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        = true\r\nuseDediSpinners = true\r\nuseAllSpinners  = false\r\n\r\norbiterMode        = \"off\"        -- \"off\": the default frontal mode, \"both\": doesn't have a preferred side, \"left\"/\"right\": only uses one side to fight\r\nmatchAltitude      = false        -- In combat will match the target's altitude(evasion will use this altitude as base, minAltitude and maxAltitude still apply).\r\nrepairMode         = false        -- Won't fight but try to repair friendlies\r\nisSatellite        = false        -- Will aim at the target with the bottom\r\nrepairClosestFirst = true         -- In repair mode goes to help the most damaged ally first on false\r\nminDamageNoticed   = 1            -- 0.95 means the craft won't bother with anything above 95% health\r\n\r\noptimalAltitude         = 300     -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\r\noptimalDistance         = 1000    -- Try to maintain this distance from target in both modes(doesn't take altitude into account). If you want to get close consider reducing maxPitchMagnitude. -1 means staying stationary.\r\nminAltitude             = 100      -- Measured at center of mass, leave some clearance\r\nmaxAltitude             = 450     -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\r\nmaxPitchMagnitude       = 30      -- Pitch with a bigger absolute value will be clamped to match this\r\nmaxRoll                 = 0       -- Max roll\r\npitchMovementAssist     = 0       -- Max angle to pitch at to help forward/backwards movement\r\nrollMovementAssist      = 0       -- Max angle to roll at to help left/right movement\r\nevasiveAltitudeChange   = 20       -- Vertical evasive manouvers add/subtract this to/from altitude\r\nevasiveLeftPeriod       = 4       -- Go left for this amount of time(seconds)\r\nevasiveRightPeriod      = 5       -- Go right for this amount of time(seconds)\r\nuseBalloons             = false    -- Set it to false when not using balloons for water start\r\nballonDeployAltitude    = 0       -- Deploy balloons below this one\r\nballonReleaseAltitude   = 100     -- Cut balloons above this\r\naltitudeFeedbackMeters  = 10      -- Writes the new target altitude to HUD in off/on/combat mode, if it changed by at least this much. 0 turns feedback off.\r\n\r\n-- Used for getting a serial number(that's not used for anything right now)\r\nblueprintName = \"HoverAI\"\r\n\r\n-- Tune PIDs here\r\n--                       P,        D,       I,    OutMax,   OutMin,    IMax,    IMin\r\nrollPIDData     = {   0.05,     0.01,     0.0,         1,       -1,       1,      -1}\r\npitchPIDData    = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\r\naltitudePIDData = {    0.2,     0.05,    0.01,         1,       -1,       1,      -1}\r\nyawPIDData      = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\r\nslipPIDData     = {   0.05,     0.05,     0.0,         1,       -1,       1,      -1}\r\ndistancePIDData = {    0.1,      0.5,     0.0,         1,       -1,       1,      -1}\r\n\r\nfunction Init(I)\r\n    -- forgive me for I have sinned\r\n    API = I\r\n\r\n    if not VehicleState then\r\n        VehicleState = {}\r\n    end\r\n    VehicleState.centerOfMass       = API:GetConstructCenterOfMass()\r\n    VehicleState.pitch              = -API:GetConstructPitch()\r\n    VehicleState.roll               = API:GetConstructRoll()\r\n    VehicleState.forwardVector      = API:GetConstructForwardVector()\r\n    VehicleState.upVector           = API:GetConstructUpVector()\r\n    VehicleState.yaw                = API:GetConstructYaw()\r\n    VehicleState.speed              = API:GetForwardsVelocityMagnitude()\r\n    VehicleState.currentTime        = API:GetTime()\r\n    VehicleState.velocity           = API:GetVelocityVector()\r\n    VehicleState.AICount            = API:GetNumberOfMainframes()\r\n    VehicleState.flagship           = API.Fleet.Flagship\r\n\r\n    propulsionAngleTolerance        = 0.5\r\n    local horizontalProjection      = Vector3(VehicleState.forwardVector.x, 0, VehicleState.forwardVector.z)\r\n\r\n    VehicleState.projectionRotation = Quaternion.Inverse(Quaternion.LookRotation(horizontalProjection, VehicleState.upVector))\r\n    VehicleState.normalRotation     = Quaternion.Inverse(Quaternion.LookRotation(VehicleState.forwardVector, VehicleState.upVector))\r\n\r\n    VehicleState.target = GetCombatTarget()\r\n    if repairMode then\r\n        VehicleState.repairTarget = GetRepairTarget()\r\n    end\r\n\r\n    VehicleState.targetPosition = nil\r\n\r\n    if API.AIMode == \"fleetmove\" and API.IsFlagship then\r\n        VehicleState.AIMode = \"patrol\"\r\n    else\r\n        VehicleState.AIMode = API.AIMode\r\n    end\r\n\r\n    if VehicleState.pitch<-180 then\r\n        VehicleState.pitch = VehicleState.pitch+360\r\n    end\r\n    if VehicleState.roll>180 then\r\n        VehicleState.roll = VehicleState.roll-360\r\n    end\r\n\r\n    if not VehicleState.serial then\r\n        SetSerial()\r\n        InitPIDs()\r\n        \r\n        if API:Component_GetCount(8) == 0 then\r\n            VehicleState.hasAltitudeControl = false\r\n            VehicleState.adjustedAltitude   = optimalAltitude\r\n        else\r\n            VehicleState.hasAltitudeControl = true\r\n            SetAltitudeHydrofoil(optimalAltitude)\r\n        end\r\n    end\r\n\r\n    if VehicleState.hasAltitudeControl then\r\n        SetupAltitudeControl()\r\n    end\r\nend\r\n\r\nfunction SetupAltitudeControl()\r\n    local altitudeFlag = API:Component_GetFloatLogic(8, 0) + 45\r\n    local newAltitude  = minAltitude + ((maxAltitude-minAltitude) * altitudeFlag / 90)\r\n\r\n    if altitudeFeedbackMeters > 0 then\r\n        local promptAltitude = math.floor(newAltitude / altitudeFeedbackMeters) * altitudeFeedbackMeters\r\n\r\n        if not VehicleState.lastAltitudePrompt or math.abs(promptAltitude - VehicleState.lastAltitudePrompt) >= altitudeFeedbackMeters then\r\n            if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" or VehicleState.AIMode == \"combat\" then\r\n                API:LogToHud(\"Altitude: \" .. promptAltitude .. \"m\")\r\n            end\r\n            VehicleState.lastAltitudePrompt = promptAltitude\r\n        end\r\n    end\r\n    VehicleState.adjustedAltitude = newAltitude\r\nend\r\n\r\nfunction SetAltitudeHydrofoil(newAltitude)\r\n    local relativeAltitude = math.min(math.max(newAltitude, minAltitude), maxAltitude) - minAltitude\r\n    local altitudeFraction = relativeAltitude / (maxAltitude-minAltitude)\r\n    local normalizedRange  = altitudeFraction - 0.5\r\n    local fullAngle        = normalizedRange * 90\r\n\r\n    -- initialize altitude flag hydrofoil angle\r\n    API:Component_SetFloatLogic(8, 0, math.min(math.max(fullAngle, -45), 45))\r\nend\r\n\r\n-- Take over all jets, not just vertical ones\r\nfunction EnableAllJets()\r\n    VehicleState.jetsAtMax = 0\r\n\r\n    if useJets then\r\n        for i=0,3 do\r\n            API:RequestThrustControl(i)\r\n        end\r\n        for i=6,9 do\r\n            API:RequestThrustControl(i)\r\n        end\r\n    end\r\nend\r\n\r\nfunction ResetJetStrengths()\r\n    if not VehicleState.jetsAtMax or VehicleState.jetsAtMax == 0 then\r\n        API:Component_SetFloatLogicAll(9,1)\r\n        VehicleState.jetsAtMax = 1\r\n    end\r\nend\r\n\r\nfunction SetupPropulsion()\r\n    -- Send an 'on' signal to vertical jets\r\n    if useJets then\r\n        -- up/down\r\n        API:RequestThrustControl(4)\r\n        API:RequestThrustControl(5)\r\n        -- pitch up/down\r\n        API:RequestControl(2, 4, 1)\r\n        API:RequestControl(2, 5, 1)\r\n    end\r\n\r\n    if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" then\r\n        -- Manual mode, lay off side/forward propulsion strengths\r\n        ResetJetStrengths()\r\n    else\r\n        -- Automatic, toggle everything on\r\n        EnableAllJets()\r\n    end\r\n\r\n    JetManager = {\r\n        propulsionCount = API:Component_GetCount(9),\r\n        GetComponent    = function (serial) return API:Component_GetBlockInfo(9,serial) end,\r\n        SetImpulse      = function (serial,impulse) API:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0),1)) end,\r\n        GetFowardVector = function (propulsion) return propulsion.Forwards end,\r\n        type            = \"jet\"\r\n    }\r\n    RotorManager = {\r\n        propulsionCount = API:GetSpinnerCount(),\r\n        GetComponent    = function (serial) return API:GetSpinnerInfo(serial) end,\r\n        SetImpulse      = function (serial,impulse) if useAllSpinners or API:IsSpinnerDedicatedHelispinner(serial) then API:SetSpinnerInstaSpin(serial, math.min(math.max(impulse, -1),1)) end end,\r\n        GetFowardVector = function (propulsion) return QuaternionUpVector(propulsion.Rotation) end,\r\n        type            = \"spinner\"\r\n    }\r\n\r\n    PropulsionManagers = {}\r\n    if useAllSpinners or useDediSpinners then\r\n        table.insert(PropulsionManagers, RotorManager)\r\n    end\r\n    if useJets then\r\n        table.insert(PropulsionManagers, JetManager)\r\n    end\r\n\r\n    PropulsionComponents = {}\r\n    for i=1,table.getn(PropulsionManagers),1 do\r\n        for j=0,PropulsionManagers[i].propulsionCount-1,1 do\r\n            local component             = PropulsionManagers[i].GetComponent(j)\r\n            local globalOrientation     = PropulsionManagers[i].GetFowardVector(component)\r\n            local localOrientation      = VehicleState.normalRotation * globalOrientation\r\n            local horizontalOrientation = VehicleState.projectionRotation * globalOrientation\r\n            local position              = VehicleState.normalRotation * (component.Position - VehicleState.centerOfMass)\r\n\r\n            local currentComponent = {\r\n                serial                = j,\r\n                position              = position,\r\n                globalOrientation     = globalOrientation,\r\n                localOrientation      = localOrientation,\r\n                horizontalOrientation = horizontalOrientation,\r\n                sendImpulse           = PropulsionManagers[i].SetImpulse,\r\n                type                  = PropulsionManagers[i].type\r\n            }\r\n            table.insert(PropulsionComponents, currentComponent)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddComponentImpulse(component, impulse)\r\n    if not component.impulse then\r\n        component.impulse = impulse\r\n    else\r\n        component.impulse = component.impulse + impulse\r\n    end\r\nend\r\n\r\nfunction AddPitchOutput(pitchInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\r\n            -- pitch\r\n            if component.position.z<-0.05 then\r\n                AddComponentImpulse(component, -pitchInput * component.localOrientation.y)\r\n            elseif component.position.z>0.05 then\r\n                AddComponentImpulse(component, pitchInput * component.localOrientation.y)\r\n            end\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddRollOutput(rollInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\r\n            if component.position.x<-0.05 then\r\n                AddComponentImpulse(component, -rollInput * component.localOrientation.y)\r\n            elseif component.position.x>0.05 