kOS

// START
CLEARSCREEN.
PRINT "Unmanned Autonomous Aerial Vehicle Flight Program". WAIT 2.
PRINT " ". WAIT 1.
BRAKES ON. PRINT "BRAKES ON.".
SAS OFF. PRINT "SAS OFF.". WAIT 2.
PRINT " ". WAIT 1.
PRINT "==========    Setting up Flight Plan    ==========". WAIT 1.
SET myVEL to 250. PRINT "Speed set to: " + myVEL.
SET myALT to 3500. PRINT "Altitude set to: " + myALT.
SET myASC to 30. PRINT "Ascend angle set to: " + myASC.
SET myDIS to 15000.
SET myBEARING to SHIP:BEARING.
IF myBEARING < 0 {
	SET myHEADING to abs(SHIP:BEARING).
} ELSE {
	SET myHEADING to (360 - SHIP:BEARING).
}.
PRINT "Current course: " + myHEADING.
SET myHOME to SHIP:GEOPOSITION. PRINT "Home Location Set.".
PRINT " ".
PRINT " ". WAIT 2.
// SETTING WAYPOINTS
PRINT "==========     Setting up Waypoint 1    ==========". WAIT 1.
SET myWP1HEADING to 350.
IF myWP1HEADING > 0 AND myWP1HEADING < 180 {SET myWP1BEARING to ((-1) * myWP1HEADING).}.
IF myWP1HEADING < 360 AND myWP1HEADING > 180 {SET myWP1BEARING to (360 - myWP1HEADING).}.
IF myWP1HEADING = 0 {SET myWP1BEARING to 0.}.
IF myWP1HEADING = 180 {SET myWP1BEARING to 180.}.
SET myWP1DIS to 15000.
SET myWP1ALT to 3000.
SET myWP1VEL to 400.
PRINT " ". WAIT 2.
PRINT "==========     Setting up Waypoint 2    ==========". WAIT 1.
SET myWP2HEADING to 160.
IF myWP2HEADING > 0 AND myWP2HEADING < 180 {SET myWP2BEARING to ((-1) * myWP2HEADING).}.
IF myWP2HEADING < 360 AND myWP2HEADING > 180 {SET myWP2BEARING to (360 - myWP2HEADING).}.
IF myWP2HEADING = 0 {SET myWP2BEARING to 0.}.
IF myWP2HEADING = 180 {SET myWP2BEARING to 180.}.
SET myWP2DIS to 50000.
SET myWP2ALT to 2000.
SET myWP2VEL to 300.
PRINT " ".
PRINT " ". WAIT 2.
// PREFLIGHT CHECKS
PRINT "==========         Engine Start         ==========". WAIT 1.
LOCK THROTTLE TO 0. WAIT 1.
STAGE. WAIT 1.
PRINT "==========      Engine spooling up      ==========". WAIT 1.
LOCK THROTTLE TO 1.
WAIT 10.
PRINT "==========      Engine spooled up       ==========". WAIT 1.
PRINT "==========  Preflight checks completed  ==========". WAIT 1.
PRINT "======== Good ends, good highs, good lows ========". WAIT 5.




// TAKE OFF
CLEARSCREEN.
PRINT "Unmanned Autonomous Aerial Vehicle Flight Program".
PRINT " ".
BRAKES OFF. PRINT "Rolling.".
WAIT UNTIL SURFACESPEED > 80.
LOCK STEERING TO HEADING(myHEADING,15).
PRINT "Nose up.".
WAIT UNTIL ALT:RADAR > 3.
TOGGLE GEAR. WAIT 1.
PRINT "Airborne!".
PRINT "Gear up.".
LOCK STEERING TO HEADING(myHEADING,myASC). WAIT 1.
PRINT "Climbing to " + myALT.
PRINT " ".
UNTIL ALTITUDE > (myALT - 100) {
	IF (myALT - ALTITUDE) < 1000 {
		LOCK STEERING TO HEADING(myHEADING,(myASC - 0.5*(myASC * ( ALTITUDE / myALT )))).
	} ELSE {
		LOCK STEERING TO HEADING(myHEADING,myASC).
	}.
	IF SURFACESPEED > myVEL {
		BRAKES ON.
		LOCK THROTTLE TO (0.3 - 0.05*(SURFACESPEED - myVEL)).
	} ELSE {
		BRAKES OFF.
		LOCK THROTTLE TO (0.3 + 0.05*(myVEL - SURFACESPEED)).
