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3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2,11,9,4,4,10,10,11,9,10,10,4,4,2,2,9,11,4,4,10,10,9,11,10,10,4,4,2,2,9,11,9,11,2,2,7,5,7,5,9,11,9,11,2,2,1,3,1,3,1,3,1,3,7,5,7,5,9,11,9,11,2,2,8,8,16,18,9,11,2,2,3,1,3,1,3,1,3,1,5,7,5,7,11,9,11,9,2,2,5,7,5,7,11,9,11,9,2,2,11,9,11,9,2,2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= -1\n\npitch_t = -1\npitch_e = 0\npitch_i = 0\n\nyaw_t = -1\nyaw_e = 0\nyaw_i = 0\n\nresetInterval = 10\nfunction Update(I)\n if (id == -1) then\n  id = I:GetTargetInfo(1,0).Id\n end\n if (pitch_t == -1) then\n  pitch_t = I:GetTimeSinceSpawn()\n end\n if (yaw_t == -1) then\n  yaw_t = I:GetTimeSinceSpawn()\n end\n if (Mathf.Round(I:GetTimeSinceSpawn()*40)%(resetInterval*40) == 0) then\n  pitch_i = pitch_i*1\n  yaw_i = yaw_i*1\n  I:Log(\"Resetting...\")\n end\n cancelForward(I)\n cancelSide(I)\n circleMissile(I)\n setDrive(I)\n if (I:Component_GetFloatLogic(8,0) == 45) and (I:GetNumberOfTargets(1)>0) then \n  id = getMDTindex(I)\n  I:Component_SetFloatLogic(8,0,0)\n end\n target = getTarget(I,id)\n if (target == nil) then\n  id = getMDTindex(I)\n end\n if target.Valid then\n  aimMD(I,id)\n end\n pitch_t,pitch_e,pitch_i = PitchControl(I,id,pitch_t,pitch_e,pitch_i)\n yaw_t,yaw_e,yaw_i = YawControl(I,id,yaw_t,yaw_e,yaw_i)\nend\n\n\nfunction cancelForward(I)\n a = I:GetVelocityVector()\n b = I:GetConstructForwardVector()\n selfv = a.x*b.x+a.y*b.y+a.z*b.z\n --I:Log(selfv)\n if (selfv<0) then\n  --I:RequestThrustControl(0, Mathf.Abs(selfv)*1+0.1)\n  --I:RequestControl(0,6,Mathf.Abs(selfv))\n  I:RequestComplexControllerStimulus(11)\n else\n  --I:RequestThrustControl(1, Mathf.Abs(selfv)*1+0.1)\n  --I:RequestControl(0,7,Mathf.Abs(selfv))\n  I:RequestComplexControllerStimulus(12)\n end\n --I:RequestControl(2,8,1)\nend\nfunction cancelSide(I)\n a = I:GetVelocityVector()\n b = I:GetConstructRightVector()\n selfv = a.x*b.x+a.y*b.y+a.z*b.z\n if (selfv<0) then\n  I:RequestComplexControllerStimulus(14)\n else\n  I:RequestComplexControllerStimulus(13)\n end\nend\n\nfunction circleMissile(I)\n count = I:GetLuaTransceiverCount()\n for i = 0,count-1,1 do\n  misscount = I:GetLuaControlledMissileCount(i)\n  for k = 0,misscount-1,1 do\n   tinfo = I:GetTargetInfo(0 , 0)\n   shift = i*100 + 200\n   I:SetLuaControlledMissileAimPoint(i,k,tinfo.Position.x, tinfo.Position.y+shift, tinfo.Position.z)\n  end\n end\n end\n\nfunction setDrive(I)\n blockinfo = I:Component_GetBlockInfo(1,0)\n driveon = I:Component_GetIntLogic(1,0)\n I:Component_SetIntLogic(1,0,1)\n target = I:GetTargetInfo(1,0)\n bbposition = I:GetConstructPosition() - target.Position\n aimpointposition = I:GetConstructPosition() - target.AimPointPosition\n difference = aimpointposition.magnitude - bbposition.magnitude + 4\n I:Component_SetFloatLogic(1,0,difference/100)\nend\n\nfunction pid(I,error,previous_time,previous_error,i,Kp,Kd,Ki)\n p = error\n weight = 1\n time = I:GetTimeSinceSpawn()\n dt = (time - previous_time)\n d = (error - previous_error)/dt\n i = i*(2-weight) + error*dt*weight\n signal = p*Kp + d*Kd + i*Ki\n return signal, time, error, i\nend\nfunction getMDTindex(I)\n target = I:GetTargetInfo(1,0)\n return target.Id\nend\n\nfunction pidS(I,error,previous_time,previous_error,i)\n p = error\n weight = 1\n time = I:GetTimeSinceSpawn()\n dt = (time - previous_time)\n