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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    AttitudeControlArbitrate(I)\r\r\n\r\nend\r\n"],"BlockStringDataIds":[84151],"GameVersion":"v1.891","BlockCount":89},{"CSI":[0.0,4.0,0.0,0.0,0.0,0.0,0.0,300.0,0.00165592716,0.0,0.0,0.0,0.0,139.179169,139.179169,139.179169,139.179169,216.714752,1.0,105.583336,333.7733,-1.0,0.0,1000.0,1000.0,1000.0,1000.0,1000.0,-1.0,0.0,30.3850021,10.0,10.0,10.0,10.0,10.0,16.0,600.0,600.0,13000.0,13000.0,0.0,5.0,10.0,10.0,0.0,0.0,210.341843,0.0,0.0,5.0,0.0,0.0,0.0,0.0],"COL":["0,0,0,0","1,0,0,0.5","0,1,0,0.5","0,0,1,0.5","0.1,0.1,0.1,0.5","0.3,0.3,0.3,0.5","0.5,0.5,0.5,0.5","1,1,1,0.1","1,1,1,0.5","1,1,1,0.99","0,0,0,0","0,0,0,0","0.7,0.7,0.7,0.99","0.3,0,0,0.99","0.25,1,1,0.99","0.1,0.1,0.1,0.99","0.3,0.3,0.3,0.99","0,0.5,1,0.99","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"SCs":[{"CSI":[-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0],"COL":null,"SCs":[],"BLP":["-5.971233E-05,-0.0003356934,-0.0001068115","-3.000014,-0.0002822876,-0.004394531","-3.998027,-5.340576E-05,4.577637E-05","-5.00006,-0.0003814697,0.001617432","-2.999933,0.0006637573,0.9996719","-4.000058,6.866455E-05,1.001572","-5.000027,9.155273E-05,0.9995728","-5.002007,0.0001754761,-1.000336","2.999994,-0.0003967285,-0.002403259","2.999908,-0.0002822876,1.001892","3.99999,-0.0001144409,1.000237","5.001842,2.288818E-05,0.9998856","5.999881,0.0001678467,0.9981308","1.999901,-0.0003509521,-0.9984589","4.999961,-0.0002670288,-0.9983139","4.99989,-0.0002822876,-0.0001220703","-1.999987,-0.0003204346,-0.0004425049","1.999892,-0.0004348755,-0.004173279","2.999969,-0.0004425049,-0.9979172","4.000037,-6.103516E-05,-1.00251","-3.999896,-0.0001296997,-0.9984818","-3.000088,-5.340576E-05,-1.000153","-2.000097,-0.0001907349,-0.998642","-3.000011,-1.999466,0.9998016","2.999967,-1.999649,1.001793","4.00002,-0.001121521,0.001548767","-3.000005,-1.000183,0.999733","3.000066,-1.000084,0.9997711","-1.000077,0.0001220703,-0.0003967285","-6.00004,-6.866455E-05,0.001815796","5.999966,0.000289917,-0.00226593","-1.999976,-1.000076,0.001823425","2.000036,-1.00016,-0.00213623","1.999976,-1.000198,1.997673","1.999892,-0.9998093,3.000023","2.000075,-0.9997482,3.999939","2.000029,-0.9999847,-1.00058","2.999985,-1.000298,-0.0003814697","-4.000036,-1.000015,-0.0002212524","3.999947,-0.9996872,-0.002044678","4.000023,-1.00029,1.000061","1.000014,0.0001907349,-0.0002975464","2.999974,-1.000099,-1.000046","3.999956,-0.9998779,-1.000244","-3.002029,-0.9999008,0.001930237","-2.000134,-0.9999161,-1.002487","-3.000097,-1.000023,-1.000084","-2.000007,-1.000198,2.001648","-4.000147,-1.000381,0.9994354","-3.999962,-0.9998779,-1.000366","-1.999987,-0.9999695,3.001801","-6.001999,0.0001602173,0.9979706","-2.000017,-1.000259,3.999748","-1.999967,-1.000046,4.999908","1.999954,-0.9998169,4.997894","-2.000055,-1.000015,-2.000191","2.000017,-1.000023,-2.000244","1.999914,-1,0.9997177","-2.000005,-1.000046,0.9997864","1.999971,-4.577637E-05,0.9998932","-2.00007,-2.288818E-05,0.9999542","-5.000096,-1.000031,-0.0002670288","5.000035,-1.000008,-3.814697E-05"],"BLR":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0,0,0,0,0,5,18,16,2,0,16,12,7,0,18,0,2,12,0,0,0,0,0,23,22,0,0,0,0,20,21],"BP1":["10,0,45,