then\r\n                AddComponentImpulse(component, rollInput * component.localOrientation.y)\r\n            end\r\n        end\r\n        if VehicleState.AIMode ~= \"off\" and VehicleState.AIMode ~= \"on\" then\r\n            if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\r\n                if component.position.y<-0.05 then\r\n                    AddComponentImpulse(component, rollInput * component.localOrientation.x)\r\n                elseif component.position.y>0.05 then\r\n                    AddComponentImpulse(component, -rollInput * component.localOrientation.x)\r\n                end\r\n            end\r\n        end        \r\n    end\r\nend\r\n\r\nfunction AddYawOutput(yawInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\r\n            if component.position.z<-0.05 then\r\n                AddComponentImpulse(component, -yawInput * component.localOrientation.x)\r\n            elseif component.position.z>0.05 then\r\n                AddComponentImpulse(component, yawInput * component.localOrientation.x)\r\n            end\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddAltitudeOutput(altitudeInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.globalOrientation.y > 0 and 1 or -1)\r\n\r\n        if math.abs(component.globalOrientation.y)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, altitudeInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddSlipOutput(slipInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.horizontalOrientation.x > 0 and 1 or -1)\r\n\r\n        if math.abs(component.horizontalOrientation.x)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, slipInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddForwardOutput(forwardInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.horizontalOrientation.z > 0 and 1 or -1)\r\n\r\n        if math.abs(component.horizontalOrientation.z)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, forwardInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction SendPropulsionImpulses()\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if component.impulse ~= nil then\r\n            component.sendImpulse(component.serial, component.impulse)\r\n        else\r\n            if component.type == \"spinner\" then\r\n                API:SetSpinnerSpeedFactor(component.serial, 1)\r\n            end\r\n        end\r\n    end\r\nend\r\n\r\nfunction SetPitch(targetPitch)\r\n    targetPitch               = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\r\n    pitchInput,pitchPID       = GetPIDOutput(targetPitch, VehicleState.pitch, pitchPID)\r\n\r\n    AddPitchOutput(pitchInput)\r\nend\r\n\r\nfunction SetRoll(targetRoll)\r\n    targetRoll                = math.max(math.min(targetRoll, maxRoll), -maxRoll)\r\n    rollInput,rollPID         = GetPIDOutput(targetRoll,  VehicleState.roll,  rollPID)\r\n\r\n    AddRollOutput(rollInput)\r\nend\r\n\r\nfunction SetAltitude(targetAltitude)\r\n    local highestTerrainAhead = HighestTerrainAhead()\r\n\r\n    targetAltitude            = math.min(math.max(targetAltitude, highestTerrainAhead+minAltitude), maxAltitude)\r\n    altitudeInput,altitudePID = GetPIDOutput(targetAltitude, VehicleState.centerOfMass.y, altitudePID)\r\n\r\n    AddAltitudeOutput(altitudeInput)\r\nend\r\n\r\nfunction Turn(targetAzi)\r\n    yawInput,yawPID = GetPIDOutput(0, targetAzi, yawPID)\r\n\r\n    AddYawOutput(yawInput)\r\nend\r\n\r\nfunction SetSlipSpeedForDistance(distance)\r\n    slipSpeed,slipPID = GetPIDOutput(0, distance, slipPID)\r\n\r\n    AddSlipOutput(slipSpeed)\r\n    SetRoll(-rollMovementAssist * slipSpeed)\r\nend\r\n\r\nfunction SetForwardSpeedForDistance(distance, usePitch)\r\n    forwardSpeed,distancePID = GetPIDOutput(0, distance, distancePID)\r\n\r\n    