View difference between Paste ID: N8eMd50c and xeNy4xmv

 //VTOL hover script with side translation - Ozin
-// !runscript xeNy4xmv
+//hacked and likely broken - sumguy
 // !runscript N8eMd50c
-core:doaction("open terminal",true).
+switch to 0.
 clearvecdraws().
 HUDTEXT("Running script: VTOL hover for props",20,2,22,white,false).
-sas off.
+
-HUDTEXT("Running script: VTOL hover for jets & propellers",20,2,22,white,false).
+
 
 
-if not(defined places) and exists("0:/json/" + body:name + ".json") set places to readjson("0:/json/" + body:name + ".json").
+
 set steeringmanager:rollcontrolanglerange to 180.
 set steeringmanager:rollpid:kp to 0.4.
 set steeringmanager:rollpid:ki to 0.04.
-set props to false.
+
-if ship:partsnamedpattern("blade"):length >= 4 {
+
-	//toggle ag3.
+
-	set props to true.
+set st to  lookdirup(up:vector, facing:topvector).
-	print "Detected propellers. Throttle will control blade authority, with a fixed RPM.".
+
-	set rotors to list().
+lock hdg to 90.
-	for m in ship:modulesnamed("ModuleRoboticServoRotor") {
+lock sl to 0.
-		set rotorList to list(m:part). //index 0: part, 1: bool for flipped, 2+: individual blade partmodules
+
-		for p in m:part:children {
+
-			if p:hasmodule("ModuleControlSurface") {
+
-				if rotorList:length = 1 rotorList:add(choose -1 if vang(m:part:facing:vector, p:facing:topvector) > 92 else 1).
+
-				rotorList:add(p:getmodule("ModuleControlSurface")).
+
-			}
+
-		}
+
-		rotors:add(rotorList).
+
-	}.
+
-	//set rotor1 to ship:modulesnamed("ModuleRoboticServoRotor")[0]:part.
+
-	//set ship:control:pilotmainthrottle to 0.5.
+
-	for s in ship:modulesnamed("ModuleRoboticServoRotor") s:setfield("torque limit(%)", 1).
+
 set tiltOutwards to 0.
 lock vsOverride to 0.
-set estNeutral to 0.
+
-set tarAOA to 0.
+
 set vs to 0.
-set mathThingy to 2 * constant:pi * 5.8 * 460/60.
+
-function bladeAOA { parameter ang.
+set stTopVector to facing:topvector.
-	set tarAOA to ang.
+
-	for rotor in rotors {
+
-		set relSpd to vdot(rotor[0]:facing:vector * rotor[1], vel).
+
-		set estNeutral to arctan(abs(relSpd)/mathThingy) * relSpd/abs(relSpd).
+
-		for i in range(2,rotor:length) {
+
-			rotor[i]:setfield("deploy angle",estNeutral + ang).
+set mul to 1.
-		}
+lock tv to heading(hdg,0):vector * sl.
 set tvCopy to tv.
 
 lock deploy to max(3,airspeed^0.7).
 lock rpmlimit to max(0,(-2*verticalspeed - altitude + talt -altErr*0.6)*4.6*2).
 set blades to ship:partsdubbedpattern("blade").
 
 set rotors to ship:partsdubbedpattern("rotor").
 
 for rotor in rotors rotor:getmodulebyindex(1):setfield("torque limit(%)",100).
-set steeringmanager:maxstoppingtime to 6.
+
 if ship:partsnamedpattern("grap"):length > 0 {
-set flipSteering to false.
+
-set face to facing.
+
 	set localport to ship:dockingports[0].
-set st to lookdirup(up:vector, face:topvector).
+
-lock hdg to 90. lock sl to 0.
+
 }
 set mode to "Heading".
 set tgt to false.
-set twr to 1.
+
 