	}.
	WAIT 0.1.
}.
PRINT "Leveling off at " + myALT.
PRINT "Speed " + myVEL.
PRINT "For " + myDIS.
UNTIL myHOME:distance > myDIS {
	IF SURFACESPEED > myVEL {
		BRAKES ON.
		LOCK THROTTLE TO (0.3 - 0.05*(SURFACESPEED - myVEL)).
	} ELSE {
		BRAKES OFF.
		LOCK THROTTLE TO (0.3 + 0.05*(myVEL - SURFACESPEED)).
	}.
	IF ALTITUDE > myALT {
		IF (-0.1*(ALTITUDE - myALT)) < -45 {SET myDESC to -45.} ELSE {SET myDESC to (-0.1*(ALTITUDE - myALT)).}.
		LOCK STEERING TO HEADING(myHEADING,myDESC).
	} ELSE {
		LOCK STEERING TO HEADING(myHEADING,0.1*(myALT - ALTITUDE)).
	}.
	WAIT 0.1.
}.
UNLOCK STEERING.
SAS ON.
SET myWP1spot to SHIP:GEOPOSITION.
SET myROLL to 0.
PRINT " ".




// WAYPOINT 1
CLEARSCREEN.
PRINT "Unmanned Autonomous Aerial Vehicle Flight Program".
PRINT " ".
PRINT "Enroute to waypoint 1.". WAIT 1.
SET myBEARING to SHIP:BEARING.
IF myWP1BEARING = 0 {
	IF myBEARING < myWP1BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
	IF myBEARING > myWP1BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
} ELSE {
	IF myWP1BEARING = 180 {
		IF (myBEARING < 0) AND abs(myBEARING) < myWP1BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
		IF (myBEARING > 0) AND abs(myBEARING) < myWP1BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
	} ELSE {
		IF myBEARING > 0 AND myBEARING < 180 {
			IF myWP1BEARING > 0 {
				IF myBEARING < myWP1BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
				IF myBEARING > myWP1BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
			} ELSE {
				IF abs(myBEARING - 180) < abs(myWP1BEARING) {SET myROLL to -0.1. SET myBANK to "left".}.
				IF abs(myBEARING - 180) > abs(myWP1BEARING) {SET myROLL to 0.1. SET myBANK to "right".}.
			}.
		} ELSE {
			IF myWP1BEARING < 0 {
				IF myBEARING < myWP1BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
				IF myBEARING > myWP1BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
			} ELSE {
				IF abs(myBEARING + 180) > abs(myWP1BEARING) {SET myROLL to -0.1. SET myBANK to "left".}.
				IF abs(myBEARING + 180) < abs(myWP1BEARING) {SET myROLL to 0.1. SET myBANK to "right".}.
			}.
		}.
	}.
}.
PRINT "Banking " + mybank. WAIT 1.
PRINT "Waypont 1 heading " + myWP1HEADING. WAIT 1.
PRINT "Distance " + myWP1DIS.
PRINT "Altitude " + myWP1ALT.
PRINT "Speed " + myWP1VEL.
SAS OFF.
SET SHIP:CONTROL:ROLL TO myROLL.
SET now to time:seconds.
WAIT until time:seconds > now + 3.
SET SHIP:CONTROL:ROLL TO 0.0.
SET SHIP:CONTROL:PITCH TO 0.5.
SET myBEARING to SHIP:BEARING.
UNTIL abs(myBEARING - myWP1BEARING) < 0.5 {
	SET myBEARING to SHIP:BEARING.
	WAIT 0.001.
}.
SET SHIP:CONTROL:PITCH TO 0.0.
SET SHIP:CONTROL:ROLL TO (-1 * myROLL).
SET now to time:seconds.
WAIT until time:seconds > now + 3.
SET SHIP:CONTROL:ROLL TO 0.0.
UNTIL myWP1spot:distance > myWP1DIS {
	IF SURFACESPEED > myWP1VEL {
		BRAKES ON.
		LOCK THROTTLE TO (0.3 - 0.05*(SURFACESPEED - myWP1VEL)).
	} ELSE {
		BRAKES OFF.
		LOCK THROTTLE TO (0.3 + 0.05*(myWP1VEL - SURFACESPEED)).
	}.
