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= true\r\nuseDediSpinners = false\r\nuseAllSpinners = false\r\n\r\nrepairMode = false                 -- Won't fight but try to repair friendlies\r\nrepairClosestFirst = false         -- In repair mode goes to help the most damaged ally first on false\r\nminDamageNoticed = 0.95           -- 0.95 means the craft won't bother with anything above 95% health\r\n\r\nidleAltitude = 1500                 -- \r\nactiveAltitude = 1300               -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\r\noptimalDistance = 400              -- 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\r\nminAltitude = 1250                  -- Measured at center of mass, leave some clearance\r\nmaxAltitude = 1500                 -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\r\nmaxPitchMagnitude = 65             -- Pitch with a bigger absolute value will be clamped to match this\r\nmaxRoll = 20                       -- Max this amount of roll will be added to assist left/right movement\r\nevasiveAltitudeChange = 0         -- Vertical evasive manouvers add/subtract this to/from activeAltitude\r\nevasiveLeftPeriod = 0             -- Go left for this amount of time (-1: continuously circle to the left)\r\nevasiveLeftDelay = 0              -- Do not try another horizontal evasion for this amount of time after going to the left\r\nevasiveRightPeriod = 0            -- Go right for this amount of time (-1: continuously circle to the right)\r\nevasiveRightDelay = 0             -- Do not try another horizontal evasion for this amount of time after going to the right\r\nrandomHorizontalEvasion = false   -- Cycles between left and right on false, pseudorandom direction and durations up to the given caps otherwise\r\nrollPerSlipSpeed = 0              -- This amount of roll will be added for every m/s above the target slip speed(evasion target speed is 1000/-1000 so this won't really matter)\r\n\r\n-- Tune your craft's PIDs here\r\n--                      P,       I,      D,  IMax,   IMin, OutMax, OutMin\r\nrollPIDData     = {  0.02,    0.01,   0.01,     1,     -1,      1,     -1}\r\npitchPIDData    = {  0.01,    0.01,   0.01,     1,     -1,      1,     -1}\r\naltitudePIDData = {   0.2,     0.1,    0.1,     1,     -1,      1,     -1}\r\nyawPIDData      = {  0.05,       0,   0.01,     1,     -1,      1,     -1}\r\nslipPIDData     = {  0.05,       0,   0.01,     1,     -1,      1,     -1}\r\ndistancePIDData = {  0.05,       0,   0.01,     1,     -1,      1,     -1}\r\n\r\nfunction SetupPropulsion(I)\r\n    if useJets then\r\n        -- enable all jets\r\n        for i=1,12,1 do I:RequestThrustControl(i) end\r\n    end\r\n\r\n    JetManager = {\r\n        propulsionCount = I:Component_GetCount(9),\r\n        GetComponent = function (serial) return I:Component_GetBlockInfo(9,serial) end,\r\n        SetImpulse = function (serial,impulse) I:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0)),1) end,\r\n        GetFowardVector = function (propulsion) return propulsion.LocalForwards end\r\n    }\r\n    RotorManager = {\r\n        propulsionCount = I:GetSpinnerCount(),\r\n        GetComponent = function (serial) return I:GetSpinnerInfo(serial) end,\r\n        SetImpulse = function (serial,impulse) if useAllSpinners or I:IsSpinnerDedicatedHelispinner(serial) then I:SetSpinnerInstaSpin(serial, math.min(math.max(impulse, -1),1)) end end,\r\n        GetFowardVector = function (propulsion) return QuaternionUpVector(propulsion.LocalRotation) end\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\nend\r\n\r\nfunction SetPropulsionImpulses(I, pitchInput, yawInput, rollInput, altitudeInput, slipInput, propulsionManager)\r\n-- Checks alt, pitch and roll based impulses and sums them up for each propulsion component based on its position\r\n    for i=0,propulsionManager.propulsionCount-1,1 do\r\n        local propulsion = propulsionManager.GetComponent(i)\r\n        local orientation = propulsionManager.GetFowardVector(propulsion)\r\n        local position = propulsion.LocalPositionRelativeToCom\r\n        local yawImpulse = 0\r\n        local pitchImpulse = 0\r\n        local rollImpulse = 0\r\n        local slipImpulse = 0\r\n        local combinedImpulse = 0\r\n\r\n-- yaw/roll/slip\r\n        if math.abs(orientation.x)>0.95 then\r\n            -- yaw\r\n            if position.z<-0.05 then\r\n                yawImpulse = -yawInput * orientation.x\r\n            elseif position.z>0.05 then\r\n                yawImpulse = yawInput * orientation.x\r\n            end\r\n            -- roll\r\n            if position.y<-0.05 then\r\n                rollImpulse = rollInput * orientation.x\r\n            elseif position.y>0.05 then\r\n                rollImpulse = -rollInput * orientation.x\r\n            end\r\n\r\n            -- slip\r\n            slipImpulse = slipInput * orientation.x\r\n-- pitch/roll/altitude\r\n        elseif math.abs(orientation.y)>0.95 then\r\n            -- pitch\r\n            if position.z<-0.05 then\r\n                pitchImpulse = pitchInput * orientation.y\r\n            elseif position.z>0.05 then\r\n                pitchImpulse = -pitchInput * orientation.y\r\n            end\r\n            \r\n            -- roll\r\n            if position.x<-0.05 then\r\n                rollImpulse = -rollInput * orientation.y\r\n            elseif position.x>0.05 then\r\n                rollImpulse = rollInput * orientation.y\r\n            end\r\n        end\r\n\r\n        combinedImpulse = pitchImpulse + rollImpulse + yawImpulse + slipImpulse + altitudeInput*orientation.y\r\n        propulsionManager.SetImpulse(i, combinedImpulse)\r\n    end\r\nend\r\n\r\nfunction SetStatus(I, targetPitch, targetAzi, targetAltitude, targetSlipSpeed)\r\n    local pitch = I:GetConstructPitch()\r\n    local centerOfMass = I:GetConstructCenterOfMass()\r\n    local roll = I:GetConstructRoll()\r\n    local slipSpeed = GetSlipSpeed(I)\r\n    local slipSpeedDiff = slipSpeed-targetSlipSpeed\r\n    local targetRoll = 0\r\n\r\n    if pitch>180 then\r\n        pitch = pitch-360\r\n    end\r\n    if roll>180 then\r\n        roll = roll-360\r\n    end\r\n    if targetAzi>180 then\r\n        targetAzi = targetAzi-360\r\n    end\r\n\r\n    -- roll into side movement if needed\r\n    if maxRoll>0 then\r\n        if slipSpeedDiff>0 then\r\n            targetRoll = targetRoll + math.min(slipSpeedDiff * rollPerSlipSpeed, maxRoll)\r\n        else\r\n            targetRoll = targetRoll + math.max(slipSpeedDiff * rollPerSlipSpeed, -maxRoll)\r\n        end\r\n    end\r\n\r\n    -- pitch limitations\r\n    targetPitch = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\r\n    if math.abs(targetAzi)>85 then\r\n        targetPitch = 0\r\n    end\r\n\r\n    -- altitude limitations and terrain avoidance\r\n    local highestTerrainAhead = HighestTerrainAhead(I)\r\n    targetAltitude = math.min(math.max(targetAltitude, highestTerrainAhead+minAltitude), maxAltitude)\r\n\r\n    pitchInput,pitchPID       = GetPIDOutput(0, pitch-targetPitch, pitchPID)\r\n    yawInput,yawPID           = GetPIDOutput(0, targetAzi, yawPID)\r\n    rollInput,rollPID         = GetPIDOutput(targetRoll, roll, rollPID)\r\n    altitudeInput,altitudePID = GetPIDOutput(targetAltitude, centerOfMass.y, altitudePID)\r\n    slipInput,slipPID         = GetPIDOutput(0, slipSpeedDiff, slipPID)\r\n\r\n    for i=1,table.getn(PropulsionManagers),1 do\r\n        SetPropulsionImpulses(I, pitchInput, yawInput, rollInput, altitudeInput, slipInput, PropulsionManagers[i])\r\n    end\r\nend\r\n\r\nfunction GetEvasionData(I, altitude)\r\n    local centerOfMass = I:GetConstructCenterOfMass()\r\n    local currentTime = I:GetTime()\r\n\r\n-- Initialize persistent state\r\n    if not evasionData then\r\n        evasionData = {\r\n            targetSlipSpeed = 0,\r\n            -- Just here to avoid too much clutter in global namespace\r\n            nextAltChange = currentTime,\r\n            nextSlipCycle = currentTime,\r\n            slipPeriod = 0\r\n        }\r\n    end\r\n\r\n    evasionData.targetAltitude = altitude + evasiveAltitudeChange * math.sin(I:GetTime())\r\n\r\n-- Slip evasion\r\n    -- Constant circling\r\n    if evasiveRightPeriod<0 then\r\n        evasionData.targetSlipSpeed = 1000\r\n    elseif evasiveLeftPeriod<0 then\r\n        