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,2,1","0,0,2,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","2,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,0,0,0","0,0,0,0","0,1,8,1","2,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1"],"BP2":["-60,60,-60,60","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","-180,180,-180,180","-180,180,-180,180","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"BCI":[0,12,13,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,15,15,13,16,16,12,12,12,16,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,0,0,12,12,16,16],"BEI":[7.0,6.0,0.0,0.0,0.0,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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    AttitudeControlArbitrate(I)\r\r\n\r\nend\r\n"],"BlockStringDataIds":[84151],"GameVersion":"v1.891","BlockCount":89},{"CSI":[0.0,4.0,0.0,0.0,0.0,0.0,0.0,300.0,0.00165592716,0.0,0.0,0.0,0.0,139.179169,139.179169,139.179169,139.179169,216.714752,1.0,106.02343,253.031342,-1.0,0.0,1000.0,1000.0,1000.0,1000.0,1000.0,-1.0,0.0,30.3850021,10.0,10.0,10.0,10.0,10.0,16.0,600.0,600.0,13000.0,13000.0,0.0,5.0,10.0,10.0,0.0,0.0,210.3475,0.0,0.0,5.0,0.0,0.0,0.0,0.0],"COL":["0,0,0,0","1,0,0,0.5","0,1,0,0.5","0,0,1,0.5","0.1,0.1,0.1,0.5","0.3,0.3,0.3,0.5","0.5,0.5,0.5,0.5","1,1,1,0.1","1,1,1,0.5","1,1,1,0.99","0,0,0,0","0,0,0,0","0.7,0.7,0.7,0.99","0.3,0,0,0.99","0.25,1,1,0.99","0.1,0.1,0.1,0.99","0.3,0.3,0.3,0.99","0,0.5,1,0.99","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"SCs":[{"CSI":[-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0],"COL":null,"SCs":[],"BLP":["-4.957954E-05,-0.0003204346,-0.0001678467","-3.000139,-0.0003433228,-0.004219055","-3.998158,-4.577637E-05,-0.0002670288","-5.000081,-0.0003738403,0.001556396","-3.000046,0.0006637573,0.9996033","-3.999969,3.051758E-05,1.001755","-4.999937,0.0001754761,0.9997559","-5.001816,0.0001983643,-1.000389","2.999992,-0.000328064,-0.002227783","3.000002,-0.0002212524,1.00135","3.99987,-2.288818E-05,0.9996796","5.002005,1.525879E-05,0.9998245","6.000067,0.000213623,0.9975815","1.99988,-0.0003585815,-0.9985199","4.999849,-0.0001983643,-0.9983826","5.000063,-0.0003128052,-0.0004196167","-2.00008,-0.0002746582,-0.0002670288","2.000115,-0.0003890991,-0.004219055","2.99994,-0.0004425049,-0.9984741","3.999994,1.525879E-05,-1.00209","-4.000111,-9.155273E-05,-0.9983063","-2.999866,-0.0001220703,-1.000206","-1.999917,-0.0001678467,-0.9984512","-2.99991,-1.999466,0.9997482","2.999947,-1.999641,1.001732","4.000018,-0.001075745,0.001731873","-3.000026,-1.000122,0.9996719","2.999863,-1.000076,0.9997025","-0.9999566,0.0001907349,-0.000213623","-6.00008,-0.0001068115,0.00151062","5.999853,0.0002593994,-0.002342224","-2.000046,-0.9999924,0.00151825","1.999955,-1.000175,-0.002204895","1.999925,-1.000168,1.997612","2.000065,-0.999855,2.999725","2.000127,-0.9996872,3.999634","1.999996,-1.000023,-1.000404","3.000106,-1.000206,-0.0001907349","-4.000014,-0.9999924,-0.0005264282","4.000029,-0.9997025,-0.002349854","3.999934,-1.000221,0.9995041","1.000074,0.0002670288,-0.0001144409","2.999934,-1.00013,-1.000351","3.999966,-0.9998932,-1.000305","-3.001855,-0.9998245,0.00163269","-2.000135,-0.9998856,-1.002304","-2.999874,-1.000053,-1.000145","-2.000119,-1.000221,2.001579","-3.999977,-1.000328,0.9998703","-3.999953,-0.9999008