Nutsy flight controller

set sl to 1.
lock steering to heading(90,90).
set tgt to ship:geoposition.
lock tv to tgt:position:normalized * min(10,(tgt:distance/6) ^ 0.85).
lock steering to heading(90,90).
set talt to 100.
set taltpid to pidloop(4, 1, 2, 0, 460).


lock deploy to max(3,airspeed^0.7).
lock tilt to max(75,min(90,alt:radar*90/talt)).
set blades to ship:partsdubbedpattern("blade").
Set servos to ship:partsdubbedpattern("servo").
set rotors to ship:partsdubbedpattern("rotor").

for rotor in rotors rotor:getmodulebyindex(1):setfield("torque limit(%)",100).
set taltpid:setpoint to talt.
on talt {set taltpid:setpoint to talt. return true. }

lock rpmlimit to taltpid:update(time:Seconds, altitude).

set adjust to true.
when true then {
	For b in blades b:getmodule("ModuleControlSurface"):setfield("deploy angle",deploy).
	for rotor in rotors rotor:getmodulebyindex(1):setfield("rpm limit",rpmlimit).
	set relVelVec to vxcl(up:vector, tv - velocity:surface) / 3.5.
	set relVelVec:mag to min(sl,relVelVec:mag).
	lock steering to lookdirup(up:vector * 10 + relVelVec, facing:topvector).
	return adjust.
}