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        = 30      -- Try to keep this close to the seaflooer\noptimalDistance         = 2000    -- Try to maintain this distance from target in both modes(doesn't take altitude into account). If you want to get close consider reducing maxPitchMagnitude. -1 means staying stationary.\nminAltitude             = -400    -- Won't go below this absolute altitude\nmaxAltitude             = 0       -- Won't go above this absolute altitude\nmaxPitchMagnitude       = 30      -- Pitch with a bigger absolute value will be clamped to match this\nmaxRoll                 = 10\nshields                 = 3\nfins                    = 20\n\n-- Used for getting a serial number(that's not used for anything right now)\nblueprintName = \"StealthSub\"\n\n-- Tune PIDs here\n--                       P,        D,       I,    OutMax,   OutMin,    IMax,    IMin\nrollPIDData     = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\npitchPIDData    = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\naltitudePIDData = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\nyawPIDData      = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\ndistancePIDData = {    0.1,      0.5,     0.0,         1,       -1,       1,      -1}\nslipPIDData     = {    0.0,      0.0,     0.0,         1,       -1,       1,      -1}\n\nfunction Init(I)\n    -- forgive me for I have sinned\n    API = I\n\n    if not VehicleState then\n        VehicleState = {}\n    end\n    VehicleState.centerOfMass   = I:GetConstructCenterOfMass()\n    VehicleState.pitch          = -I:GetConstructPitch()\n    VehicleState.roll           = I:GetConstructRoll()\n    VehicleState.forwardVector  = I:GetConstructForwardVector()\n    VehicleState.yaw            = I:GetConstructYaw()\n    VehicleState.speed          = I:GetForwardsVelocityMagnitude()\n    VehicleState.currentTime    = I:GetTime()\n    VehicleState.velocity       = I:GetVelocityVector()\n    VehicleState.AICount        = I:GetNumberOfMainframes()\n    VehicleState.flagship       = I.Fleet.Flagship\n\n    VehicleState.propulsionMaxX = 0;\n    VehicleState.propulsionMaxY = 0;\n    VehicleState.propulsionMaxZ = 0;\n\n    VehicleState.target         = GetCombatTarget()\n    if repairMode then\n        VehicleState.repairTarget = GetRepairTarget()\n    end\n\n    VehicleState.targetPosition  = nil\n\n    if API.AIMode == \"fleetmove\" and API.IsFlagship then\n        VehicleState.AIMode = \"patrol\"\n    else\n        VehicleState.AIMode = API.AIMode\n    end\n    \n    propulsionAngleTolerance    = 0.5\n\n    if VehicleState.pitch<-180 then\n        VehicleState.pitch = VehicleState.pitch+360\n    end\n    if VehicleState.roll>180 then\n        VehicleState.roll = VehicleState.roll-360\n    end\n    \n    if not VehicleState.serial then\n        altitude = optimalAltitude\n        SetSerial()\n        InitPIDs()\n    end\nend\n\n-- Take over all jets, not just vertical ones\nfunction EnableAllProps()\n    VehicleState.propssAtMax = 0\n\n    if useJets then\n        for i=0,1 do\n            API:RequestControl(0, i, 1)\n        end\n    end\nend\n\nfunction ResetPropStrengths()\n    if not VehicleState.propssAtMax or VehicleState.propssAtMax == 0 then\n        API:Component_SetFloatLogicAll(9,1)\n        VehicleState.propssAtMax = 1\n    end\nend\n\nfunction SetupPropulsion()\n    if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" then\n        -- Manual mode, lay off side/forward propulsion strengths\n        ResetPropStrengths()\n    else\n        -- Automatic, toggle everything on\n        EnableAllProps()\n    end\n\n    PropManager = {\n        propulsionCount = API:Component_GetCount(9),\n        GetComponent    = function (serial) return API:Component_GetBlockInfo(9,serial) end,\n        SetImpulse      = function (serial,impulse) API:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0),1)) end,\n        GetFowardVector = function (propulsion) return propulsion.LocalForwards end,\n        type            = \"prop\"\n    }\n    HydrofoilManager = {\n        propulsionCount = API:Component_GetCount(8),\n        GetComponent    = function (serial) return API:Component_GetBlockInfo(8, serial) end,\n        SetImpulse      =\n            function (serial,impulse)\n                API:Component_SetFloatLogic(8, serial, math.min(math.max(impulse * 45, -45), 45))\n            end,\n        GetFowardVector =\n            function (propulsion)\n                local vect\n                if propulsion.LocalPosition.x > -3 and propulsion.LocalPosition.x < 5  then\n                    vect = {x = -1, y = 0, z = 0}\n                else\n                    vect = {x = 0, y = 1, z = 0}\n                end\n                return vect\n            end,\n        type  = \"hydro\"\n    }\n\n    PropulsionManagers = {}\n    table.insert(PropulsionManagers, PropManager)\n    table.insert(PropulsionManagers, HydrofoilManager)\n\n\n    PropulsionComponents = {}\n    for i=1,table.getn(PropulsionManagers),1 do\n        for j=0,PropulsionManagers[i].propulsionCount-1,1 do\n            local component   = PropulsionManagers[i].GetComponent(j)\n            local orientation = PropulsionManagers[i].GetFowardVector(component)\n            local position    = component.LocalPositionRelativeToCom\n\n            VehicleState.propulsionMaxX = math.max(math.abs(position.x), VehicleState.propulsionMaxX)\n            VehicleState.propulsionMaxY = math.max(math.abs(position.y), VehicleState.propulsionMaxY)\n            VehicleState.propulsionMaxZ = math.max(math.abs(position.z), VehicleState.propulsionMaxZ)\n            \n            local currentComponent = {\n                serial      = j,\n                position    = position,\n                orientation = orientation,\n                sendImpulse = PropulsionManagers[i].SetImpulse,\n                type        = PropulsionManagers[i].type\n            }\n            table.insert(PropulsionComponents, currentComponent)\n        end\n    end\nend\n\nfunction AddComponentImpulse(component, impulse)\n    if not component.impulse then\n        component.impulse = impulse\n    else\n        component.impulse = component.impulse + impulse\n    end\nend\n\nfunction AddPitchOutput(pitchInput)\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if math.abs(component.orientation.y)>propulsionAngleTolerance then\n            if component.position.z<-0.05 then\n                AddComponentImpulse(component, -pitchInput * component.orientation.y)\n            elseif component.position.z>0.05 then\n                AddComponentImpulse(component, pitchInput * component.orientation.y)\n            end\n        end\n    end\nend\n\nfunction AddRollOutput(rollInput)\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if math.abs(component.orientation.y)>propulsionAngleTolerance then\n            if component.position.x<-0.05 then\n                AddComponentImpulse(component, -rollInput * component.orientation.y)\n            elseif component.position.x>0.05 then\n                AddComponentImpulse(component, rollInput * component.orientation.y)\n            end\n        end\n        if VehicleState.AIMode ~= \"off\" and VehicleState.AIMode ~= \"on\" then\n            if math.abs(component.orientation.x)>propulsionAngleTolerance then\n                if component.position.y<-0.05 then\n                    AddComponentImpulse(component, rollInput * component.orientation.x)\n                elseif component.position.y>0.05 then\n                    AddComponentImpulse(component, -rollInput * component.orientation.x)\n                end\n            end\n        end        \n    end\nend\n\nfunction AddYawOutput(yawInput)\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if math.abs(component.orientation.x)>propulsionAngleTolerance then\n            if component.position.z<-0.05 then\n                AddComponentImpulse(component, -yawInput * component.orientation.x)\n            elseif component.position.z>0.05 then\n                AddComponentImpulse(component, yawInput * component.orientation.x)\n            end\n        end\n    end\nend\n\nfunction AddAltitudeOutput(altitudeInput)\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if math.abs(component.orientation.y)>propulsionAngleTolerance then\n            AddComponentImpulse(component, altitudeInput * component.orientation.y)\n        end\n    end\nend\n\nfunction AddSlipOutput(slipInput)\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if math.abs(component.orientation.x)>propulsionAngleTolerance