,-1.000435","-1.999947,-0.9999619,3.00174","-6.00205,0.0001602173,0.9978943","-1.999977,-1.000191,3.999687","-2.000007,-0.9999924,4.999596","2.000074,-0.9998474,4.998077","-2.000015,-1.000008,-2.000252","1.999905,-0.9999847,-2.000313","1.999924,-0.9999924,0.9996567","-1.999995,-0.9999771,0.9997253","4.999966,-0.9999847,-0.0003509521","-5.000007,-1,-9.155273E-05","-2.000018,-1.525879E-05,0.999649","1.999902,2.288818E-05,0.999588"],"BLR":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0,0,0,0,0,5,18,16,2,0,16,12,7,0,18,0,2,12,0,0,0,0,0,23,22,0,0,21,22,0,0],"BP1":["10,0,45,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,2,1","0,0,2,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","2,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,0,0,0","0,0,0,0","0,1,8,1","2,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1","0,0,0,0","0,0,0,0"],"BP2":["-60,60,-60,60","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","-180,180,-180,180","-180,180,-180,180","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"BCI":[0,12,13,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,15,15,13,16,16,12,12,12,16,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,16,16,16,16,12,12],"BEI":[7.0,6.0,0.0,0.0,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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    AttitudeControlArbitrate(I)\r\r\n\r\nend\r\n"],"BlockStringDataIds":[84151],"GameVersion":"v1.891","BlockCount":89},{"CSI":[0.0,4.0,0.0,0.0,0.0,0.0,0.0,300.0,0.00165592716,0.0,0.0,0.0,0.0,139.179169,139.179169,139.179169,139.179169,216.714752,1.0,105.440453,333.7733,-1.0,0.0,1000.0,1000.0,1000.0,1000.0,1000.0,-1.0,0.0,30.3850021,10.0,10.0,10.0,10.0,10.0,16.0,600.0,600.0,13000.0,13000.0,0.0,5.0,10.0,10.0,0.0,0.0,210.343414,0.0,0.0,5.0,0.0,0.0,0.0,0.0],"COL":["0,0,0,0","1,0,0,0.5","0,1,0,0.5","0,0,1,0.5","0.1,0.1,0.1,0.5","0.3,0.3,0.3,0.5","0.5,0.5,0.5,0.5","1,1,1,0.1","1,1,1,0.5","1,1,1,0.99","0,0,0,0","0,0,0,0","0.7,0.7,0.7,0.99","0.3,0,0,0.99","0.25,1,1,0.99","0.1,0.1,0.1,0.99","0.3,0.3,0.3,0.99","0,0.5,1,0.99","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"SCs":[{"CSI":[-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0],"COL":null,"SCs":[],"BLP":["-4.552642E-05,-0.0003814697,-0.0001831055","-3.000012,-0.000328064,-0.004234314","-3.998062,-9.155273E-05,-0.0002746582","-5.000057,-0.0003662109,0.001777649","-3.000052,0.0007019043,0.9998322","-4.000006,6.103516E-05,1.001984","-5.000005,0.0001068115,0.9999847","-5.002066,0.0001220703,-1.000175","2.999967,-0.0003967285,-0.002243042","2.999954,-0.0002746582,1.001816","3.999997,-0.0001220703,0.9996719","5.001929,-7.629395E-06,0.9995651","6.00003,0.0001525879,0.9978104","1.999995,-0.0003509521,-0.998291","5.000087,-0.0002670288,-0.9981461","4.999966,-0.0002746582,-0.0001907349","-1.999964,-0.0003204346,-3.051758E-05","2.000017,-0.0004272461,-0.003997803","2.999934,-0.0004806519,-0.9982452","3.999907,-7.629395E-05,-1.002106","-3.999984,-0.0001449585,-0.9983215","-3.000075,-3.814697E-05,-1.000237","-2.000014,-0.0001678467,-0.99823","-2.999916,-1.999466,0.9999771","3.000012,-1.999657,1.001724","4.000011,-0.001152039,0.001953125","-2.999941,-1.000175,0.9999008","2.999948,-1.000099,0.9999313","-0.9999521,0.0001144409,-0.0002212524","-5.999964,-9.155273E-05,0.001739502","6.00006,0.0