 
 //===[Functions]===
 
 function norm {
-set velOld to vel.
+
 	set u to (p0-body:position):normalized.
 	set p1 to vxcl(u,facing:vector):normalized * (bnds:size:mag + 5).
 	set g2 to body:geopositionof(angleaxis(120, u) * p1 + p0). set p2 to choose g2:position if g2:terrainheight > 0 else g2:altitudeposition(0).
 	set g3 to body:geopositionof(angleaxis(-120, u) * p1 + p0). set p3 to choose g3:position if g3:terrainheight > 0 else g3:altitudeposition(0).
 	set g1 to body:geopositionof(p1 + p0). set p1 to choose g1:position if g1:terrainheight > 0 else g1:altitudeposition(0).
 	return vcrs(p1-p2,p1-p3):normalized.
 }
 function getSlope {
 	parameter pos, vec.
-set stTopVector to face:topvector.
+
 	local g2 is body:geopositionof(pos+vec). local p2 is choose g2:position if g2:terrainheight > 0 else g2:altitudeposition(0).
 	return 90 - vang(up:vector, p2-p1).
 }
 function showVD { toggle terDisplay. set vdTer to vecdraw(v(0,0,0), up:vector * 1, red, "", 1, true, 0.9, false). set vdSlope to vecdraw(v(0,0,0), up:vector * 1, yellow, "", 1, true, 0.4, true). set vdVel to vecdraw(v(0,0,0), up:vector * 1, blue, "", 1, true, 0.4, true). }
 set terDisplay to false.
-set mul to 0.
+
-set followDist to 0.
+
-set hdgLag to hdg.
+
-lock tv to heading(hdgLag,0):vector * sl.
+	set vdTer:width to 1 + (pi:mag^0.9) / 80.
 
-set tvCopyMag to 0.
+
-set pitchoffset to 0.
+
 }
 function tiltStar {
 	parameter tlt is 0.
 	if vsErr < -1 set tlt to tlt + tlt * max(-1, vsErr / 15).
 	set tlt to tlt + vang(up:vector,  facing:starvector) - 90.
 	set rollError to steeringmanager:rollpid:output.
 	for hinge in allHinges hinge["s"]:setfield("target angle", tlt * hinge["right"] + tiltOutwards + min(15, max(-15,rollError * 40 * hinge["front"] * hinge["right"])) ).
 }
 function tilt {
 	parameter tlt is 0. if vsErr < -1  and (vdot(hvel:normalized, relVelVec) > -2 or vdot(tvCopy, hvel) < 0) set tlt to tlt + tlt * max(-1, vsErr / 20).
 	set tlt to tlt + vang(up:vector,  facing:topvector) - 90.
-set race to false.
+	for s in servos s:setfield("target angle", tlt).
-when alt:radar > 10 then gear off.
+
 function goToTarget {
 	if localport:istype("part") {
-set menu to gui(260, 30). Set menu:x to -30. set menu:y to 300. menu:show.
+		lock tv to choose (vxcl(up:vector,target:position - localport:position):normalized * min(sl,(vxcl(up:vector,target:position - localport:position):mag/3)^0.70) + (choose target:velocity:surface if target:loaded else v(0,0,0))) if hastarget else v(0,0,0).
 
 	} else {
 		lock tv to choose (vxcl(up:vector,target:position):normalized * min(sl,(vxcl(up:vector,target:position):mag/3)^0.70) + (choose target:velocity:surface if target:loaded else v(0,0,0))) if hastarget else v(0,0,0).
 	}
 	set mode to "Target".
 	if sl < 1 { set sl to 5. HUDTEXT("SL (speedlimit) is low, setting SL to 5..",16,2,20,yellow,false). }
 }
 function goToPosition {
 	parameter pos.
 	if pos:typename = "Vector" set pos to body:geopositionof(pos).
 	set tgt to pos.
 	lock tv to vxcl(up:vector,tgt:position):normalized * min(sl,(vxcl(up:vector,tgt:position):mag/3)^0.70) - (choose localport:position if localport:istype("part") else v(0,0,0)).
-set mLast to menu:addlabel("Functions: <color=white>goToTarget(), goToPosition(<geopos or position>), goTo(<Name>), resetSteering()</color>").
+
 	if sl < 1 { set sl to 5. HUDTEXT("SL (speedlimit) is low, setting SL to 5..",16,2,20,yellow,false). }
-set mIPU to menu:addlabel("IPU: ").
+
-set mLast3 to menu:addlabel(".").
+function resetSteering { lock tv to heading(hdg,0):vector * sl. lock steering to st. set mode to "Heading". }
-set mLast4 to menu:addlabel(".").
+
-set mAOA to menu:addlabel(".").
+
 //===[engine & servos setup]===
 