then\n            AddComponentImpulse(component, slipInput * component.orientation.x)\n        end\n    end\nend\n\nfunction AddForwardOutput(forwardInput)\n    API:RequestWaterForwards(forwardInput)\nend\n\nfunction SendPropulsionImpulses()\n    for i=1,table.getn(PropulsionComponents) do\n        local component = PropulsionComponents[i]\n\n        if component.impulse ~= nil then\n            if component.type == \"prop\" then\n                if math.abs(component.orientation.y) > 0 then\n                    if component.position.x < 0 then\n                        if component.impulse >= 0.0 then\n                            API:RequestComplexControllerStimulus(1)\n                        elseif component.impulse <= -0.0 then\n                            API:RequestComplexControllerStimulus(2)\n                        end\n                    elseif component.position.x > 0 then\n                        if component.impulse >= 0.0 then\n                            API:RequestComplexControllerStimulus(3)\n                        elseif component.impulse <= -0.0 then\n                            API:RequestComplexControllerStimulus(4)\n                        end\n                    end\n                    component.sendImpulse(component.serial, math.abs(component.impulse))\n                end\n            else\n                component.sendImpulse(component.serial, component.impulse)\n            end\n            \n        else\n            if component.type == \"spinner\" then\n                API:SetSpinnerSpeedFactor(component.serial, 1)\n            end\n        end\n    end\nend\n\nfunction SetPitch(targetPitch)\n    targetPitch               = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\n    pitchInput,pitchPID       = GetPIDOutput(targetPitch, VehicleState.pitch, pitchPID)\n\n    AddPitchOutput(pitchInput)\nend\n\nfunction SetRoll(targetRoll)\n    targetRoll                = math.max(math.min(targetRoll, maxRoll), -maxRoll)\n    rollInput,rollPID         = GetPIDOutput(targetRoll,  VehicleState.roll,  rollPID)\n\n    AddRollOutput(rollInput)\nend\n\nfunction SetAltitude(targetAltitude)\n    local terrain       = HighestTerrainAhead()\n    local limitedTarget = math.min(math.max(terrain + targetAltitude, minAltitude), maxAltitude)\n\n    altitudeInput,altitudePID = GetPIDOutput(limitedTarget, VehicleState.centerOfMass.y, altitudePID)\n\n    if VehicleState.centerOfMass.y > -5 then\n        SetPitch(altitudeInput * 5)\n    else\n        local pitch = altitudeInput * maxPitchMagnitude\n        SetPitch(math.max(-15, pitch))\n    end\nend\n\nfunction Turn(targetAzi)\n    yawInput,yawPID = GetPIDOutput(0, targetAzi, yawPID)\n\n    AddYawOutput(yawInput)\nend\n\nfunction SetSlipSpeedForDistance(distance)\n    slipSpeed,slipPID = GetPIDOutput(0, distance, slipPID)\n\n    AddSlipOutput(slipSpeed)\nend\n\nfunction SetForwardSpeedForDistance(distance)\n    forwardSpeed,distancePID = GetPIDOutput(0, distance, distancePID)\n\n    AddForwardOutput(-forwardSpeed)\nend\n\nfunction HighestTerrainAhead()\n    local maxAltitude = -1000\n    local nextAltitude\n\n    local xStep = VehicleState.velocity.x\n    local zStep = VehicleState.velocity.z\n    \n    for i=-0.5,10,0.25 do\n        nextAltitude = API:GetTerrainAltitudeForPosition(VehicleState.centerOfMass.x + xStep*i, VehicleState.centerOfMass.y, VehicleState.centerOfMass.z + zStep*i)\n        if nextAltitude>maxAltitude then\n            maxAltitude = nextAltitude\n        end\n    end\n    return maxAltitude\nend\n\nfunction GetCombatTarget()\n    local target = API:GetTargetPositionInfo(0,0)\n\n    if target.Valid then\n        local azimuth\n        if target.Azimuth>180 then\n            azimuth = target.Azimuth-360\n        else\n            azimuth = target.Azimuth\n        end\n\n        return {\n            Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-target.AltitudeAboveSeaLevel) / target.GroundDistance)),\n            Azimuth        = azimuth,\n            GroundDistance = target.GroundDistance,\n            Altitude       = target.AltitudeAboveSeaLevel\n        }\n    else\n        return false\n    end\nend\n\nfunction SetSerial()\n    local friendlyCount = API:GetFriendlyCount()\n\n    local cloneCount = 0\n    for i=0,friendlyCount-1,1 do\n        local friendly = API:GetFriendlyInfo(i)\n\n        if friendly.BlueprintName==blueprintName then\n            cloneCount = cloneCount+1\n        end\n    end\n    VehicleState.serial = cloneCount\nend\n\nfunction SetTargetPosition(position)\n    VehicleState.targetPosition = GetDirectionToCoordinates(position)\n\n    VehicleState.targetPosition.x             = position.x\n    VehicleState.targetPosition.y             = position.y\n    VehicleState.targetPosition.z             = position.z\n    VehicleState.targetPosition.sideDistance  = math.sin(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\n    VehicleState.targetPosition.frontDistance = math.cos(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\nend\n\nfunction CircleTarget()\n    if not VehicleState.target then\n        IdleCircle()\n        return\n    end\n\n    local optimalAzi\n    if VehicleState.target.Azimuth > -20 then\n        local optimalAzi = 90 - 35 * math.min(math.max((VehicleState.target.GroundDistance - optimalDistance) / 200, -1), 1)\n        Turn(VehicleState.target.Azimuth - optimalAzi)\n    else \n        Turn(-180)\n    end\n\n    SetRoll(0)\n    SetAltitude(optimalAltitude)\n    AddForwardOutput(1)\nend\n\nfunction IdleCircle()\n    SetTargetPosition(API.Waypoint)\n\n    SetRoll(0)\n    SetAltitude(optimalAltitude)\n\n    local optimalAzi\n    if VehicleState.targetPosition.GroundDistance > 300 then\n        optimalAzi = 0\n        AddForwardOutput(1)\n    else\n        local sign = 1\n        if VehicleState.targetPosition.Azimuth < 0 then\n            sign = -1\n        end\n        optimalAzi = sign * 90 - sign * 45 * math.min(math.max((VehicleState.targetPosition.GroundDistance - 100) / 50, -1), 1)\n        \n        AddForwardOutput(0.1)\n    end\n    \n    Turn(VehicleState.targetPosition.Azimuth - optimalAzi)\nend\n\nfunction Idle()\n    SetAltitude(optimalAltitude)\n    SetRoll(0)\nend\n\nfunction Update(I)\n    if I:IsDocked() then\n        return\n    end\n\n    I:TellAiThatWeAreTakingControl()\n\n    Init(I)\n    SetupPropulsion(I)\n\n    SetFinAngles(10)\n\n    if VehicleState.AIMode == \"off\" or VehicleState.AIMode == \"on\" then\n        Idle()\n    elseif VehicleState.target then\n        CircleTarget()\n    else\n        IdleCircle()\n    end\n\n    SendPropulsionImpulses()\nend\n\nfunction SetFinAngles(angle)\n    API:SetSpinnerRotationAngle(1, -angle)\n    API:SetSpinnerRotationAngle(2, angle)\nend\n\nfunction ActivateShields(I)\n    if not shieldStatus or shieldStatus==0 then\n        I:Component_SetFloatLogicAll(10, shields)\n\n        shieldStatus = 1\n    end\nend\n\nfunction DeactivateShields(I)\n    if not shieldStatus or shieldStatus==1 then\n        I:Component_SetFloatLogicAll(10, 0)\n\n        shieldStatus = 0\n    end\nend\n\n-- ________________________________________________________________________________​​___ Generic helper functions ________________________________________________________________________________​​___\n\n\nfunction GetDirectionToCoordinates(position)\n    local vectorToPosition = Vector3(position.x-VehicleState.centerOfMass.x, position.y-VehicleState.centerOfMass.y, position.z-VehicleState.centerOfMass.z)\n    local direction        = vectorToPosition.normalized\n\n    local aziDot         = direction.x*VehicleState.forwardVector.x + direction.z*VehicleState.forwardVector.z\n    local aziCross       = direction.z*VehicleState.forwardVector.x - direction.x*VehicleState.forwardVector.z\n    local groundDistance = math.sqrt(vectorToPosition.x*vectorToPosition.x + vectorToPosition.z*vectorToPosition.z)\n\n    return {\n        Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-position.y) / groundDistance)),\n        Azimuth        = math.deg(math.atan2(aziCross, aziDot)),\n        Altitude       = position.y,\n        GroundDistance = groundDistance\n    }\nend\n\nfunction GetVectorAngle(vector1, vector2)\n    local aziDot   = vector1.x * vector2.x + vector1.z * vector2.z\n    local aziCross = vector1.z * vector2.x - vector1.x * vector2.z\n    \n    return math.deg(math.atan2(aziCross, aziDot));\nend\n\nfunction InitPID(pidData)\n    PID = {}\n    PID.Kp            = pidData[1]\n    PID.Kd            = pidData[2]\n    