d = (error - previous_error)/dt\n i = i*(2-weight) + error*dt*weight\n signal = p*0.1 + d*1.5 + i*0.04\n return signal, time, error, i\nend\nfunction getMDTindex(I)\n target = I:GetTargetInfo(1,0)\n return target.Id\nend\n\nfunction pidB(I,error,previous_time,previous_error,i)\n p = error\n weight = 1\n time = I:GetTimeSinceSpawn()\n dt = (time - previous_time)\n d = (error - previous_error)/dt\n i = i*(2-weight) + error*dt*weight\n signal = p*0.5 + d*3 + i*0.08\n return signal, time, error, i\nend\nfunction getMDTindex(I)\n target = I:GetTargetInfo(1,0)\n return target.Id\nend\n\nfunction getTarget(I,id)\n target = I:GetTargetInfo(1,0)\n for i = 0,I:GetNumberOfTargets(1)-1,1 do\n  if (I:GetTargetInfo(1,i).Id == Id) then\n   target = I:GetTargetInfo(1,i)\n   return target\n  end\n end\n return target\nend\n\nfunction PitchControl(I,target_id,t,e,i)\n if (I:GetNumberOfTargets(1) == 0) then\n  error = I:GetConstructPitch() - 0\n else\n  tinfo = getTarget(I,target_id)\n  self_pos = I:GetConstructPosition()\n  distance = (self_pos - tinfo.AimPointPosition).magnitude\n  pitch = Mathf.Asin((self_pos.y-tinfo.AimPointPosition.y)/distance)*360/(2*3.1415)\n  error = I:GetConstructPitch()-pitch\n  I:Log(error)\n end\n if (Mathf.Abs(error)<10) then\n  signal,t,e,i = pidS(I,error,t,e,i)\n else\n  signal,t,e,i = pidB(I,error,t,e,i)\n end\n mode = 0\n if (signal>0) then\n  I:RequestControl(mode,4,Mathf.Abs(signal))\n else\n  I:RequestControl(mode,5,Mathf.Abs(signal))\n end\n return t,e,i\nend\n\nfunction YawControl(I,target_id,t,e,i)\n if (I:GetNumberOfTargets(1) == 0) then\n  error = 0\n else\n  tinfo = getTarget(I,target_id)\n  self_pos = I:GetConstructPosition()\n  diff_pos = Vector3.Normalize(tinfo.AimPointPosition - self_pos)\n  current_dir = I:GetConstructForwardVector()\n  diff_azi = Mathf.Atan2(diff_pos.x, diff_pos.z)\n  lr_diffa = (I:GetConstructYaw()-360) - diff_azi*(360/(2*3.14))\n  lr_diffb = (I:GetConstructYaw() - diff_azi*(360/(2*3.14)))\n  if Mathf.Abs(lr_diffa) < Mathf.Abs(lr_diffb) then\n   error = lr_diffa*-1\n  else\n   error = lr_diffb*-1\n  end\n end\n mode = 0\n if (Mathf.Abs(error)<10) then\n  signal,t,e,i = pid(I,error,t,e,i,0.3,4,0.1)\n else\n  signal,t,e,i = pidB(I,error,t,e,i)\n end\n I:Log(signal)\n if (signal>0) then\n  I:RequestControl(mode,1,Mathf.Abs(signal))\n else\n  I:RequestControl(mode,0,Mathf.Abs(signal))\n end\n\n return t,e,i\nend\n\nfunction aimMD(I,target_id)\n weapon_count = I:GetWeaponCount()\n anchor = I:GetWeaponInfo(0)\n anchorIndex = 0\n for i = 0,weapon_count-1,1 do\n  weapon_info = I:GetWeaponInfo(i)\n  if (weapon_info.WeaponType == 2) and (weapon_info.WeaponSlot==1) then\n   anchor = weapon_info\n   anchorIndex = i\n  end\n end\n tinfo = getTarget(I,target_id)\n tof = (tinfo.AimPointPosition-anchor.GlobalPosition).magnitude/100000\n target_pos = tinfo.AimPointPosition + tof*tinfo.Velocity\n target_pos = target_pos\n I:AimWeaponInDirection(anchorIndex,target_pos.x,target_pos.y + 4,target_pos.z, 1)\nend"],"BlockStringDataIds":[368],"GameVersion":"3.2.9.7","PersistentSubObjectIndex":47,"PersistentBlockIndex":431,"AuthorDetails":{"Valid":true,"ForeignBlocks":0,"CreatorId":"d6767bff-c9ac-4680-b99a-d7f3c3d0cb34","ObjectId":"ad8cfaae-01eb-4079-8272-e27e481cb7c3","CreatorReadableName":"Player","HashV1":"8b04956831ebf4b3a5e9a772768f4f97"},"BlockCount":7528}}