002822876,-0.002098083","-1.999931,-1.000107,0.001754761","1.999991,-1.000168,-0.002220154","1.999967,-1.000137,1.998085","2.00001,-0.9998169,2.99971","1.99998,-0.9997406,3.999619","1.999978,-0.9999847,-0.9999237","2.999989,-1.00029,-0.0002212524","-4.000021,-1.000038,-0.0002975464","4.000053,-0.9996796,-0.002128601","3.999977,-1.00029,0.9999771","1.000018,0.0001678467,-0.0001296997","3.00002,-1.000107,-1.000122","4.000051,-0.9998932,-1.000076","-3.001984,-0.9998856,0.001853943","-1.999928,-0.9999084,-1.002068","-3.000051,-1.000046,-1.00016","-1.999962,-1.000168,2.001572","-3.999972,-1.000351,0.999855","-3.999959,-0.9998856,-1.000206","-1.999973,-0.9999771,3.001717","-6.001924,0.0001373291,0.9978867","-2.000002,-1.000237,3.999672","-2.000013,-1.000038,4.999825","2,-0.9998245,4.99781","-1.999948,-1.000015,-2.000259","1.99994,-1.000023,-2.000328","2.00004,-1,0.9998932","-2.000002,-1.000038,0.9999466","2.000047,-4.577637E-05,0.9998245","-2.000025,-1.525879E-05,0.9998779","-4.99997,-1.000046,-9.918213E-05","4.999959,-1.000046,-0.0001296997"],"BLR":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0,0,0,0,0,5,18,16,2,0,16,12,7,0,18,0,2,12,0,0,0,0,0,23,22,0,0,0,0,20,21],"BP1":["10,0,45,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,2,1","0,0,2,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","2,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,0,0,0","0,0,0,0","0,1,8,1","2,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1"],"BP2":["-60,60,-60,60","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","-180,180,-180,180","-180,180,-180,180","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"BCI":[0,12,13,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,15,15,13,16,16,12,12,12,16,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,0,0,12,12,16,16],"BEI":[7.0,6.0,0.0,0.0,0.0,0.0,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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    AttitudeControlArbitrate(I)\r\r\n\r\nend\r\n"],"BlockStringDataIds":[84151],"GameVersion":"v1.891","BlockCount":89},{"CSI":[0.0,4.0,0.0,0.0,0.0,0.0,0.0,300.0,0.00165592716,0.0,0.0,0.0,0.0,229.179169,229.179169,229.179169,229.179169,306.714752,1.0,105.777016,333.7733,-1.0,0.0,1000.0,1000.0,1000.0,1000.0,1000.0,-1.0,0.0,30.3850021,10.0,10.0,10.0,10.0,10.0,16.0,600.0,600.0,13000.0,13000.0,0.0,5.0,10.0,10.0,0.0,0.0,210.344772,0.0,0.0,5.0,0.0,0.0,0.0,0.0],"COL":["0,0,0,0","1,0,0,0.5","0,1,0,0.5","0,0,1,0.5","0.1,0.1,0.1,0.5","0.3,0.3,0.3,0.5","0.5,0.5,0.5,0.5","1,1,1,0.1","1,1,1,0.5","1,1,1,0.99","0,0,0,0","0,0,0,0","0.7,0.7,0.7,0.99","0.3,0,0,0.99","0.25,1,1,0.99","0.1,0.1,0.1,0.99","0.3,0.3,0.3,0.99","0,0.5,1,0.99","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"SCs":[{"CSI":[-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0],"COL":null,"SCs":[],"BLP":["-3.384391E-05,-0.0003814697,-0.0002975464","-2.999981,-0.000289917,-0.004096985","-3.998092,-7.629395E-05,-0.0001449585","-5.000106,-0.0003738403,0.001670837","-3.000071,0.0006942749,0.9997177","-4.000025,8.392334E-05,1.001869","-5.000054,9.918213E-05,0.9998627","-5.001932,0.0001296997,-1.000282","3.000058,-0.0003890991,-0.002105713","3.000057,-0.0002822876,1.001709","3.999966,-9.918213E-05,0.9998016","5.001978,7.629395E-06,0.9999466","5.999999,0.0001525879,0.9979401","2.000056,-