keiya/README.md

## README.md

      
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              README.md
            
          
    automatic gravity turn & circularize for KSP (Kerbal Space Program)


Until SHIP:APOAPSIS > 80000:

autostage
PID auto throttling (limits to terminal velocity based on my calculation https://docs.google.com/spreadsheets/d/1wnwCcMHZnxbBUPQxz-UTNLd3Z2_XWGXIIcyEujLiQrk/edit?usp=sharing)


At SHIP:APOAPSIS = 80000:

Points to Prograde to prevent drags


At SHIP:ALTITUDE = 70000:

Solar panel extraction
Circularize orbit (maybe you should turn off kOS computer to finish circularize)


## ksp-auto-gravity-turn.ks
SET ThrotPID TO PIDLOOP(0.1, 0.01, 0.01).
SET ThrotPID:MAXOUTPUT TO 1.
SET ThrotPID:MINOUTPUT TO 0.

SET MY_VESS TO SHIP.

//SAS ON.
RCS ON.

SET thrott TO 1.
LOCK THROTTLE TO thrott.

SET HEAD TO HEADING(90,90).
LOCK STEERING TO HEAD.

STAGE.

LIST ENGINES IN elist.
SET PITCH TO 89.
UNTIL SHIP:APOAPSIS > 80000 {
    PRINT "Stage: " + STAGE:NUMBER AT (0,0).
    FOR e IN elist {
        IF e:FLAMEOUT {
            STAGE.
            PRINT "STAGING!" AT (0,0).

            UNTIL STAGE:READY {
                WAIT 0.
            }

            LIST ENGINES IN elist.
            //CLEARSCREEN.
            BREAK.
        }
    }

	IF SHIP:ALTITUDE > 21500 {
	  autoThrot((SHIP:ALTITUDE/1000)^2).
	} ELSE IF SHIP:ALTITUDE > 2000 {
	  autoThrot(SQRT(SHIP:ALTITUDE)*3).
	} ELSE IF SHIP:ALTITUDE > 0 {
	  autoThrot(119).
	}

	autoGravTurn(90, 90000).
	//PRINT MY_VESS:DYNAMICPRESSURE * constant:ATMtokPa.
	WAIT 0.01.
}

UNLOCK ALL.
SAS ON.
WAIT 0.1.
SET SASMODE TO "PROGRADE".

UNTIL SHIP:ALTITUDE > 70000 {
}

SET panelsOpen TO FALSE.

panelUtil().

SAS OFF.

circularize().

RCS OFF.


FUNCTION circularize {
	set th to 0.
	lock throttle to th.
	set dV to ship:facing:vector:normalized.
	lock steering to lookdirup(dV, ship:facing:topvector).
	//ag1 off. //ag1 to abort

	local timeout is time:seconds + 9000.
	when dV:mag < 0.05 then set timeout to time:seconds + 3.
	until ag1 or dV:mag < 0.02 or time:seconds > timeout {
		set posVec to ship:position - body:position.
		set vecNormal to vcrs(posVec,velocity:orbit).
		set vecHorizontal to -1 * vcrs(ship:position-body:position, vecNormal).
		set vecHorizontal:mag to sqrt(body:MU/(body:Radius + altitude)). //this is the desired velocity vector to obtain circular orbit at current altitude

		set dV to vecHorizontal - velocity:orbit. //deltaV as a vector

		//Debug vectors
		//set mark_n to VECDRAWARGS(ship:position, vecNormal:normalized * (velocity:orbit:mag / 100), RGB(1,0,1), "n", 1, true).
		set mark_h to VECDRAWARGS(ship:position, vecHorizontal / 100, RGB(0,1,0), "h", 1, true).
		set mark_v to VECDRAWARGS(ship:position, velocity:orbit / 100, RGB(0,0,1), "dv", 1, true).
		set mark_dv to VECDRAWARGS(ship:position + velocity:orbit / 100, dV, RGB(1,1,1), "dv", 1, true).

		//throttle control
		if vang(ship:facing:vector,dV) > 1 { set th to 0. }
		else { set th to max(0,min(1,dV:mag/10)). }
		wait 0.
	}
}

FUNCTION autoThrot {
  PARAMETER desiredSpeed.
  SET ThrotPID:SETPOINT TO desiredSpeed.
  SET thrott TO ThrotPID:UPDATE(TIME:SECONDS, MY_VESS:AIRSPEED).
}.