evasionData.targetSlipSpeed = -1000\r\n    else\r\n    -- Slip evasion\r\n        evasionData.targetSlipSpeed = 0\r\n        if evasiveRightPeriod>0 and evasiveLeftPeriod>0 and currentTime > evasionData.nextSlipCycle then\r\n            local slipDelay\r\n\r\n            if not goingRight then -- Run around and scream and shout\r\n                if randomHorizontalEvasion then\r\n                    evasionData.slipPeriod = math.random(evasiveLeftPeriod)\r\n                    slipDelay = math.random(evasiveLeftDelay)\r\n                else\r\n                    evasionData.slipPeriod = evasiveLeftPeriod\r\n                    slipDelay = evasiveLeftDelay\r\n                end\r\n\r\n                evasionData.targetSlipSpeed = -1000\r\n                if currentTime > evasionData.nextSlipCycle+evasionData.slipPeriod then\r\n                    evasionData.targetSlipSpeed = 0\r\n                    if randomHorizontalEvasion then\r\n                        goingRight = math.random(0,1)==1\r\n                    else\r\n                        goingRight = true\r\n                    end\r\n                    evasionData.nextSlipCycle = I:GetTime() + slipDelay\r\n                end                \r\n            else\r\n                if randomHorizontalEvasion then\r\n                    evasionData.slipPeriod = math.random(evasiveRightPeriod)\r\n                    slipDelay = math.random(evasiveRightDelay)\r\n                else\r\n                    evasionData.slipPeriod = evasiveRightPeriod\r\n                    slipDelay = evasiveRightDelay\r\n                end\r\n\r\n                evasionData.targetSlipSpeed = 1000\r\n                if currentTime > evasionData.nextSlipCycle+evasionData.slipPeriod then\r\n                    evasionData.targetSlipSpeed = 0\r\n                    if randomHorizontalEvasion then\r\n                        goingRight = math.random(0,1) == 1\r\n                    else\r\n                        goingRight = false\r\n                    end\r\n                    evasionData.nextSlipCycle = I:GetTime() + slipDelay\r\n                end\r\n            end\r\n        end\r\n    end\r\n\r\n    return evasionData\r\nend\r\n\r\nfunction HighestTerrainAhead(I)\r\n    local centerOfMass = I:GetConstructCenterOfMass()\r\n    local maxAltitude = 0\r\n    local nextAltitude\r\n\r\n    local xStep = I:GetVelocityVector().x\r\n    local zStep = I:GetVelocityVector().z\r\n    \r\n    for i=-0.5,5,0.25 do\r\n        nextAltitude = I:GetTerrainAltitudeForPosition(centerOfMass.x + xStep*i, centerOfMass.y, 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 FiringStance(I, targetPosition)\r\n    local evasion = GetEvasionData(I, targetPosition.Altitude)\r\n    local pitch = I:GetConstructPitch()-targetPosition.Elevation\r\n\r\n    SetStatus(I, pitch, targetPosition.Azimuth, evasion.targetAltitude, evasion.targetSlipSpeed)\r\nend\r\n\r\nfunction MaintainDistance(I, targetPosition, distance)\r\n    local forwardSpeed\r\n    forwardSpeed,distancePID = GetPIDOutput(distance, targetPosition.GroundDistance, distancePID)\r\n\r\n    for i=1,table.getn(PropulsionManagers),1 do\r\n        SetForwardSpeed(I, -forwardSpeed, PropulsionManagers[i])\r\n    end\r\nend\r\n\r\nfunction SetForwardSpeed(I, speed, propulsionManager)\r\n    for i=0,propulsionManager.propulsionCount-1,1 do\r\n        local propulsion = propulsionManager.GetComponent(i)\r\n        local orientation = propulsionManager.GetFowardVector(propulsion)\r\n\r\n        if math.abs(orientation.z)>0.95 then\r\n            propulsionManager.SetImpulse(i, speed * orientation.z)\r\n        end\r\n    end\r\nend\r\n\r\nfunction GetTarget(I)\r\n    if repairMode then\r\n        return GetRepairTarget(I)\r\n    else\r\n        return GetCombatTarget(I)\r\n    end\r\nend\r\n\r\nfunction GetRepairTarget(I)\r\n    local centerOfMass = I:GetConstructCenterOfMass()\r\n    local forwardVector = I:GetConstructForwardVector()\r\n\r\n    -- Lower means more important\r\n    local highestPriorityValue = 1000000\r\n    local targetData = false\r\n    local friendlyCount = I:GetFriendlyCount()\r\n    for i=0,friendlyCount-1,1 do\r\n        local