AutoPilot¶

class SpaceCenter.AutoPilot¶

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

engage()¶: Engage the auto-pilot.

disengage()¶: Disengage the auto-pilot.

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.

error: number¶

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
Return type:: number

pitch_error: number¶

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
Return type:: number

heading_error: number¶

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
Return type:: number

roll_error: number¶

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
Return type:: number

reference_frame: SpaceCenter.ReferenceFrame¶

The reference frame for the target direction (SpaceCenter.AutoPilot.target_direction).

Attribute:: Can be read or written
Return type:: SpaceCenter.ReferenceFrame

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.

target_pitch: number¶

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

Attribute:: Can be read or written
Return type:: number

target_heading: number¶

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

Attribute:: Can be read or written
Return type:: number

target_roll: number¶

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

Attribute:: Can be read or written
Return type:: number

target_direction: Tuple¶

Direction vector corresponding to the target pitch and heading. This is in the reference frame specified by SpaceCenter.ReferenceFrame.

Attribute:: Can be read or written
Return type:: Tuple

target_pitch_and_heading(pitch, heading)¶

Set target pitch and heading angles.

Parameters:

pitch (number) – Target pitch angle, in degrees between -90° and +90°.
heading (number) – Target heading angle, in degrees between 0° and 360°.

sas: boolean¶

The state of SAS.

Attribute:: Can be read or written
Return type:: boolean

Note

Equivalent to SpaceCenter.Control.sas

sas_mode: SpaceCenter.SASMode¶

The current SpaceCenter.SASMode. 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
Return type:: SpaceCenter.SASMode

Note

Equivalent to SpaceCenter.Control.sas_mode

roll_threshold: number¶

The threshold at which the autopilot will try to match the target roll angle, if any. Defaults to 5 degrees.

Attribute:: Can be read or written
Return type:: number

stopping_time: Tuple¶

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.

Attribute:: Can be read or written
Return type:: Tuple

deceleration_time: Tuple¶

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.

Attribute:: Can be read or written
Return type:: Tuple

attenuation_angle: Tuple¶

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.

Attribute:: Can be read or written
Return type:: Tuple

auto_tune: boolean¶

Whether the rotation rate controllers PID parameters should be automatically tuned using the vessels moment of inertia and available torque. Defaults to True. See SpaceCenter.AutoPilot.time_to_peak and SpaceCenter.AutoPilot.overshoot.

Attribute:: Can be read or written
Return type:: boolean

time_to_peak: Tuple¶

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.

Attribute:: Can be read or written
Return type:: Tuple

overshoot: Tuple¶

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
Return type:: Tuple

pitch_pid_gains: Tuple¶

Gains for the pitch PID controller.

Attribute:: Can be read or written
Return type:: Tuple

Note

When SpaceCenter.AutoPilot.auto_tune is true, these values are updated automatically, which will overwrite any manual changes.

roll_pid_gains: Tuple¶

Gains for the roll PID controller.

Attribute:: Can be read or written
Return type:: Tuple

Note

When SpaceCenter.AutoPilot.auto_tune is true, these values are updated automatically, which will overwrite any manual changes.

yaw_pid_gains: Tuple¶

Gains for the yaw PID controller.

Attribute:: Can be read or written
Return type:: Tuple

Note

When SpaceCenter.AutoPilot.auto_tune is true, these values are updated automatically, which will overwrite any manual changes.