clearscreen.
set radarOffset to 39.	 				// The value of alt:radar when landed (on gear)
lock trueRadar to alt:radar - radarOffset.			// Offset radar to get distance from gear to ground
lock g to constant:g * body:mass / body:radius^2.		// Gravity (m/s^2)
lock maxDecel to (ship:availablethrust / ship:mass) - g.	// Maximum deceleration possible (m/s^2)
lock stopDist to ship:verticalspeed^2 / (2 * maxDecel).		// The distance the burn will require
lock impactTime to trueRadar / abs(ship:verticalspeed).		// Time until impact, used for landing gear
WAIT UNTIL ship:verticalspeed < -1.
	print "Preparing for hoverslam...".
	rcs on.
	brakes on.
	when impactTime < 3 then {gear on.}

WAIT UNTIL trueRadar - 60 < stopDist AND ship:airspeed < 500.
	print "Performing hoverslam".
  //XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
lock TAR to (Min((trueRadar / 2), 10) * -1) - 2.8.
stage.

Lock P to (TAR - ship:verticalspeed).
Set D to 0.
Set I to 0.
Set P2 to P.

Set Kp to 0.1.
Set Ki to 0.
Set Kd to 0.003.

Lock Output to Kp * P + Ki * I + Kd * D.

Set thot to 0.
Lock THROTTLE to thot.

Set StartT to Time:Seconds.
Until stage:liquidFuel < 5 {
Set TimeSinceStart to (Time:Seconds - StartT).
if TimeSinceStart > 0 {
Set I to (I + P * TimeSinceStart).
Set D to ((P - P2) / TimeSinceStart).
Set thot to Max(0, Min(Output, 1)).
Set P2 to P.
Set StartT to Time:Seconds.
}
Wait 0.001.
Clearscreen.
Print "P is : " + (P * Kp).
Print "I is : " + (I * Ki).
Print "D is : " + (D * Kd).
Print "Throttle is : " + thot.
Print "Output Is : " + output.
Print "TAR is :" + TAR.
}