hover2.ks

LOCK alt TO SHIP:ALTITUDE.
LOCK vertspd to SHIP:VERTICALSPEED.
SET level to 100.
LOCK P to level - alt.
SET I to 0.
SET D to 0.
SET P0 to P.

SET Kp to 0.3.
SET Ki to 0.05.
SET Kd to 0.4.

LOCK dthrott to Kp * P + Ki * I + Kd * D.

LOCK steering TO UP.

SET thrott to 1.
SET fall to 3.

LOCK THROTTLE to thrott.
WAIT 1.
STAGE.

SET t0 TO TIME:SECONDS.
SET start_time to TIME:SECONDS.
SET work to "on".
UNTIL work = "off" {
    SET dt TO TIME:SECONDS - t0.
    IF dt > 0 {
        SET I TO I + P * dt.
        SET D TO (P - P0) / dt.
        SET thrott to dthrott.
        SET P0 TO P.
        SET t0 TO TIME:SECONDS.
    }
    SET MET to TIME:SECONDS - start_time.
    IF MET > 45 {
        SET level to 100 - MET/fall.
        SET Ki to 0.01.
        //SET Kd to 0.1.
    }
    IF MET > (45+28*fall/2) {
        SET work to "off".
        SET engines TO SHIP:PARTSDUBBED("LiquidEngineMini").
        FOR eng IN engines{
            eng:GETMODULE("ModuleEnginesFX"):DOEVENT("shutdown engine").
        }
        UNLOCK THROTTLE.
        UNLOCK STEERING.
    }
    WAIT 0.001.
}