atlasLaunch.ks

//Atlas Launch Controller

@LAZYGLOBAL OFF.

LOCAL scriptVersion TO "v0.1".

//=========================================================
//Script Initialization #open

CLEARSCREEN.
SET TERMINAL:WIDTH TO 50.
SET TERMINAL:HEIGHT TO 25.
PRINT "==============ATLAS LAUNCH CONTROLLER=============".
PRINT "----------------Script Version " + scriptVersion + "---------------".
PRINT "Initializing...".

DECLARE PARAMETER
    targetAlt,      //Target altitude of final circular orbit
    targetInc.      //Target inclination of final circular orbit; negative for southerly launch

SWITCH TO 0.
RUN LIB_LAZcalc.ks.     //Launch azimuth calculator
RUN LIB_PID.ks.             //Generic PID controller
RUN LIB_navball.ks.     //Navball reading translator
SWITCH TO 1.

//initialization #close
//=========================================================
//Variable Declaration #open

LOCAL opMode TO -1.                     //Pre-launch start value
LOCAL typeFairing TO "3".       //Fairing diameter
LOCAL typeBooster TO "0".       //Number of SRBs
LOCAL typeEngines TO "1".       //Number of upper stage engines
LOCAL vesselType TO typeFairing + typeBooster + typeEngines.        //Puts it all together
LOCAL launchAzimuth TO LAZcalc(targetAlt, targetInc).                   //Determines launch azimuth
LOCAL controlReady TO FALSE.            //Whether to implement PID controller
LOCAL controlMode TO "Modified".    //Modified has roll as compass heading for initial upwards launch; Standard has roll as normal
LOCAL readoutReady TO FALSE.            //Whether to display readouts
LOCAL logReady TO FALSE.                    //Whether to log flight data
LOCAL countdown TO 10.                          //Countdown start value
LOCAL countdownMessage TO " ".      //Countdown message holder
LOCAL activeStage TO 1.                     //Stores active stage
LOCAL missionClock TO -1.                   //Stores seconds since launch
LOCAL launchTime TO -1.                     //Stores time of launch clamp release

LOCAL pitchInit TO PID_init(0.05,0.02,0,-1,1).  //Initial values for first stage flight
LOCAL rollInit TO PID_init(0.05,0.02,0,-1,1).       //Initial values for first stage flight
LOCAL yawInit TO PID_init(0.05,0.02,0,-1,1).            //Initial values for first stage flight
LOCAL pitchDesired TO 0.        //Desired pitch value (ship orientation)
LOCAL rollDesired TO 0.         //Desired roll value (ship orientation)
LOCAL yawDesired TO 0.              //Desired yaw value (ship orientation)
LOCAL pitchCurrent TO pitch_for(SHIP).      //Starts at 90 on launchpad
LOCAL rollCurrent TO compass_for(SHIP).     //Starts as compass heading of top of ship
LOCAL yawCurrent TO 0.                                              //Starts as 0
LOCAL throttInit TO PID_init(0.05,0.02,0,-1,1).     //Initial values for first stage flight
LOCAL throttDesired TO 0.       //Desired throttle value

LOCAL TWR TO 0.

//declaration #close
//=========================================================
//Parts declaration #open

LOCAL LOXTanks TO LIST(SHIP:PARTSTAGGED("S1Tank"), SHIP:PARTSTAGGED("S2Tank")).                                                     //Array holding both stage's LOX tanks
LOCAL stageOxidizerCapacity TO LIST(LOXTanks[0]:LQDOXYGEN:CAPACITY, LOXTanks[1]:LQDOXYGEN:CAPACITY).    //Array holding capacity of both stage's LOX tanks
LOCAL S2RCSTank TO SHIP:PARTSTAGGED("S2RCSTank").   //Stage 2 RCS tank
LOCAL S2RCSCapacity TO S2RCSTank:A50:CAPACITY.      //Stage 2 RCS tank capacity

//parts declaration #close
//=========================================================
//Locks #open

LOCK missionClock TO launchTime - TIME:SECONDS.     //Keeps track of time since launch clamp release
LOCK TWR TO SHIP:MAXTHRUST / (SHIP:MASS * SHIP:SENSORS:GRAV:MAG).                                   //Keeps track of TWR
LOCK stageOxidizerAmount TO LOXTanks[activeStage + 1]:LQDOXYGEN:AMOUNT + 0.001. //Keeps track of LOX amount in active stage
LOCK stageOxidizerLevel TO (stageOxidizerAmount / stageOxidizerCapacity) * 100. //Keeps track of percent LOX remaining in active stage
LOCK S2RCSAmount TO S2RCSTank:A50:AMOUNT + 0.001.                   //Keeps track of Stage 2 RCS amount
LOCK S2RCSLevel TO (S2RCSAmount / S2RCSCapacity) * 100.     //Keeps track of percent Stage 2 RCS remaining

LOCK SHIP:CONTROL:PITCH TO pitchControl.    //Variable to set pitch
LOCK SHIP:CONTROL:ROLL TO rollControl.      //Variable to set roll
LOCK SHIP:CONTROL:YAW TO yawControl.            //Variable to set yaw
LOCK THROTTLE TO throttControl.                     //Variable to set throttle

//locks #close
//=========================================================
//Main Loop #open

UNTIL  opMode = 0 {

    IF opMode = -1 {        //Pre-countdown
        PRINT "Vehicle type: " + vesselType.
        PRINT "Desired orbit altitude: " + targetAlt.
        PRINT "Desired orbit inclination: " + targetInc.
        PRINT "Launch Azimuth: " + ROUND(launchAzimuth).