AddForwardOutput(-forwardSpeed)\r\n    if usePitch then\r\n        SetPitch(pitchMovementAssist * forwardSpeed)\r\n    end\r\nend\r\n\r\nfunction GetFrontalEvasionData()\r\n    evasionData = {\r\n        slip           = 0,\r\n        altitudeChange = evasiveAltitudeChange * math.sin(VehicleState.currentTime)\r\n    }\r\n\r\n    local slipCycleDuration = evasiveRightPeriod + evasiveLeftPeriod\r\n    if slipCycleDuration == 0 then\r\n        return evasionData\r\n    end\r\n\r\n    local slipCycleTime = VehicleState.currentTime%slipCycleDuration\r\n    if slipCycleTime < evasiveRightPeriod then\r\n        evasionData.slip = 1\r\n    else\r\n        evasionData.slip = -1\r\n    end\r\n    \r\n    if math.abs(VehicleState.pitch) > 45 then\r\n        evasionData.altitudeChange = 0\r\n    end\r\n\r\n    return evasionData\r\nend\r\n\r\nfunction GetOrbitEvasionPitchOutput(altitude)\r\n    if not pitchDown then\r\n        pitchDown = false\r\n    end\r\n    \r\n    if VehicleState.centerOfMass.y > altitude + evasiveAltitudeChange then\r\n        pitchDown = true\r\n    elseif VehicleState.centerOfMass.y < altitude - evasiveAltitudeChange then\r\n        pitchDown = false\r\n    end\r\n    \r\n    if VehicleState.pitch < -maxPitchMagnitude then\r\n        pitchDown = false\r\n    elseif VehicleState.pitch > maxPitchMagnitude then\r\n        pitchDown = true\r\n    end\r\n\r\n    if pitchDown then\r\n        return -1\r\n    else\r\n        return 1\r\n    end\r\nend\r\n\r\nfunction HighestTerrainAhead()\r\n    local maxAltitude = 0\r\n    local nextAltitude\r\n\r\n    local xStep = VehicleState.velocity.x\r\n    local zStep = VehicleState.velocity.z\r\n    \r\n    for i=-0.5,5,0.25 do\r\n        nextAltitude = API:GetTerrainAltitudeForPosition(VehicleState.centerOfMass.x + xStep*i, VehicleState.centerOfMass.y, VehicleState.centerOfMass.z + zStep*i)\r\n        if nextAltitude>maxAltitude then\r\n            maxAltitude = nextAltitude\r\n        end\r\n    end\r\n    return maxAltitude\r\nend\r\n\r\nfunction GetCombatTarget()\r\n    local target = API:GetTargetPositionInfo(0,0)\r\n\r\n    if target.Valid then\r\n        local azimuth\r\n        if target.Azimuth>180 then\r\n            azimuth = target.Azimuth-360\r\n        else\r\n            azimuth = target.Azimuth\r\n        end\r\n\r\n        return {\r\n            Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-target.AltitudeAboveSeaLevel) / target.GroundDistance)),\r\n            Azimuth        = azimuth,\r\n            GroundDistance = target.GroundDistance,\r\n            Altitude       = target.AltitudeAboveSeaLevel\r\n        }\r\n    else\r\n        return false\r\n    end\r\nend\r\n\r\nfunction GetRepairTarget()\r\n    -- Lower means more important\r\n    local highestPriorityValue = 1000000\r\n    local targetData = false\r\n    local friendlyCount = API:GetFriendlyCount()\r\n\r\n    for i=0,friendlyCount-1,1 do\r\n        local friendly = API:GetFriendlyInfo(i)\r\n        local targetCenterOfMass = friendly.CenterOfMass\r\n\r\n        local health = friendly.HealthFraction\r\n        if health<=minDamageNoticed and health<1 then\r\n            if not repairClosestFirst then\r\n                if health<highestPriorityValue then\r\n                    targetData = friendly\r\n                    highestPriorityValue = health\r\n                end\r\n            else\r\n                local distance = math.sqrt( (targetCenterOfMass.x-VehicleState.centerOfMass.x)*(targetCenterOfMass.x-VehicleState.centerOfMass.x)\r\n                                           +(targetCenterOfMass.z-VehicleState.centerOfMass.z)*(targetCenterOfMass.z-VehicleState.centerOfMass.z) )\r\n                if distance<highestPriorityValue then\r\n                    targetData = friendly\r\n                    highestPriorityValue = distance\r\n                end\r\n            end\r\n        end\r\n    end\r\n\r\n    if targetData then\r\n        return GetDirectionToCoordinates(targetData.CenterOfMass)\r\n    else\r\n        return false\r\n    end\r\nend\r\n\r\nfunction SetSerial()\r\n    local friendlyCount = API:GetFriendlyCount()\r\n\r\n    local cloneCount = 0\r\n    for i=0,friendlyCount-1,1 do\r\n        local friendly = API:GetFriendlyInfo(i)\r\n\r\n        if friendly.BlueprintName==blueprintName then\r\n            cloneCount = cloneCount+1\r\n        end\r\n    end\r\n    VehicleState.serial = cloneCount\r\nend\r\n\r\nfunction SetTargetPosition(position)\r\n    VehicleState.targetPosition = GetDirectionToCoordinates(position)\r\n\r\n    VehicleState.targetPosition.x             = position.x\r\n    VehicleState.targetPosition.y             = position.y\r\n    VehicleState.targetPosition.z             = position.z\r\n    VehicleState.targetPosition.sideDistance  = math.sin(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\r\n    VehicleState.targetPosition.frontDistance = math.cos(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\r\nend\r\n\r\nfunction PitchToTarget()\r\n    if isSatellite then\r\n        SetPitch(VehicleState.target.Elevation + 90)\r\n    else\r\n        if math.abs(VehicleState.target.Azimuth) > 10 then\r\n            SetPitch(0)\r\n        else\r\n            SetPitch(VehicleState.target.Elevation)\r\n        end\r\n    end\r\nend\r\n\r\nfunction Guard()\r\n    SetTargetPosition(VehicleState.flagship.CenterOfMass + VehicleState.flagship.Rotation * API.IdealFleetPosition)\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n    SetAltitudeHydrofoil(VehicleState.targetPosition.y)\r\n\r\n    if not VehicleState.target then\r\n        if not API.IsFlagship then\r\n            Turn(GetVectorAngle(VehicleState.flagship.ForwardVector, VehicleState.forwardVector))\r\n        end\r\n\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\r\n    else\r\n        PitchToTarget()\r\n        Turn(VehicleState.target.Azimuth)\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\r\n    end\r\nend\r\n\r\nfunction Patrol()\r\n    SetTargetPosition(API.Waypoint)\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n    SetAltitudeHydrofoil(VehicleState.targetPosition.y)\r\n    \r\n    if not VehicleState.target then\r\n        if VehicleState.targetPosition.GroundDistance > 200 then\r\n            local slipSpeed = GetSlipSpeed() * 5\r\n            slipOutput,slipPID = GetPIDOutput(0, slipSpeed, slipPID)\r\n\r\n            AddSlipOutput(slipOutput)\r\n            SetRoll(-rollMovementAssist * slipOutput)\r\n        \r\n            Turn(VehicleState.targetPosition.Azimuth)\r\n            SetForwardSpeedForDistance(VehicleState.targetPosition.GroundDistance, true)\r\n        else\r\n            SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n            SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\r\n        end\r\n    else\r\n        PitchToTarget()\r\n        Turn(VehicleState.target.Azimuth)\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\r\n    end\r\nend\r\n\r\nfunction Repair()\r\n    local evasion = GetFrontalEvasionData()\r\n\r\n    AddSlipOutput(evasion.slip)\r\n    SetRoll(-rollMovementAssist * slipOutput)\r\n\r\n    Turn(VehicleState.repairTarget.Azimuth)    \r\n    SetAltitude(VehicleState.repairTarget.Altitude + VehicleState.adjustedAltitude + evasion.altitudeChange)\r\n    SetForwardSpeedForDistance(VehicleState.repairTarget.GroundDistance - optimalDistance, true)\r\nend\r\n\r\nfunction FrontalFight()\r\n    if not VehicleState.target then\r\n        Idle()\r\n        return\r\n    end\r\n\r\n    local evasion = GetFrontalEvasionData()\r\n    