0.0003509521,-0.9981537","5.000067,-0.0002822876,-0.9982529","4.999917,-0.0002975464,-0.0003128052","-1.999984,-0.0003356934,-0.0001449585","1.999998,-0.0004501343,-0.004112244","3.000086,-0.0004577637,-0.9981003","3.999888,-5.340576E-05,-1.00222","-4.000003,-0.0001296997,-0.998436","-3.000013,-6.866455E-05,-1.000099","-1.999954,-0.0001754761,-0.9980927","-2.999935,-1.999466,0.9998627","3.000073,-1.999641,1.001854","3.999992,-0.001167297,0.001846313","-2.99996,-1.000153,0.999794","3.00005,-1.000076,0.9998245","-1.000013,7.629395E-05,-9.918213E-05","-5.999904,-0.0001068115,0.001876831","6.000029,0.0002593994,-0.001960754","-1.999992,-1.000061,0.001876831","1.999899,-1.000153,-0.002090454","2.00004,-1.00016,1.997971","2.00004,-0.9998245,2.99984","1.999999,-0.9997253,3.999992","1.999929,-1.000023,-1.000038","3.000081,-1.00032,-7.629395E-05","-3.999959,-1.000015,-0.0001602173","4.000033,-0.9997253,-0.002235413","3.999958,-1.000282,0.9998703","0.9999681,0.0001754761,-0.00025177","3,-1.000114,-1.000237","4,-0.9998932,-1.000191","-3.001912,-0.9998703,0.001739502","-1.999978,-0.9999161,-1.002182","-3.000101,-1.000046,-1.000275","-1.999931,-1.000191,2.001701","-3.999961,-1.000328,0.9997482","-3.999929,-0.9998932,-1.000069","-1.999972,-0.9999619,3.001854","-6.001973,0.0001449585,0.9977798","-1.999911,-1.000229,3.999809","-1.999952,-1.000023,4.999962","2.000011,-0.9998322,4.997704","-1.999998,-1.000008,-2.000374","1.999989,-1.000015,-1.999947","2.000021,-0.9999771,0.9997787","-2.000021,-1.000008,0.9998322","1.999998,-2.288818E-05,0.9997101","-2.000043,-1.525879E-05,0.9997635","-4.999899,-1.000023,-0.0002059937","5.000062,-1.000038,-0.0002288818"],"BLR":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0,0,0,0,0,5,18,16,2,0,16,12,7,0,18,0,2,12,0,0,0,0,0,23,22,0,0,0,0,20,21],"BP1":["10,0,45,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,2,1","0,0,2,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","2,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,0,0,0","0,0,0,0","0,1,8,1","2,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,1,8,1","0,1,8,1"],"BP2":["-60,60,-60,60","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","-180,180,-180,180","-180,180,-180,180","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0","0,0,0,0"],"BCI":[0,12,13,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,12,15,15,13,16,16,12,12,12,16,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,16,16,16,16,12,16,16,16,16,16,0,0,12,12,16,16],"BEI":[7.0,6.0,0.0,0.0,0.0,0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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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Common parameter                                       --\r\n------------------------------------------------------------\r\nTRUE = 1\r\nFALSE = 0\r\n\n------------------------------------------------------------\r\n-- Key parameter                                          --\r\n------------------------------------------------------------\r\nkey_T = 1\r\nkey_G = 2\r\nkey_H = 4\r\nkey_U = 5\r\nkey_J = 6\r\nkey_K = 8\r\nkey_L = 10\r\nkey_UP = 11\nkey_DOWN = 12\n\r\n------------------------------------------------------------\r\n-- Docking parameter                                      --\r\n------------------------------------------------------------\r\nDOCING_VELOCITY = 30\r\nRETURN_MOTHERSHIP = key_L\r\n\r\n------------------------------------------------------------\r\n-- Cruise parameter                                       --\r\n------------------------------------------------------------\r\nCRUISE_READY = 0\r\nCRUISE_TURN = 1\r\nCRUISE_AVOID = 2\r\nCRUISE_WATER_START = 3\r\nCRUISE_DOCKING = 4\r\nCRUISE_DOCK = 5\r\n\r\n------------------------------------------------------------\r\n-- Proprller parameter                                    --\r\n------------------------------------------------------------\r\nPROPRLLER_IDX = 0\r\nSPIN_SPEED = 30\r\n\r\n------------------------------------------------------------\r\n-- Other parameter                                        --\r\n------------------------------------------------------------\r\n\rAI_ON = key_UP\n\rAI_OFF = key_DOWN\nALTITUDE_LIMIT = 360\r\n\r\ng_crs_sts = CRUISE_READY\r\n\r\ng_prp_idx = PROPRLLER_IDX\r\ng_spn_spd = SPIN_SPEED\r\n\r\n------------------------------------------------------------\r\n-- Global variable number                                 --\r\n------------------------------------------------------------\r\ng_pitch = 0\r\ng_roll = 0\r\ng_velocity = 0\r\ng_position = 0\r\ng_time = 0\r\n\r\n\r\n\r\nfunction GetPitchAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructPitch()\r\n    if (ret > 180) then\r\n        ret = 360 - ret\r\n    else\r\n        ret = (-1) * ret\r\n    end\r\n     \r\n    return(ret)\r\nend\r\n\r\n\nfunction PitchControll(I,a_pch) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n    else\n        if (g_pitch > (a_pch + 1)) then\r\n            I:RequestControl(2,4,1)\r\n        end\r\n        if (g_pitch < (a_pch - 1)) then\r\n            I:RequestControl(2,5,1)\r\n        end\r\n\r    end\n\r\nend\r\n\r\n\nfunction GetRollAngle(I)\r\n    local ret\r\n\r\n    ret = I:GetConstructRoll()\r\n    if (ret > 180) then\r\n        ret = ret - 360\r\n    end \r\n    \r\n    return(ret)\r\nend\r\n\r\n\nfunction RollControll(I,a_roll) \r\n\n    if (I:GetForwardsVelocityMagnitude() >= 0) then\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n    else\n        if (g_roll > (a_roll + 1)) then\r\n            I:RequestControl(2,2,1)\r\n        end\r\n        if (g_roll < (a_roll - 1)) then\r\n            I:RequestControl(2,3,1)\r\n        end\r\n\r    end\n\nend\r\n\r\n\nfunction JudgeReturnMothership(I) \r\n    local t_fuel\r\n    local t_hlth\r\n\r\n    t_fuel = I:GetFuelFraction(I)\r\n    t_hlth = I:GetHealthFraction()\r\n\r\n    if (t_fuel < 0.05) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n    if (t_hlth < 0.6) then\r\n        I:RequestComplexControllerStimulus(RETURN_MOTHERSHIP)\r\n    end\r\n\r\nend\r\n\r\n\r\nfunction JdgCruiseState(I)\r\n    local t_vel = 0\r\n\n    local t_dck_sts = false\r\n    local t_msl_wrn = 0\r\n    local t_msl_wrnnum = 0\r\n    local t_msl_wrnsec = 0\r\n    local t_msl_rel_vel = 0\r\r\n    local t_msl_rel_pos = 0\r\n    local t_msl_rel_agl = 0\n\r\n    g_crs_sts = CRUISE_READY\r\n\r\n    if ((g_roll ^ 2) > (60 ^ 2))then\r\n        g_crs_sts = CRUISE_TURN\r\n    end\r\n\r\n    t_msl_wrnnum = I:GetNumberOfWarnings(0)\r\n    if (t_msl_wrnnum > 0) then\r\n        for i = 1, t_msl_wrnnum do\r\n            t_msl_wrn = I:GetMissileWarning(0, i)\r\n            