-for txt in menu:widgets { set txt:style:fontsize to 14. set txt:style:padding:v to 1. }
+
 set servos to list().
 set yawServos to list().
 for s in allServos {
-wait 1.
+	if s:part:tag <> "yaw" {
 		s:setfield("damping", 80). s:setfield("traverse rate", 80). servos:add(s).
 	} else {
 		yawServos:add(s).
-function vertThrust {
+
-	if props return max(1, vdot(rotor1:facing:vector, up:vector) * 20).
+
 set allHinges to list().
-	set vth to 0.
+
-	for e in engs if e:ignition {
+	m:setfield("damping", 80). m:setfield("traverse rate", 80).
-		set vth to vth + vdot(up:vector, e:facing:vector * (choose -1 if e:tag = "reverse" else 1)) * e:availablethrust.
+	local pPos is m:part:position.
 	local l is lexicon("right", choose 1 if vdot(facing:starvector, pPos) > 0 else -1, "front", choose 1 if vdot(facing:topvector, pPos) < 0 else -1, "s", m).
-	return max(1,vth).
+
 	allHinges:add(l).
 }
 set twoaxistilt to (allHinges:length > 1).
 if twoaxistilt HUDTEXT("2-axis engine tilting enabled. Toggle 'twoaxistilt' to disable",20,2,22,yellow,false).
-	set p1 to vxcl(u,facing:vector):normalized * (bnds:size:mag).
+
 set jets to false.
 
 //===[PID controllers]===
 if jets {
 	set tpid to pidloop(8,0.2, 9, -0.5, 4).
 } else {
 	set tpid to pidloop(5,0.2, 0.5, -1, 4).
 }
 set vsPID to pidloop(1,1,1,-50,100).
 set tltpid to pidloop(20, 2, 2, -55, 60).
 set tltStarpid to pidloop(20, 2, 2, -35, 35).
 
 
 //===[TRIGGER WARNING!]===
-function showVD {
+
-	toggle terDisplay.
+on round(time:seconds * 5) {
-	set vdTer to vecdraw(v(0,0,0), up:vector * 1, red, "", 1, true, 0.9).
+
-	set vdSlope to vecdraw(v(0,0,0), up:vector * 1, yellow, "", 1, true, 0.4).
+
-	set vdVel to vecdraw(v(0,0,0), up:vector * 1, blue, "", 1, true, 0.4).
+	return vtol.
-	set vdAcc to vecdraw(v(0,0,0), up:vector * 1, green, "", 1, true, 0.3).
+
 //fast (50hz) trigger
 when true then {
 	set vel to velocity:surface.
 	set hvel to vxcl(up:vector,vel).
-	set vdTer:width to 1 + (pi:mag^0.75) / 80.
+
 	set tvCopyMag to tvCopy:mag.
 	set altErr to altitude - talt.
 
 	//[Terrain detection and minimum climb angle]
-	set velDiff to vel-velOld.
+	set gi to body:geopositionof((hvel * (1.5 - terI/terSteps) + tvCopy * terI/terSteps):normalized * (groundspeed + (tvCopyMag + groundspeed)/2 * (terI^1.4) * terStepDist)). set pi to choose gi:position if gi:terrainheight > 0 else gi:altitudeposition(0).
-	set vdAcc:vec to (velDiff:normalized * (velDiff:mag/0.02)) / 10.
+	set tempSlope to max(-60,90 - vang(up:vector, pi + (angleaxis(terSlope, vcrs(hvel, up:vector)) * up:vector) * min(alt:radar + height * terI/terSteps,height))).
-	set velOld to vel.
+	if tempSlope > terSlope {
 		set terSlope to tempSlope.
 		set terJ to 0.
 	} else {
 		set terJ to terJ + 1.
 		set terSlope2 to max(tempSlope, terSlope2 * 0.999 + 0.001 * tempSlope).
-	if vsErr < -1 set tlt to tlt + tlt * max(-1, vsErr / 8).
+		if terJ > terSteps * 3 + 30 { set terJ to 0. set terSlope to terSlope2. set terSlope2 to max(-30, terSlope2 - 25).  }
-	set tlt to tlt + vang(up:vector,  face:starvector) - 90.
+
-	set rollError to steeringmanager:rollpid:output. // rollerror
+	if terDisplay terDisplayFunc().
-	for hinge in servosSideTilt hinge["s"]:setfield("target angle", tlt * hinge["direction"] * hinge["right"] + tiltOutwards + min(20, max(-20,(rollError * 40) * hinge["front"] * hinge["right"])) ).
+	set terI to terI + terStepDist.
 	if terI > terSteps {
 		set terI to terStepDist.
 		//if terSlope > 0 set terSlope to max(terSlope, getSlope(vel:normalized * (sl * terSteps), vel:normalized * (sl * 2))).
-	//if vsErr < -1  and (vdot(hvel:normalized, relVelVec) > -2 or vdot(tvCopy, hvel) < 0) or race set tlt to tlt + tlt * max(-1, vsErr / 10).
+
-	if vsErr < -1  set tlt to tlt + tlt * max(-1, vsErr / 10).
+
-	set curPitch to choose (vang(up:vector,  face:topvector) - 90) if vdot(face:vector, up:vector) >= 0 else (90 + vang(up:vector, -facing:topvector)).
+
-	set tlt to tlt + curPitch.
+	set slopeVS to choose 0 if tAltOverride else (tan(terSlope) * (groundspeed + (choose 0 if altErr < 0 else max(0,20 - groundspeed^1.5)))).
-	if tlt > 180 set tlt to tlt - 360.
+	set vs to choose vsOverride if vsOverride <> 0 else max(max(vsMin,slopeVS)  ,min(vsMax,   	choose (-1 * (1 * acc * max(altErr + min(0, verticalspeed * 1) ,0.0001))^0.4) if altErr > 0 else sqrt(2 * (grav/2) * max(-altErr - verticalspeed * 0.2,0.0001))         )).
-	set mLast4:text to "pitch tilt: " + round(tlt,2).
+
-	for s in servos s["s"]:setfield("target angle", tlt).
+
-	//if tlt > 45 {
+
-	//	for s in servos s["s"]:setfield("target angle", tlt + s["front"] * steeringmanager:pitcherror / -2).
+
-	//} else {
+
-	//	for s in servos s["s"]:setfield("target angle", tlt).
+
-	//}
+
 
