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  1. {"slots":{"0":{"name":"core","type":{"events":[],"methods":[]}},"1":{"name":"gyro","type":{"events":[],"methods":[]}},"2":{"name":"slot3","type":{"events":[],"methods":[]}},"3":{"name":"slot4","type":{"events":[],"methods":[]}},"4":{"name":"slot5","type":{"events":[],"methods":[]}},"5":{"name":"slot6","type":{"events":[],"methods":[]}},"6":{"name":"slot7","type":{"events":[],"methods":[]}},"7":{"name":"slot8","type":{"events":[],"methods":[]}},"8":{"name":"slot9","type":{"events":[],"methods":[]}},"9":{"name":"slot10","type":{"events":[],"methods":[]}},"-1":{"name":"unit","type":{"events":[],"methods":[]}},"-2":{"name":"system","type":{"events":[],"methods":[]}},"-3":{"name":"library","type":{"events":[],"methods":[]}}},"handlers":[{"code":"Nav = Navigator.new(self.system, self.gyro, self.core, self.unit, 'generic')\nself.core.show()\nself.gyro.show()\n","filter":{"args":[],"signature":"start()","slotKey":-1},"key":"0"},{"code":"self.core.hide()\nself.gyro.hide()\n","filter":{"args":[],"signature":"stop()","slotKey":-1},"key":"1"},{"code":"Nav:decrease(Nav.pitch)","filter":{"args":[{"value":"forward"}],"signature":"actionStart(action)","slotKey":-2},"key":"2"},{"code":"Nav:increase(Nav.pitch)","filter":{"args":[{"value":"forward"}],"signature":"actionStop(action)","slotKey":-2},"key":"3"},{"code":"Nav:increase(Nav.pitch)","filter":{"args":[{"value":"backward"}],"signature":"actionStart(action)","slotKey":-2},"key":"4"},{"code":"Nav:decrease(Nav.pitch)","filter":{"args":[{"value":"backward"}],"signature":"actionStop(action)","slotKey":-2},"key":"5"},{"code":"Nav:increase(Nav.roll)","filter":{"args":[{"value":"right"}],"signature":"actionStart(action)","slotKey":-2},"key":"6"},{"code":"Nav:decrease(Nav.roll)","filter":{"args":[{"value":"right"}],"signature":"actionStop(action)","slotKey":-2},"key":"7"},{"code":"Nav:decrease(Nav.roll)","filter":{"args":[{"value":"left"}],"signature":"actionStart(action)","slotKey":-2},"key":"8"},{"code":"Nav:increase(Nav.roll)","filter":{"args":[{"value":"left"}],"signature":"actionStop(action)","slotKey":-2},"key":"9"},{"code":"Nav:increase(Nav.lift)","filter":{"args":[{"value":"up"}],"signature":"actionStart(action)","slotKey":-2},"key":"10"},{"code":"Nav:decrease(Nav.lift)","filter":{"args":[{"value":"up"}],"signature":"actionStop(action)","slotKey":-2},"key":"11"},{"code":"Nav:decrease(Nav.lift)","filter":{"args":[{"value":"down"}],"signature":"actionStart(action)","slotKey":-2},"key":"12"},{"code":"Nav:increase(Nav.lift)","filter":{"args":[{"value":"down"}],"signature":"actionStop(action)","slotKey":-2},"key":"13"},{"code":"Nav:decrease(Nav.yaw)","filter":{"args":[{"value":"yawright"}],"signature":"actionStart(action)","slotKey":-2},"key":"14"},{"code":"Nav:increase(Nav.yaw)","filter":{"args":[{"value":"yawright"}],"signature":"actionStop(action)","slotKey":-2},"key":"15"},{"code":"Nav:increase(Nav.yaw)","filter":{"args":[{"value":"yawleft"}],"signature":"actionStart(action)","slotKey":-2},"key":"16"},{"code":"Nav:decrease(Nav.yaw)","filter":{"args":[{"value":"yawleft"}],"signature":"actionStop(action)","slotKey":-2},"key":"17"},{"code":"Nav:increase(Nav.brake)","filter":{"args":[{"value":"brake"}],"signature":"actionStart(action)","slotKey":-2},"key":"18"},{"code":"Nav:decrease(Nav.brake)","filter":{"args":[{"value":"brake"}],"signature":"actionStop(action)","slotKey":-2},"key":"19"},{"code":"Nav.thrustManager:resetThrottle()","filter":{"args":[{"value":"stopengines"}],"signature":"actionStart(action)","slotKey":-2},"key":"20"},{"code":"Nav.thrustManager:updateCommand(0.05)","filter":{"args":[{"value":"speedup"}],"signature":"actionLoop(action)","slotKey":-2},"key":"21"},{"code":"Nav.thrustManager:updateCommand(-0.05)","filter":{"args":[{"value":"speeddown"}],"signature":"actionLoop(action)","slotKey":-2},"key":"22"},{"code":"Nav:update()","filter":{"args":[],"signature":"update()","slotKey":-2},"key":"23"},{"code":"-- compute acceleration and angularAcceleration\nlocal forward = Nav:composeForwardAcceleration(Nav.thrustManager:getAccelerationCommand())\n\nlocal angularAcceleration = Nav:composeControlledStabAngularAcceleration(Nav:getRollInput(), Nav:getPitchInput())\n + Nav:composeTiltingAngularAcceleration()\n + Nav:composeTurningAngularAcceleration(Nav:getYawInput())\n\nNav:setEngineCommand(\"vertical,torque\", Nav:composeLiftUpAcceleration(Nav:getLiftInput()), angularAcceleration)\nNav:setEngineCommand(\"horizontal\", forward, nullvector)\nNav:setEngineCommand(\"brake\", Nav:composeBrakingAcceleration(Nav:getBrakeInput()), nullvector)\n","filter":{"args":[],"signature":"flush()","slotKey":-2},"key":"24"},{"code":"landinggear.toggle()","filter":{"args":[{"value":"gear"}],"signature":"actionStart(action)","slotKey":-2},"key":"25"}],"methods":[],"events":[]}
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