smoothing is off. Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: current_pitch_error The error, in degrees, between the vessels current pitch and the pitch the auto-pilot is currently tracking (see :attr:`AutoPilot.current_target_pitch`). Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: The pitch component of :attr:`AutoPilot.current_attitude_error`, well-defined near the vertical. .. attribute:: current_heading_error The error, in degrees, between the vessels current heading and the heading the auto-pilot is currently tracking (see :attr:`AutoPilot.current_target_heading`). Throws an exception if the auto-pilot has not been engaged. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: The yaw component of :attr:`AutoPilot.current_attitude_error`, well-defined near the vertical. .. attribute:: current_roll_error The error, in degrees, between the vessels current roll and the roll the auto-pilot is currently tracking (see :attr:`AutoPilot.current_target_roll`). Throws an exception if the auto-pilot has not been engaged or no target roll is set. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. note:: Measured about the vessel's nose axis, so it stays well-defined near the vertical singularity — see :attr:`AutoPilot.roll_error`. .. attribute:: roll_start_angle The direction error, in degrees, above which roll blending is fully suppressed. Defaults to 20 degrees. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: roll_engage_angle The direction error, in degrees, below which roll is fully engaged. Roll blends linearly between :attr:`AutoPilot.roll_start_angle` and this value. Defaults to 15 degrees. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: max_angular_velocity The maximum angular velocity of the vessel, in rad/s, for each of the pitch, roll and yaw axes. Limits the target angular velocity computed by the bang-bang profile so that vessels with very high torque availability do not spin faster than desired. Defaults to 1 rad/s for each axis. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: pitch_yaw_attenuation_angle The angle, in degrees, at which the autopilot considers the vessel to be pointing close to the target direction. This sets the high angle of the pitch/yaw pointing deadband: at or above this error the target velocity is at full, and below it the target velocity ramps linearly to zero at half this angle, so the vessel coasts to a stop. Pitch and yaw are controlled jointly, so a single angle applies to both. Defaults to 1°. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: roll_attenuation_angle The angle, in degrees, at which the autopilot considers the vessel to be pointing close to the target roll. This sets the high angle of the roll-axis pointing deadband: at or above this error the target velocity is at full, and below it the target velocity ramps linearly to zero at half this angle, so the roll coasts to a stop. Defaults to 1°. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: auto_tune Whether the rotation rate controllers PID parameters should be automatically tuned using the vessels moment of inertia and available torque. Defaults to ``True``. See :attr:`AutoPilot.time_to_peak` and :attr:`AutoPilot.overshoot`. :Attribute: Can be read or written :rtype: bool :Game Scenes: Flight .. attribute:: time_to_peak 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 1 second for each axis. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: soft_start_time The duration, in seconds, over which the control output is faded in when the autopilot is engaged. This soft-start spreads the engagement transient over many physics ticks so engaging (on the pad or mid-flight) does not command a near-maximum control deflection that can excite an oscillation. Defaults to 0.5 seconds. Set to 0 to disable the fade-in. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: target_smoothing_time The duration, in seconds, over which a change to the target attitude is applied to the control target. When set above zero, changing the target pitch, heading, roll, direction or rotation makes the effective control target ramp smoothly (a constant-rate rotation) from its current value to the new value over this many seconds, rather than jumping instantly. This lets a slow control loop drive a smooth maneuver (for example a gravity turn) without inducing oscillation from stepwise target changes. Defaults to 0 (instantaneous). :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: overshoot 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. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: pitch_pid_gains Gains for the pitch PID controller. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. note:: When :attr:`AutoPilot.auto_tune` is true, these values are updated automatically, which will overwrite any manual changes. .. attribute:: roll_pid_gains Gains for the roll PID controller. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. note:: When :attr:`AutoPilot.auto_tune` is true, these values are updated automatically, which will overwrite any manual changes. .. attribute:: yaw_pid_gains Gains for the yaw PID controller. :Attribute: Can be read or written :rtype: tuple(float, float, float) :Game Scenes: Flight .. note:: When :attr:`AutoPilot.auto_tune` is true, these values are updated automatically, which will overwrite any manual changes. .. attribute:: pitch_yaw_rate_filter_mode Controls the rate-feedback filtering (the wobble-suppression filter on the measured angular velocity) for the pitch and yaw axes of a structurally flexible vessel. When :attr:`RateFilterMode.automatic` (the default) the auto-pilot detects the oscillation at runtime, estimates its frequency and routes it to the appropriate tool (a notch filter for a low-frequency mode near the control band, a low-pass for a high-frequency mode). :attr:`RateFilterMode.off` disables rate filtering only — the other oscillation mitigations are unaffected. :attr:`RateFilterMode.notch` and :attr:`RateFilterMode.low_pass` force the respective tool unconditionally at :attr:`AutoPilot.pitch_yaw_oscillation_frequency`, for a vessel known in advance to be flexible. :Attribute: Can be read or written :rtype: :class:`RateFilterMode` :Game Scenes: Flight .. attribute:: roll_rate_filter_mode Controls the rate-feedback filtering for the roll axis. Behaves as :attr:`AutoPilot.pitch_yaw_rate_filter_mode` but for roll, using :attr:`AutoPilot.roll_oscillation_frequency`. Defaults to :attr:`RateFilterMode.automatic`. :Attribute: Can be read or written :rtype: :class:`RateFilterMode` :Game Scenes: Flight .. attribute:: pitch_yaw_oscillation_frequency The structural mode frequency, in Hz, for the pitch/yaw axis group. Used directly as the filter frequency in :attr:`RateFilterMode.notch` / :attr:`RateFilterMode.low_pass` mode, and as the seed for the automatic frequency estimator before it acquires. Defaults to 1.5 Hz. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: roll_oscillation_frequency The structural mode frequency, in Hz, for the roll axis. Behaves as :attr:`AutoPilot.pitch_yaw_oscillation_frequency` but for roll. Defaults to 1.5 Hz. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: oscillation_notch_q The quality factor of the notch filter used to suppress a low-frequency structural mode. A higher value gives a narrower notch (less in-band control lag but less tolerance to the mode frequency drifting); a lower value gives a wider notch. Defaults to 2.5. This is an advanced tuning parameter. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: oscillation_bandwidth_floor_mode Controls the bandwidth-floor mitigation: the reduction of the inner control loop bandwidth on a structurally flexible axis — the primary oscillation stabilizer. When :attr:`MitigationMode.automatic` (the default) it engages on a latched axis while holding (and during a detected limit cycle). :attr:`MitigationMode.off` never reduces the bandwidth; :attr:`MitigationMode.forced` keeps it fully reduced at all times. :Attribute: Can be read or written :rtype: :class:`MitigationMode` :Game Scenes: Flight .. attribute:: oscillation_bandwidth_floor The inner control loop bandwidth, in rad/s, that an axis is reduced towards while the bandwidth-floor mitigation is engaged on it. Lowering it suppresses oscillation more strongly; raising it keeps more control authority at the cost of allowing more wobble. Defaults to 1 rad/s. This is an advanced tuning parameter. :Attribute: Can be read or written :rtype: float :Game Scenes: Flight .. attribute:: oscillation_feedforward_mode Controls the feedforward-cut mitigation: removal of the acceleration feedforward on a structurally flexible axis while holding, so it cannot re-excite a residual mode at the reduced bandwidth. When :attr:`MitigationMode.automatic` (the default) it follows the hold gate on a latched axis. :attr:`MitigationMode.off` never cuts the feedforward; :attr:`MitigationMode.forced` always cuts it fully. :Attribute: Can be read or written :rtype: :class:`MitigationMode` :Game Scenes: Flight .. attribute:: oscillation_output_filter_mode Controls the output-smoothing mitigation: a low-pass on the delivered actuator command that caps residual control chatter. When :attr:`MitigationMode.automatic` (the default) it engages on a latched axis (and, lightly, while the oscillation detector is firing on an unlatched one). :attr:`MitigationMode.off` never smooths; :attr:`MitigationMode.forced` smooths fully at all times. :Attribute: Can be read or written :rtype: :class:`MitigationMode` :Game Scenes: Flight .. attribute:: pitch_yaw_control_oscillation The current amplitude of control-output oscillation on the pitch/yaw axis group, measured as the deviation of the delivered control about its slowly-varying trim. A settled hold sits near zero; a sustained limit cycle drives it toward 1. Read-only. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: roll_control_oscillation The current amplitude of control-output oscillation on the roll axis, measured as the deviation of the delivered control about its slowly-varying trim. Read-only. See :attr:`AutoPilot.pitch_yaw_control_oscillation`. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: oscillation_level A measure, between 0 and 1 for each of the pitch, roll and yaw axes, of how strongly the auto-pilot currently detects structural oscillation (wobble) on that axis. 0 means none detected; values approaching 1 mean a sustained structural oscillation. Read-only. :Attribute: Read-only, cannot be set :rtype: tuple(float, float, float) :Game Scenes: Flight .. attribute:: pitch_yaw_oscillation_latched Whether the auto-pilot has confirmed the pitch/yaw axes to be structurally flexible and latched oscillation suppression on for them. Read-only. See :attr:`AutoPilot.pitch_yaw_rate_filter_mode`. :Attribute: Read-only, cannot be set :rtype: bool :Game Scenes: Flight .. attribute:: roll_oscillation_latched Whether the auto-pilot has confirmed the roll axis to be structurally flexible and latched oscillation suppression on for it. Read-only. See :attr:`AutoPilot.roll_rate_filter_mode`. :Attribute: Read-only, cannot be set :rtype: bool :Game Scenes: Flight .. attribute:: pitch_yaw_oscillation_detected_frequency The structural oscillation frequency, in Hz, estimated by the automatic detector for the pitch/yaw axis group, or ``NaN`` until the estimator acquires. The estimator runs in all modes, so this is observable even when suppression is off or forced. Read-only. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: roll_oscillation_detected_frequency The structural oscillation frequency, in Hz, estimated by the automatic detector for the roll axis, or ``NaN`` until the estimator acquires. Read-only. See :attr:`AutoPilot.pitch_yaw_oscillation_detected_frequency`. :Attribute: Read-only, cannot be set :rtype: float :Game Scenes: Flight .. attribute:: diagnostic_logging When ``True``, records one row of diagnostic data per physics tick to an in-memory buffer (see :attr:`AutoPilot.diagnostic_log`), and echoes each row to Player.log prefixed with ``[KRPC.AP]``. The data is CSV: the first row is a header naming every column, and each subsequent row records the auto-pilot's full control-loop state for one tick (setpoints, errors, measured rates, gains, velocity-profile and feedforward internals, control outputs, and the oscillation detector/gate/mitigation state). The buffer is capped at 3000 data rows (one minute at the 50 Hz physics rate); when full, this property switches itself back to ``False`` and the buffer holds the minute following the enable. Setting to ``True`` clears the buffer. Defaults to ``False``. :Attribute: Can be read or written :rtype: bool :Game Scenes: Flight .. attribute:: diagnostic_log The diagnostic log collected since :attr:`AutoPilot.diagnostic_logging` was last set to ``True``: CSV text whose first line is the column header and each subsequent line records one physics tick. Vector-valued channels use one column per component (suffixed ``.p/.r/.y`` for pitch, roll, yaw); pitch-yaw-group/roll channel pairs are suffixed ``.py/.roll``. Returns an empty string if diagnostic logging has not been enabled or no ticks have occurred. :Attribute: Read-only, cannot be set :rtype: str :Game Scenes: Flight .. class:: RateFilterMode Controls the auto-pilot's rate-feedback filtering for an axis group — the mitigation that removes a structural oscillation (wobble) from the measured angular velocity before the control loops consume it. See :attr:`AutoPilot.pitch_yaw_rate_filter_mode` and :attr:`AutoPilot.roll_rate_filter_mode`. .. data:: automatic The default. The auto-pilot detects structural oscillation at runtime, estimates its frequency and routes it to the appropriate filter: a notch for a low-frequency mode near the control band, a low-pass for a high-frequency mode, or a broadband low-pass while the frequency is not yet known. Rigid vessels are left untouched. .. data:: off No rate filtering. The other oscillation mitigations are unaffected. .. data:: notch Force a notch filter at the manually set frequency (:attr:`AutoPilot.pitch_yaw_oscillation_frequency` / :attr:`AutoPilot.roll_oscillation_frequency`), for a vessel whose structural mode is known in advance. .. data:: low_pass Force a low-pass filter derived from the manually set frequency. .. class:: MitigationMode Controls one of the auto-pilot's individually-toggleable oscillation mitigations (:attr:`AutoPilot.oscillation_bandwidth_floor_mode`, :attr:`AutoPilot.oscillation_feedforward_mode`, :attr:`AutoPilot.oscillation_output_filter_mode`). .. data:: automatic The default: the mitigation engages automatically, driven by the runtime oscillation detector and the hold gate. Rigid vessels are left untouched. .. data:: off The mitigation never engages. The other mitigations are unaffected. .. data:: forced The mitigation is fully engaged at all times, regardless of what the oscillation detector reports.