SG-22 Control x

for i in range(terminal:height-3) Print "":padright(terminal:width).


//////////////////// VARS //////////////////


set taralt to 100.
set currheading to body:geopositionof(ship:facing:vector):heading.
lock x to currheading.
lock p to 15.
lock throttle to 1.
lock steering to heading(x,p).

lock sl to 0.

set steeringmanager:rollcontrolanglerange to 180.


set servos to ship:modulesnamed("ModuleRoboticRotationServo").

set proprad to 5.8.
set rotormods to ship:modulesnamed("ModuleRoboticServoRotor").
set rotors to list().
for rm in rotormods {

    local rotor to lexicon().
    set rotor["part"] to rm:part.
    set rotor["mod"] to rm.
    set rotor["job"] to choose "push" if rm:part:parent:tag:contains("push") else "vtol".
	print "Found rotor module for job of " + rotor:job.
	set rotor["mode"] to "flight".

    set rotor["blades"] to list().
    for bm in rm:part:ModulesNamed("ModuleControlSurface") {
        local b to bm:part.

        local blade to lexicon().
        set blade["mod"] to bm.
        set blade["offset"] to vdot(-b:Facing:starvector, b:position - b:parent:position).
        set blade["proprad"] to proprad.
        set blade["angleratio"] to 2 * constant:pi * (blade:proprad + blade:offset)/60.

	    bm:setfield("deploy", true).

        rotor["blades"]:add(blade).
    }

    rotors:add(rotor).
}
print "rotors setup".

set deploycopy to 9.

brakes on.
gear on.
set flightmode to "plane".

function SetAngle {
    parameter targetangle.
	if flightmode = "debug" print targetangle at (0,0).
    for s in servos if s:hasfield("target angle") s:setfield("target angle", targetangle).
}


function save {
	print "waiting for valid save state".
  	when (ship:Status = "Landed" or ship:status = "Splashed") and ship:velocity:surface:mag < 0.1 then {
		print "saving".
		kuniverse:quicksaveto(ship:name).
		print "saved to '" + ship:name + "'".
	}
}
lock torque to throttle * 100.
lock deploy to 9.
when true then {
	set torquecopy to torque.
    set deploycopy to deploy.

    for rotor in rotors {
		rotor:mod:setfield("torque limit(%)", torquecopy).
            	for blade in rotor:blades {
                    blade:mod:setfield("deploy angle", deploycopy).
            	}
        }

    return true.
}


set loop to true. when true then { set dv to airspeed - oldairspeed. set oldairspeed to airspeed. }

autoblade off. wait 0. autoblade on. set dvwiggle to 0.002. when abs(dv) < dvwiggle then { set deploy to deploy + 0.05. return autoblade. } when true then { set dv to airspeed - oldairspeed. set oldairspeed to airspeed. return true. }