 	For b in blades b:getmodule("ModuleControlSurface"):setfield("deploy angle", deploy).
 	for rotor in rotors rotor:getmodulebyindex(1):setfield("rpm limit", rpmlimit).
-		lock tv to choose (vxcl(up:vector,(target:position + target:facing:vector * -followDist) - localport:position):normalized * min(sl,(vxcl(up:vector,(target:position + target:facing:vector * -followDist) - localport:position):mag/3)^0.75) + (choose target:velocity:surface if target:loaded else v(0,0,0))) if hastarget else v(0,0,0).
+
 	return vtol.
 }
-		lock tv to choose (vxcl(up:vector,target:position + target:facing:vector * -followDist):normalized * min(sl,(vxcl(up:vector,target:position + target:facing:vector * -followDist):mag/3)^0.75) + (choose target:velocity:surface if target:loaded else v(0,0,0))) if hastarget else v(0,0,0).
+
 //12hz trigger - steering and engine tilt
 on round(time:seconds * 12) {
 	tilt(tltpid:update(time:seconds, vdot(facing:topvector, relVelVec))).
 
 	set stTopVector to choose tvCopy * -1 if tvCopyMag > 2 else (choose -target:facing:topvector if hastarget else facing:topvector).
 	if twoaxistilt {
 		tiltStar(tltStarpid:update(time:seconds, vdot(facing:starvector, relVelVec))).
 		set st to lookdirup(angleaxis(choose 0 if alt:radar < alignTerrainHeight else (min(tvCopyMag/2,max(-tvCopyMag/2,terSlope - vsErr/6))), -facing:starvector) * (vel / -500 + (choose norm() if alt:radar < alignTerrainHeight else up:vector) * 10 + vxcl(vxcl(up:vector,facing:topvector),relVelVec * sideTiltMult )), stTopVector).
 	} else {
 		set st to lookdirup(angleaxis(min(tvCopyMag/2,max(-tvCopyMag/2,terSlope - vsErr/6)), -facing:starvector) * (vel / -500 + up:vector * 10 + vxcl(vxcl(up:vector,facing:topvector),relVelVec * sideTiltMult )), stTopVector).
 	}
 	return vtol.
-function goto {
+
-	parameter where.
+
-	if not(defined places) { print "ERROR: places json not loaded.". }
+
-	else if places:haskey(where) { gotoposition(places[where]). }
+
-	else { print char(7)+ "ERROR: no known place: " + where. }
+
 