friendly = I:GetFriendlyInfo(i)\r\n        local targetCenterOfMass = friendly.CenterOfMass\r\n\r\n        local health = friendly.HealthFraction\r\n        if health>minDamageNoticed then\r\n            goto continue\r\n        end\r\n\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-centerOfMass.x)*(targetCenterOfMass.x-centerOfMass.x) + (targetCenterOfMass.z-centerOfMass.z)*(targetCenterOfMass.z-centerOfMass.z))\r\n            if distance<highestPriorityValue then\r\n                targetData = friendly\r\n                highestPriorityValue = distance\r\n            end\r\n        end\r\n        ::continue::\r\n    end\r\n\r\n    if targetData then\r\n        local targetCenterOfMass = targetData.CenterOfMass\r\n        local vectorToFriendly = Vector3(targetCenterOfMass.x-centerOfMass.x, targetCenterOfMass.y-centerOfMass.y, targetCenterOfMass.z-centerOfMass.z)\r\n        local friendlyDirection = vectorToFriendly.normalized\r\n\r\n        local aziDot = friendlyDirection.x*forwardVector.x + friendlyDirection.z*forwardVector.z\r\n        local aziCross = friendlyDirection.z*forwardVector.x - friendlyDirection.x*forwardVector.z\r\n        local groundDistance = math.sqrt(vectorToFriendly.x*vectorToFriendly.x + vectorToFriendly.z*vectorToFriendly.z)\r\n\r\n        return {\r\n            Elevation = -math.deg(math.atan((centerOfMass.y-targetCenterOfMass.y) / groundDistance)),\r\n            Azimuth = math.deg(math.atan2(aziCross, aziDot)),\r\n            Altitude = targetCenterOfMass.y + activeAltitude,\r\n            GroundDistance = groundDistance\r\n        }\r\n    end\r\n    return false\r\nend\r\n\r\nfunction GetCombatTarget(I)\r\n    local target = I:GetTargetPositionInfo(0,0)\r\n\r\n    if target.Valid then\r\n        return {\r\n            Elevation = target.Elevation,\r\n            Azimuth = target.Azimuth,\r\n            GroundDistance = target.GroundDistance,\r\n            Altitude = activeAltitude\r\n        }\r\n    else\r\n        return false\r\n    end\r\nend\r\n\r\nfunction Update(I)\r\n    SetupPropulsion(I)\r\n\r\n    local target = GetTarget(I)\r\n    if target == false then\r\n        local yaw = I:GetConstructYaw()\r\n        local speed = I:GetForwardsVelocityMagnitude()\r\n\r\n        SetStatus(I, 0, yaw, idleAltitude, 0)\r\n        for i=1,table.getn(PropulsionManagers),1 do\r\n            SetForwardSpeed(I, math.max(math.min(-speed/4, 1), -1), PropulsionManagers[i])\r\n        end\r\n    else\r\n        FiringStance(I, target)\r\n        MaintainDistance(I, target, optimalDistance)\r\n    end\r\nend\r\n\r\n-- ________________________________________________________________________________​___ Generic helper functions ________________________________________________________________________________​___\r\n\r\nfunction InitPID(pidData)\r\n    PID = {}\r\n    PID.Kp = pidData[1]\r\n    PID.Ki = pidData[2]\r\n    PID.Kd = pidData[3]\r\n    PID.IMax = pidData[4]\r\n    PID.IMin = pidData[5]\r\n    PID.OutMax = pidData[6]\r\n    PID.OutMin = pidData[7]\r\n    PID.integral = 0\r\n    PID.previousError = 0\r\n    return 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\n-- all of the below are lifted from CP75/goduranus\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)\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.Ki*PID.integral + PID.Kd*derivative\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\nfunction GetSlipSpeed(I)\r\n    local velocityHeading = 180/math.pi*math.atan2(I:GetVelocityVector().x,I:GetVelocityVector().z)\r\n    if velocityHeading<0 then\r\n        velocityHeading = velocityHeading+360\r\n    end\r\n    local slipAngle = velocityHeading - I:GetConstructYaw()\r\n    local groundSpeedx = I:GetVelocityVector().x\r\n    local groundSpeedz = I:GetVelocityVector().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\r\n\r\nrollPID       = InitPID(rollPIDData)\r\npitchPID      = InitPID(pitchPIDData)\r\naltitudePID   = InitPID(altitudePIDData)\r\nyawPID        = InitPID(yawPIDData)\r\nslipPID       = InitPID(slipPIDData)\r\ndistancePID   = InitPID(distancePIDData)"],"BlockStringDataIds":[71898],"GameVersion":"v1.91","BlockCount":3171}}