FUNCTION autoGravTurn {
  PARAMETER desiredHeading.
  PARAMETER desiredApAlt.
  SET HEAD TO HEADING(desiredHeading, (90-SHIP:APOAPSIS/(desiredApAlt-SHIP:ALTITUDE/4)*90)).
}.

FUNCTION panelUtil {

    //Only performs the checks within if the panels aren't already open
    IF NOT panelsOpen {

        //Checks if we're out of the atmosphere
        IF SHIP:ALTITUDE > BODY:ATM:HEIGHT {

            //Opens the panels
            PANELS ON.

            //Changes the variable so we can track the status of the panels
            SET panelsOpen TO TRUE.

            //Informs the user that we're taking action
            HUDTEXT("Panel Utility: Leaving Atmosphere; Opening Panels", 3, 2, 30, YELLOW, FALSE).
            PRINT "Opening Panels".

        }.

        //Checks if we're landed and stationary
        IF SHIP:STATUS = "Landed" AND SHIP:VELOCITY:SURFACE:MAG < 0.01 {

            //Opens the panels
            PANELS ON.

            //Changes the variable so we can track the status
            SET panelsOpen TO TRUE.

            //Informs the user that we're taking action
            HUDTEXT("Panel Utility: Landed and stationary; Opening Panels", 3, 2, 30, YELLOW, FALSE).
            PRINT "Opening Panels".

        }.

    //Only performs the checks within if the panels are already open
    } ELSE IF panelsOpen {

        //Checks to see if we're in the atmosphere; doesn't close the panels if we're
        //stationary to prevent it and the stationary check from fighting for control of
        //the panels.
        IF SHIP:ALTITUDE < BODY:ATM:HEIGHT
            AND SHIP:VELOCITY:SURFACE:MAG >= 0.01 {

            //Closes the panels
            PANELS OFF.

            //Changes the variable so we can track the status of the panels
            SET panelsOpen TO FALSE.

            //Informs the user why we're taking action based on which situation we're in
            IF SHIP:STATUS = "Landed" {

                //If we're landed, we're probably starting to move from a standstill
                HUDTEXT("Panel Utility: Landed and moving; Closing Panels", 3, 2, 30, YELLOW, FALSE).
                PRINT "Closing Panels".

            } ELSE {

                //If we're not landed, we're probably re-entering
                HUDTEXT("Panel Utility: Entering Atmosphere; Closing Panels", 3, 2, 30, YELLOW, FALSE).
                PRINT "Closing Panels".

            }.

        }.

    }.

}.
	SET ThrotPID TO PIDLOOP(0.1, 0.01, 0.01).
	SET ThrotPID:MAXOUTPUT TO 1.
	SET ThrotPID:MINOUTPUT TO 0.

	SET MY_VESS TO SHIP.

	//SAS ON.
	RCS ON.

	SET thrott TO 1.
	LOCK THROTTLE TO thrott.

	SET HEAD TO HEADING(90,90).
	LOCK STEERING TO HEAD.

	STAGE.

	LIST ENGINES IN elist.
	SET PITCH TO 89.
	UNTIL SHIP:APOAPSIS > 80000 {
	PRINT "Stage: " + STAGE:NUMBER AT (0,0).
	FOR e IN elist {
	IF e:FLAMEOUT {
	STAGE.
	PRINT "STAGING!" AT (0,0).

	UNTIL STAGE:READY {
	WAIT 0.
	}

	LIST ENGINES IN elist.
	//CLEARSCREEN.
	BREAK.
	}
	}

	IF SHIP:ALTITUDE > 21500 {
	autoThrot((SHIP:ALTITUDE/1000)^2).
	} ELSE IF SHIP:ALTITUDE > 2000 {
	autoThrot(SQRT(SHIP:ALTITUDE)*3).
	} ELSE IF SHIP:ALTITUDE > 0 {
	autoThrot(119).
	}

	autoGravTurn(90, 90000).
	//PRINT MY_VESS:DYNAMICPRESSURE * constant:ATMtokPa.
	WAIT 0.01.
	}

	UNLOCK ALL.
	SAS ON.
	WAIT 0.1.
	SET SASMODE TO "PROGRADE".

	UNTIL SHIP:ALTITUDE > 70000 {
	}

	SET panelsOpen TO FALSE.

	panelUtil().

	SAS OFF.

	circularize().

	RCS OFF.