if math.abs(VehicleState.target.Azimuth) < 10 then\r\n        AddSlipOutput(evasion.slip)\r\n        SetRoll(-rollMovementAssist * evasion.slip)\r\n    else\r\n        SetRoll(0)\r\n    end\r\n\r\n    if matchAltitude then\r\n        SetAltitude(VehicleState.target.Altitude + evasion.altitudeChange)\r\n    else\r\n        SetAltitude(VehicleState.adjustedAltitude + evasion.altitudeChange)\r\n    end\r\n\r\n    PitchToTarget()\r\n    Turn(VehicleState.target.Azimuth)\r\n    SetForwardSpeedForDistance(VehicleState.target.GroundDistance - optimalDistance, false)\r\nend\r\n\r\nfunction CircleTarget()\r\n    if not VehicleState.target then\r\n        Idle()\r\n        return\r\n    end\r\n\r\n    local sign = 1\r\n    if orbiterMode == \"left\" then\r\n        sign = 1\r\n    elseif orbiterMode == \"right\" then\r\n        sign = -1\r\n    elseif VehicleState.target.Azimuth < 0 then\r\n        sign = -1\r\n    end\r\n\r\n    local optimalAzi = sign * 90 - sign * 45 * math.min(math.max((VehicleState.target.GroundDistance - optimalDistance) / 200, -1), 1)\r\n\r\n    if math.abs(90 - math.abs(VehicleState.target.Azimuth)) < 20 then\r\n        SetRoll(-sign * VehicleState.target.Elevation)\r\n    else\r\n        SetRoll(0)\r\n    end\r\n\r\n    local altitude\r\n    if matchAltitude then\r\n        altitude = VehicleState.target.Altitude\r\n    else\r\n        altitude = VehicleState.adjustedAltitude\r\n    end\r\n\r\n    if maxPitchMagnitude > 0  and evasiveAltitudeChange > 0 then\r\n        AddPitchOutput(GetOrbitEvasionPitchOutput(altitude))\r\n    else\r\n        SetPitch(-pitchMovementAssist)\r\n        SetAltitude(altitude)\r\n    end\r\n\r\n    Turn(VehicleState.target.Azimuth - optimalAzi)\r\n    AddForwardOutput(1)\r\nend\r\n\r\nfunction Stabilize()\r\n    SetAltitude(VehicleState.adjustedAltitude)\r\n    SetPitch(0)\r\n    SetRoll(0)\r\nend\r\n\r\nfunction Idle()\r\n    SetAltitude(VehicleState.adjustedAltitude)\r\n    SetSlipSpeedForDistance(0)\r\n    SetForwardSpeedForDistance(0, true)\r\nend\r\n\r\nfunction Update(I)\r\n    if I:IsDocked() then\r\n        return\r\n    end\r\n\r\n    I:TellAiThatWeAreTakingControl()\r\n\r\n    Init(I)\r\n    SetupPropulsion(I)\r\n\r\n    if useBalloons then\r\n        BalloonCheck()\r\n    end\r\n\r\n    if repairMode then\r\n        if VehicleState.AIMode == \"combat\" then\r\n            if VehicleState.repairTarget then\r\n                Repair()\r\n            else\r\n                if API.IsFlagship then\r\n                    VehicleState.AIMode = \"patrol\"\r\n                else\r\n                    VehicleState.AIMode = \"fleetmove\"\r\n                end\r\n            end\r\n        end\r\n    end\r\n        \r\n    if not (repairMode and VehicleState.AIMode == \"combat\") then\r\n        if VehicleState.AIMode == \"off\" then\r\n            Idle()\r\n        elseif VehicleState.AIMode == \"on\" then\r\n            Stabilize()\r\n        elseif VehicleState.AIMode == \"combat\" then\r\n            if orbiterMode == \"both\" or orbiterMode == \"left\" or orbiterMode == \"right\" then\r\n                CircleTarget()\r\n            else\r\n                FrontalFight()\r\n            end\r\n        elseif VehicleState.AIMode == \"patrol\" then\r\n            Patrol()\r\n        elseif VehicleState.AIMode == \"fleetmove\" then\r\n            Guard()\r\n        end\r\n    end\r\n\r\n    SendPropulsionImpulses()\r\nend\r\n\r\nfunction BalloonCheck()\r\n    if VehicleState.centerOfMass.y < ballonDeployAltitude then\r\n        API:Component_SetBoolLogicAll(0, true)\r\n    elseif VehicleState.centerOfMass.y > ballonReleaseAltitude then\r\n        API:Component_SetBoolLogicAll(0, false)\r\n    