        IF logReady = TRUE {
            LOG vesselType TO atlasLog_params.txt.
            LOG targetAlt TO atlasLog_params.txt.
            LOG targetInc TO atlasLog_params.txt.
            LOG launchAzimuth TO atlasLog_params.txt.
        }. //IF logReady

        PRINT "**Press AG10 to initiate countdown**".
        AG10 OFF.       //Ensures AG10 is off to prevent immediate countdown initiation
        SET opMode TO 100.

    } ELSE IF opMode = 100 AND AG10 = TRUE {        //Countdown
        IF countdown = 5 {
            SET throttControl TO 1.

        } ELSE IF countdown = 3 {
            STAGE.      //Main Engines
            SET countdownMessage TO "Main Engine Ignition".

        } ELSE IF countdown = 1 {
            SET countdownMessage TO "Releasing Launch Clamps".

        }. //IF

        PRINT "T-" + countdown + " " + countdownMessage.
        SET countdownMessage TO " ".
        WAIT 1.

        IF countdown = 0 {
            STAGE.      //Ignite SRBs and release clamps
            CLEARSCREEN.
            PRINT "==============ATLAS LAUNCH CONTROLLER=============" AT(0,0).
            PRINT "ASL: " AT(0,1). PRINT "VEL: " AT(16,1). PRINT "CLK: " AT(33,1).  //Readouts at 5, 21, 38
            PRINT "STG: " AT(0,2). PRINT "SFL: " AT(16,2). PRINT "RCS: " AT(33,2).  //Readouts at 5, 21, 38
            PRINT "---------------------EVENT LOG--------------------" AT(0,3).
            SET controlReady TO TRUE.
            SET readoutReady TO TRUE.
            SET opMode TO 200.

        }. //IF

    } ELSE IF opMode = 200 {        //Initial climb and roll to launch azimuth
        SET pitchControl TO 90.     //Straight up
        SET rollControl TO launchAzimuth.       //Roll to heads-up as launch azimuth; modified controlMode requried
        SET yawControl TO 0.
    }. //IF

    IF controlReady = TRUE {

        IF controlMode = "Standard" {       //For regular flying
            SET currentPitch TO pitch_for(SHIP).        //Positive is above horizon
            SET currentRoll TO roll_for(SHIP).          //Regular roll value; needs trickery for heads-down piloting
            SET currentYaw TO  compass_for(SHIP).       //Compass heading

        } ELSE IF controlMode = "Modified" {        //For initial vertical flight
            //TODO: Figure out how to avoid gimbal lock
        }.

    }. //IF controlReady

    IF readoutReady = TRUE {
        PRINT ROUND(SHIP:ALTITUDE) AT(5,1).
        IF SHIP:ALTITUDE > 50000 {
            PRINT ROUND(VELOCITY:ORBIT:MAG, 1) AT(21,1).
        } ELSE {
            PRINT ROUND(VELOCITY:SURFACE:MAG, 1) AT(21,1).
        }.
        PRINT ROUND(missionClock, 1) AT(38,1).
        PRINT activeStage AT(5,2).
        PRINT ROUND(stageOxidizerLevel, 1) AT(21,2).
        PRINT ROUND(S2RCSLevel, 1) AT(38,2).

    }.//IF readoutReady

    IF logReady = TRUE {
        LOG missionClock TO atlasLog_Clock.txt.
        LOG TWR TO atlasLog_TWR.txt.
        LOG SHIP:ALTITUDE TO atlasLog_alt.txt.
        LOG VELOCITY:ORBIT:MAG TO atlasLog_orbitVel.txt.
        LOG VELOCITY:SURFACE:MAG TO atlasLog_surfVel.txt.
        LOG stageOxidizerLevel TO atlasLog_stageLOXlevel.txt.
        LOG S2RCSLevel TO atlasLog_S2RCSlevel.txt.
        LOG pitchControl TO atlasLog_pitchControl.txt.
        LOG rollControl TO atlasLog_rollControl.txt.
        LOG yawControl TO atlasLog_yawControl.txt.
        LOG pitchDesired TO atlasLog_pitchDesired.txt.
        LOG rollDesired TO atlasLog_rollDesired.txt.
        LOG yawDesired TO atlasLog_yawDesired.txt.
        LOG throttDesired TO atlasLog_throttDesired.txt.
        LOG pitchCurrent TO atlasLog_pitchCurrent.txt.
        LOG rollCurrent TO atlasLog_rollCurrent.txt.
        LOG yawCurrent TO atlasLog_yawCurrent.txt.

    }. //IF logReady

}. //UNTIL

SET SHIP:CONTROL:PILOTMAINTHROTTLE TO 0.
UNLOCK THROTTLE.