	FUNCTION circularize {
	set th to 0.
	lock throttle to th.
	set dV to ship:facing:vector:normalized.
	lock steering to lookdirup(dV, ship:facing:topvector).
	//ag1 off. //ag1 to abort

	local timeout is time:seconds + 9000.
	when dV:mag < 0.05 then set timeout to time:seconds + 3.
	until ag1 or dV:mag < 0.02 or time:seconds > timeout {
	set posVec to ship:position - body:position.
	set vecNormal to vcrs(posVec,velocity:orbit).
	set vecHorizontal to -1 * vcrs(ship:position-body:position, vecNormal).
	set vecHorizontal:mag to sqrt(body:MU/(body:Radius + altitude)). //this is the desired velocity vector to obtain circular orbit at current altitude

	set dV to vecHorizontal - velocity:orbit. //deltaV as a vector

	//Debug vectors
	//set mark_n to VECDRAWARGS(ship:position, vecNormal:normalized * (velocity:orbit:mag / 100), RGB(1,0,1), "n", 1, true).
	set mark_h to VECDRAWARGS(ship:position, vecHorizontal / 100, RGB(0,1,0), "h", 1, true).
	set mark_v to VECDRAWARGS(ship:position, velocity:orbit / 100, RGB(0,0,1), "dv", 1, true).
	set mark_dv to VECDRAWARGS(ship:position + velocity:orbit / 100, dV, RGB(1,1,1), "dv", 1, true).

	//throttle control
	if vang(ship:facing:vector,dV) > 1 { set th to 0. }
	else { set th to max(0,min(1,dV:mag/10)). }
	wait 0.
	}
	}

	FUNCTION autoThrot {
	PARAMETER desiredSpeed.
	SET ThrotPID:SETPOINT TO desiredSpeed.
	SET thrott TO ThrotPID:UPDATE(TIME:SECONDS, MY_VESS:AIRSPEED).
	}.

	FUNCTION autoGravTurn {
	PARAMETER desiredHeading.
	PARAMETER desiredApAlt.
	SET HEAD TO HEADING(desiredHeading, (90-SHIP:APOAPSIS/(desiredApAlt-SHIP:ALTITUDE/4)*90)).
	}.

	FUNCTION panelUtil {

	//Only performs the checks within if the panels aren't already open
	IF NOT panelsOpen {

	//Checks if we're out of the atmosphere
	IF SHIP:ALTITUDE > BODY:ATM:HEIGHT {

	//Opens the panels
	PANELS ON.

	//Changes the variable so we can track the status of the panels
	SET panelsOpen TO TRUE.

	//Informs the user that we're taking action
	HUDTEXT("Panel Utility: Leaving Atmosphere; Opening Panels", 3, 2, 30, YELLOW, FALSE).
	PRINT "Opening Panels".

	}.

	//Checks if we're landed and stationary
	IF SHIP:STATUS = "Landed" AND SHIP:VELOCITY:SURFACE:MAG < 0.01 {

	//Opens the panels
	PANELS ON.

	//Changes the variable so we can track the status
	SET panelsOpen TO TRUE.

	//Informs the user that we're taking action
	HUDTEXT("Panel Utility: Landed and stationary; Opening Panels", 3, 2, 30, YELLOW, FALSE).
	PRINT "Opening Panels".

	}.

	//Only performs the checks within if the panels are already open
	} ELSE IF panelsOpen {

	//Checks to see if we're in the atmosphere; doesn't close the panels if we're
	//stationary to prevent it and the stationary check from fighting for control of
	//the panels.
	IF SHIP:ALTITUDE < BODY:ATM:HEIGHT
	AND SHIP:VELOCITY:SURFACE:MAG >= 0.01 {

	//Closes the panels
	PANELS OFF.

	//Changes the variable so we can track the status of the panels
	SET panelsOpen TO FALSE.

	//Informs the user why we're taking action based on which situation we're in
	IF SHIP:STATUS = "Landed" {

	//If we're landed, we're probably starting to move from a standstill
	HUDTEXT("Panel Utility: Landed and moving; Closing Panels", 3, 2, 30, YELLOW, FALSE).
	PRINT "Closing Panels".

	} ELSE {

	//If we're not landed, we're probably re-entering
	HUDTEXT("Panel Utility: Entering Atmosphere; Closing Panels", 3, 2, 30, YELLOW, FALSE).
	PRINT "Closing Panels".

	}.

	}.

	}.

	}.