end\r\nend\r\n\r\n-- ________________________________________________________________________________​​___ Generic helper functions ________________________________________________________________________________​​___\r\n\r\n\r\nfunction GetDirectionToCoordinates(position)\r\n    local vectorToPosition = Vector3(position.x-VehicleState.centerOfMass.x, position.y-VehicleState.centerOfMass.y, position.z-VehicleState.centerOfMass.z)\r\n    local direction        = vectorToPosition.normalized\r\n\r\n    local aziDot         = direction.x*VehicleState.forwardVector.x + direction.z*VehicleState.forwardVector.z\r\n    local aziCross       = direction.z*VehicleState.forwardVector.x - direction.x*VehicleState.forwardVector.z\r\n    local groundDistance = math.sqrt(vectorToPosition.x*vectorToPosition.x + vectorToPosition.z*vectorToPosition.z)\r\n\r\n    return {\r\n        Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-position.y) / groundDistance)),\r\n        Azimuth        = math.deg(math.atan2(aziCross, aziDot)),\r\n        Altitude       = position.y,\r\n        GroundDistance = groundDistance\r\n    }\r\nend\r\n\r\nfunction GetVectorAngle(vector1, vector2)\r\n    local aziDot   = vector1.x * vector2.x + vector1.z * vector2.z\r\n    local aziCross = vector1.z * vector2.x - vector1.x * vector2.z\r\n    \r\n    return math.deg(math.atan2(aziCross, aziDot));\r\nend\r\n\r\nfunction InitPID(pidData)\r\n    PID = {}\r\n    PID.Kp            = pidData[1]\r\n    PID.Kd            = pidData[2]\r\n    PID.Ki            = pidData[3]\r\n    PID.OutMax        = pidData[4]\r\n    PID.OutMin        = pidData[5]\r\n    PID.IMax          = pidData[6]\r\n    PID.IMin          = pidData[7]\r\n    PID.integral      = 0\r\n    PID.previousError = 0\r\n\r\n    return PID\r\nend\r\n\r\nfunction InitPIDs()\r\n    rollPID     = InitPID(rollPIDData)\r\n    pitchPID    = InitPID(pitchPIDData)\r\n    altitudePID = InitPID(altitudePIDData)\r\n    yawPID      = InitPID(yawPIDData)\r\n    slipPID     = InitPID(slipPIDData)\r\n    distancePID = InitPID(distancePIDData)\r\nend\r\n\r\nfunction GetPIDOutput(SetPoint, ProcessVariable, PID)\r\n    local error     = SetPoint - ProcessVariable\r\n    local timeDelta = 0.025\r\n    local derivative\r\n    local output\r\n\r\n    PID.integral = PID.integral + (error*timeDelta) * PID.Ki\r\n    if (PID.integral > PID.IMax) then PID.integral = PID.IMax end\r\n    if (PID.integral < PID.IMin) then PID.integral = PID.IMin end\r\n\r\n    derivative = (error - PID.previousError)/timeDelta\r\n\r\n    output = PID.Kp*error + PID.Kd*derivative + PID.integral\r\n    if (output > PID.OutMax) then output = PID.OutMax end\r\n    if (output < PID.OutMin) then output = PID.OutMin end\r\n\r\n    PID.previousError = error\r\n    return output,PID\r\nend\r\n\r\n-- Props to Evil4Zerggin for the function\r\nfunction QuaternionUpVector(quaternion)\r\n    local x = 2 * (quaternion.x * quaternion.y - quaternion.z * quaternion.w)\r\n    local y = 1-2 * (quaternion.x * quaternion.x + quaternion.z * quaternion.z)\r\n    local z = 2 * (quaternion.y * quaternion.z + quaternion.x * quaternion.w)\r\n\r\n    return Vector3(x, y, z).normalized\r\nend\r\n\r\nfunction GetSlipSpeed()\r\n    local velocityHeading = 180/math.pi*math.atan2(VehicleState.velocity.x,VehicleState.velocity.z)\r\n    if velocityHeading<0 then\r\n        velocityHeading = velocityHeading+360\r\n    end\r\n    local slipAngle = velocityHeading - VehicleState.yaw\r\n    local groundSpeedx = VehicleState.velocity.x\r\n    local groundSpeedz = VehicleState.velocity.z\r\n    local groundSpeed = math.sqrt(groundSpeedx^2 + groundSpeedz^2)\r\n    local slipSpeed = groundSpeed*math.sin(slipAngle/180*math.pi)\r\n\r\n    return slipSpeed\r\nend"],"BlockStringDataIds":[8],"GameVersion":"v1.95888","BlockCount":2538}}