-function resetSteering { lock tv to heading(hdgLag,0):vector * sl. lock steering to st. set mode to "Heading". set keepCamSteer to false. }
+
 set trackCam to true.
-function powerdown {
+set pitch to 12.
-	for s in ship:modulesnamed("ModuleRoboticServoRotor") s:setfield("torque limit(%)", 0).
+
-	on height powerup().
+
 when trackCam then {
-function powerup {
+	set cam:position to cam:position * 0.9 + 0.1 * (co + angleaxis(pitch, facing:starvector) * (-vel / 50 + (-relVelVec/10 + facing:topvector):normalized * bnds:size:mag * 1.2)).
-	if props {
+
-		set t0 to time:seconds.
+
-		when true then {
+
-			set tPercent to min(100,(time:seconds - t0) * 33).
+
-			for s in ship:modulesnamed("ModuleRoboticServoRotor") s:setfield("torque limit(%)", tPercent).
+set menu to gui(200, 30). Set menu:x to -30. set menu:y to 300. menu:show.
-			return tPercent < 100.
+
-		}
+
 set m1 to menu:addlabel("SL:").
 set m2 to menu:addlabel("HDG:").
 set m3 to menu:addlabel("Height:").
 set m4 to menu:addlabel("tAltOverride:").
-set engs to list().
+
-list engines in engs2. for e in engs2 if e:tag <> "aft" engs:add(e).
+
 set m7 to menu:addlabel("trackCam:").
 set m8 to menu:addlabel("alignTerrainHeight:").
 set m9 to menu:addlabel("tiltOutwards:").
-set servosSideTilt to list().
+
 set mLast to menu:addlabel("Functions: <color=white>goToTarget(), goToPosition(<geopos or position>), resetSteering()</color>").
-	if s:part:tag = "yaw" {
+
 set mLast3 to menu:addlabel("").
-	} else if abs(vdot(facing:starvector, s:part:facing:vector)) > 0.5 {
+set mLast4 to menu:addlabel("").
-		local sLex is lexicon("direction", 1, "right", choose 1 if vdot(face:starvector, s:part:position) > 0 else -1, "front", choose 1 if vdot(face:topvector, s:part:position) < 0 else -1, "s", s).
+
-		servos:add(sLex).
+for txt in menu:widgets { set txt:style:fontsize to 10. set txt:style:padding:v to 1. }
-	} else if abs(vdot(facing:topvector, s:part:facing:vector)) > 0.5 {
+
-		local sLex is lexicon("direction", choose -1 if vdot(facing:topvector, s:part:facing:vector) > 0 else 1,"right", choose 1 if vdot(face:starvector, s:part:position) > 0 else -1, "front", choose 1 if vdot(face:topvector, s:part:position) < 0 else -1, "s", s).
+
-		servosSideTilt:add(sLex).
+
 	set m0:text to "Mode: <color=yellow>" + mode + "</color>".
 	set m1:text to "SL: <color=white>" + round(sl,2) + "m/s</color> (" + round(tvCopyMag,1) + ")".
 	set m2:text to "HDG: <color=white>" + round(hdg,2) + "</color>".
 
 	set m3:text to (choose "<color=#222>Height: </color>" if vsOverride <> 0 or tAltOverride <> 0 else "Height: ") + "<color=white>" + height + "</color> (priority #3)".
-	if m:part:tag = "enginePitch" {
+	set m4:text to (choose "<color=#222>tAltOverride: </color>" if vsOverride <> 0 or tAltOverride = 0 else "tAltOverride: ")+ "<color=white>" + tAltOverride + "</color> (priority #2 if <> 0)".
-		local pitchEngLex is lexicon("right", 0, "front", 0, "s", m).
+	set m5:text to (choose "<color=#222>vsOverride: </color>" if vsOverride = 0  else "vsOverride: ") + "<color=white>" + vsOverride + "</color> (priority #1 if <> 0)".
-		servos:add(pitchEngLex).
+
 	set m7:text to "TrackCam: <color=white>" + trackCam + "</color>".
-	else if m:part:tag <> "ignore" {
+
-		local pPos is m:part:position.
+
-		local l is lexicon("direction", 1, "right", choose 1 if vdot(face:starvector, pPos) > 0 else -1, "front", choose 1 if vdot(face:topvector, pPos) < 0 else -1, "s", m).
+
-		if not (props) and engs:length <= 2 set l["front"] to 0.
+
-		servosSideTilt:add(l).
+
 when true then {
 	set m6:text to "Alt:radar: " + round(alt:radar,2) + "m".
-for l in servos { l["s"]:setfield("damping", 100). l["s"]:setfield("traverse rate", 120). }
+
-for l in servosSideTilt { l["s"]:setfield("damping", 50). l["s"]:setfield("traverse rate", 120). }
+	set mLast4:text to "mul: " + round(mul,2) + ", tpid:iterm: " + round(tpid:iterm,4).
 	return menu:visible.
-set twoaxistilt to (servosSideTilt:length > 1).
+
 on vtol menu:dispose.
 clearscreen.
 print "VTOL hover script running. See GUI for available variables and functions.".
-for e in engs if e:sealevelisp > 3000 jets on.
+
 set places to readjson("kerbin.json").
 function gotoplace { parameter placename is "helipad". set dest to places[placename]. lock taltoverride to max(dest:terrainheight + 15, ship:geoposition:terrainheight + 15). gotoposition(dest). }.
-if props {
+
-	set aoaPID to pidloop(1.5, 0, 0, -2, 5).
+
-} else if jets {
+