PID.Ki            = pidData[3]\n    PID.OutMax        = pidData[4]\n    PID.OutMin        = pidData[5]\n    PID.IMax          = pidData[6]\n    PID.IMin          = pidData[7]\n    PID.integral      = 0\n    PID.previousError = 0\n\n    return PID\nend\n\nfunction InitPIDs()\n    rollPID     = InitPID(rollPIDData)\n    pitchPID    = InitPID(pitchPIDData)\n    altitudePID = InitPID(altitudePIDData)\n    yawPID      = InitPID(yawPIDData)\n    slipPID     = InitPID(slipPIDData)\n    distancePID = InitPID(distancePIDData)\nend\n\nfunction GetPIDOutput(SetPoint, ProcessVariable, PID)\n    local error     = SetPoint - ProcessVariable\n    local timeDelta = 0.025\n    local derivative\n    local output\n\n    PID.integral = PID.integral + (error*timeDelta) * PID.Ki\n    if (PID.integral > PID.IMax) then PID.integral = PID.IMax end\n    if (PID.integral < PID.IMin) then PID.integral = PID.IMin end\n\n    derivative = (error - PID.previousError)/timeDelta\n\n    output = PID.Kp*error + PID.Kd*derivative + PID.integral\n    if (output > PID.OutMax) then output = PID.OutMax end\n    if (output < PID.OutMin) then output = PID.OutMin end\n\n    PID.previousError = error\n    return output,PID\nend\n\n-- Props to Evil4Zerggin for the function\nfunction QuaternionUpVector(quaternion)\n    local x = 2 * (quaternion.x * quaternion.y - quaternion.z * quaternion.w)\n    local y = 1-2 * (quaternion.x * quaternion.x + quaternion.z * quaternion.z)\n    local z = 2 * (quaternion.y * quaternion.z + quaternion.x * quaternion.w)\n\n    return Vector3(x, y, z).normalized\nend\n\nfunction GetSlipSpeed()\n    local velocityHeading = 180/math.pi*math.atan2(VehicleState.velocity.x,VehicleState.velocity.z)\n    if velocityHeading<0 then\n        velocityHeading = velocityHeading+360\n    end\n    local slipAngle = velocityHeading - VehicleState.yaw\n    local groundSpeedx = VehicleState.velocity.x\n    local groundSpeedz = VehicleState.velocity.z\n    local groundSpeed = math.sqrt(groundSpeedx^2 + groundSpeedz^2)\n    local slipSpeed = groundSpeed*math.sin(slipAngle/180*math.pi)\n\n    return slipSpeed\nend","function Update(I)\n    local target = I:GetTargetInfo(0,0)\n\n    if target.Valid then\n        if FrameTimer.isActive() then\n            GuideTorpedos(I, target)\n        end\n    end\nend\n\n-- Primitive but fastish torpedo guidance to hit ammo from the bottom\nfunction GuideTorpedos(I, target)\n    local targetSpeed = Speed(target.Velocity)\n\n    for i=0,I:GetLuaTransceiverCount() do\n        for j=0,I:GetLuaControlledMissileCount(i)-1 do\n            missileInfo     = I:GetLuaControlledMissileInfo(i, j)\n            aimPosition     = target.AimPointPosition\n\n            targetVelocity  = target.Velocity\n            targetDistance  = Distance(missileInfo.Position, target.AimPointPosition)\n            speedDifference = Speed(target.Velocity-missileInfo.Velocity)\n            \n            if speedDifference == 0 then\n                timeToIntercept = 0\n            else\n                timeToIntercept = targetDistance/speedDifference\n            end\n\n            aimPosition = aimPosition + targetVelocity*timeToIntercept\n            if (aimPosition.y<missileInfo.Position.y+50 and timeToIntercept>3.5 and targetDistance>100) then \n                aimPosition.y = aimPosition.y - 50\n            end\n\n            I:SetLuaControlledMissileAimPoint(i, j, aimPosition.x, aimPosition.y, aimPosition.z)\n        end\n    end\nend\n\nif not FrameTimer then\n    FrameTimer = {\n        period     = 5,\n        framesLeft = 5\n    }\n\n    function FrameTimer.isActive()\n        if FrameTimer.framesLeft == 1 then\n            FrameTimer.framesLeft = FrameTimer.period\n            return true\n        end\n\n        FrameTimer.framesLeft = FrameTimer.framesLeft -1\n        return false\n    end\nend\n\n-- ___________________________________________________________________________________ Generic helper functions ___________________________________________________________________________________\n\nfunction Speed(vel)\n   return math.sqrt(vel.x^2 + vel.y^2 + vel.z^2)\nend\n\nfunction Distance(a,b)\n   return math.sqrt((a.x - b.x)^2 + (a.y - b.y)^2 + (a.z - b.z)^2)\nend"],"BlockStringDataIds":[142,144],"GameVersion":"v1.964","BlockCount":1455}}