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.

engage()

Engage the auto-pilot.

Game Scenes:Flight
disengage()

Disengage the auto-pilot.

Game Scenes:Flight
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
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
Return type:float
Game Scenes:Flight
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
Return type:float
Game Scenes:Flight
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
Return type:float
Game Scenes:Flight
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
Return type:float
Game Scenes:Flight
reference_frame

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

Attribute:Can be read or written
Return type: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.

target_pitch

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

Attribute:Can be read or written
Return type:float
Game Scenes:Flight
target_heading

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

Attribute:Can be read or written
Return type:float
Game Scenes:Flight
target_roll

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

Attribute:Can be read or written
Return type:float
Game Scenes:Flight
target_direction

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

Attribute:Can be read or written
Return type:tuple(double, double, double)
Game Scenes:Flight
target_pitch_and_heading(pitch, 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

sas

The state of SAS.

Attribute:Can be read or written
Return type:bool
Game Scenes:Flight

Note

Equivalent to Control.sas

sas_mode

The current 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:SASMode
Game Scenes:Flight

Note

Equivalent to Control.sas_mode

roll_threshold

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:double
Game Scenes:Flight
stopping_time

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(double, double, double)
Game Scenes:Flight
deceleration_time

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(double, double, double)
Game Scenes:Flight
attenuation_angle

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(double, double, double)
Game Scenes:Flight
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 AutoPilot.time_to_peak and AutoPilot.overshoot.

Attribute:Can be read or written
Return type:bool
Game Scenes:Flight
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 3 seconds for each axis.

Attribute:Can be read or written
Return type:tuple(double, double, double)
Game Scenes:Flight
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
Return type:tuple(double, double, double)
Game Scenes:Flight
pitch_pid_gains

Gains for the pitch PID controller.

Attribute:Can be read or written
Return type:tuple(double, double, double)
Game Scenes:Flight

Note

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

roll_pid_gains

Gains for the roll PID controller.

Attribute:Can be read or written
Return type:tuple(double, double, double)
Game Scenes:Flight

Note

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

yaw_pid_gains

Gains for the yaw PID controller.

Attribute:Can be read or written
Return type:tuple(double, double, double)
Game Scenes:Flight

Note

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