if (t_msl_wrn.Range ~= 0) \r\n            and(t_msl_wrn.Velocity ~= 0)\r then\n                t_vel = I:GetVelocityVector()\n                t_msl_rel_vel = (t_msl_wrn.Velocity) - (t_vel)\n                t_msl_rel_pos = (g_position) - (t_msl_wrn.Position)\n                t_msl_rel_agl = Vector3.Dot(t_msl_rel_pos, t_msl_wrn.Velocity)\n\n                if ((t_msl_wrn.Range / t_msl_rel_vel.magnitude) < 1.0)\n                and(t_msl_rel_agl > 0) then\r\n                    g_crs_sts = CRUISE_AVOID\r\n                    break\r\n                end\n            end\r\n        end\r\n    end\r\n    \r\n    if (g_position.y < 2) then\r\n        g_crs_sts = CRUISE_WATER_START\r\n    end\r\n    \r\n    t_dck_sts = I:IsDocked()\r\n    if(t_dck_sts == true) then\r\n        if (g_velocity <= DOCING_VELOCITY + 2)\r\n        and(g_velocity >= DOCING_VELOCITY - 2) then\r\n            g_crs_sts = CRUISE_DOCKING\r\n        else\r\n            g_crs_sts = CRUISE_DOCK\r\n        end\r\n    end\r\n    \r\nend\r\n\r\n\nfunction AttitudeControlArbitrate(I)\r\n    local t_pitch = g_pitch\r\n    local t_roll = g_roll\r\n    local t_spn_spd = g_spn_spd\r\n    local t_sld_prj = 0\r\n\r\n    \r\n    if (g_crs_sts == CRUISE_DOCK) then\r\n        t_pitch = 3\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n        \r\n    elseif (g_crs_sts == CRUISE_DOCKING) \rthen\n        t_pitch = 5\r\n        t_roll = 0\r\n        t_spn_spd = 0\r\n        I:RequestComplexControllerStimulus(AI_OFF)\r\n            \r\n    elseif (g_crs_sts == CRUISE_WATER_START) \r then\r\n        I:RequestControl(2,4,1)\r\n        if (g_pitch < 9) then\n            t_spn_spd = -30\r\n        else\n            t_spn_spd = 30\r\n        end\n    else\r\n        I:RequestComplexControllerStimulus(AI_ON)\r\n        t_spn_spd = 30\r\n\r\n        if (g_crs_sts == CRUISE_AVOID)then\r\n            \n            t_sld_prj = 2\r\n            if (g_position.y > ALTITUDE_LIMIT) then \r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                t_pitch = -120\r\n                t_spn_spd = 30\r\n            elseif (g_position.y < 90) then \r\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            else\r\n                I:RequestControl(2,0,1)\r\n                I:RequestControl(2,2,1)\r\n                I:RequestControl(2,4,1)\r\n                t_spn_spd = -30\r\n            end\r\n        elseif (g_crs_sts == CRUISE_TURN)then\r\n            I:RequestControl(2,4,1)\r\n            t_spn_spd = -30\r\n        else\n            if (g_position.y < 30) \n            and(g_pitch\r < -30) then \r\r\n                t_spn_spd = -30\r\n            end\n        end\r\n\r\n    end\r\n    \r\n    I:Component_SetIntLogicAll(10, t_sld_prj)\r\n    PitchControll(I, t_pitch)\r\n    RollControll(I, t_roll)\r\n    I:SetSpinnerContinuousSpeed(PROPRLLER_IDX, t_spn_spd)\r\n\r\nend\r\n\r\n\r\n\n\nfunction Update(I)\r\n\r\n    -- Input Process --\r\n    g_pitch = GetPitchAngle(I)\r\n    g_roll = GetRollAngle(I)\r\n    g_velocity = I:GetVelocityMagnitude()\r\n    g_time = I:GetTime()\r\n    g_position = I:GetConstructPosition()\r\n\r\n    -- Judge Process --\r\n    JudgeReturnMothership(I)\r\n    JdgCruiseState(I)\r\n\r\n    -- Output Process --\r\n    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