	IF ALTITUDE > myWP1ALT {
		IF (-0.1*(ALTITUDE - myWP1ALT)) < -45 {SET myDESC to -45.} ELSE {SET myDESC to (-0.1*(ALTITUDE - myWP1ALT)).}.
		LOCK STEERING TO HEADING(myWP1HEADING,myDESC).
	} ELSE {
		LOCK STEERING TO HEADING(myWP1HEADING,0.1*(myWP1ALT - ALTITUDE)).
	}.
	WAIT 0.1.
}.
UNLOCK STEERING.
SAS ON.
SET myWP2spot to SHIP:GEOPOSITION.
SET myROLL to 0.
PRINT " ".




// WAYPOINT 2
CLEARSCREEN.
PRINT "Unmanned Autonomous Aerial Vehicle Flight Program".
PRINT " ".
PRINT "Enroute to waypoint 2.". WAIT 1.
SET myBEARING to SHIP:BEARING.
IF myWP2BEARING = 0 {
	IF myBEARING < myWP2BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
	IF myBEARING > myWP2BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
} ELSE {
	IF myWP2BEARING = 180 {
		IF (myBEARING < 0) AND abs(myBEARING) < myWP2BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
		IF (myBEARING > 0) AND abs(myBEARING) < myWP2BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
	} ELSE {
		IF myBEARING > 0 AND myBEARING < 180 {
			IF myWP2BEARING > 0 {
				IF myBEARING < myWP2BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
				IF myBEARING > myWP2BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
			} ELSE {
				IF abs(myBEARING - 180) < abs(myWP2BEARING) {SET myROLL to -0.1. SET myBANK to "left".}.
				IF abs(myBEARING - 180) > abs(myWP2BEARING) {SET myROLL to 0.1. SET myBANK to "right".}.
			}.
		} ELSE {
			IF myWP2BEARING < 0 {
				IF myBEARING < myWP2BEARING {SET myROLL to -0.1. SET myBANK to "left".}.
				IF myBEARING > myWP2BEARING {SET myROLL to 0.1. SET myBANK to "right".}.
			} ELSE {
				IF abs(myBEARING + 180) > abs(myWP2BEARING) {SET myROLL to -0.1. SET myBANK to "left".}.
				IF abs(myBEARING + 180) < abs(myWP2BEARING) {SET myROLL to 0.1. SET myBANK to "right".}.
			}.
		}.
	}.
}.
PRINT "Banking " + mybank. WAIT 1.
PRINT "Waypont 2 heading " + myWP2HEADING.
PRINT "Distance " + myWP2DIS.
PRINT "Altitude " + myWP2ALT.
PRINT "Speed " + myWP2VEL.
SAS OFF.
SET SHIP:CONTROL:ROLL TO myROLL.
SET now to time:seconds.
WAIT until time:seconds > now + 3.
SET SHIP:CONTROL:ROLL TO 0.0.
SET SHIP:CONTROL:PITCH TO 0.5.
SET myBEARING to SHIP:BEARING.
UNTIL abs(myBEARING - myWP2BEARING) < 0.5 {
	SET myBEARING to SHIP:BEARING.
	WAIT 0.001.
}.
SET SHIP:CONTROL:PITCH TO 0.0.
SET SHIP:CONTROL:ROLL TO (-1 * myROLL).
SET now to time:seconds.
WAIT until time:seconds > now + 3.
SET SHIP:CONTROL:ROLL TO 0.0.
UNTIL myWP2spot:distance > myWP2DIS {
	IF SURFACESPEED > myWP2VEL {
		BRAKES ON.
		LOCK THROTTLE TO (0.3 - 0.05*(SURFACESPEED - myWP2VEL)).
	} ELSE {
		BRAKES OFF.
		LOCK THROTTLE TO (0.3 + 0.05*(myWP2VEL - SURFACESPEED)).
	}.
	IF ALTITUDE > myWP2ALT {
		IF (-0.1*(ALTITUDE - myWP2ALT)) < -45 {SET myDESC to -45.} ELSE {SET myDESC to (-0.1*(ALTITUDE - myWP2ALT)).}.
		LOCK STEERING TO HEADING(myWP2HEADING,myDESC).
	} ELSE {
		LOCK STEERING TO HEADING(myWP2HEADING,0.1*(myWP2ALT - ALTITUDE)).
	}.
	WAIT 0.1.
}.
UNLOCK STEERING.
SAS ON.
SET myWP3spot to SHIP:GEOPOSITION.
SET myROLL to 0.
PRINT " ".