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= 10\nlaser = 10\n\nuseJets = true\nuseDediSpinners = true\nuseAllSpinners = false\n\norbiterMode = \"off\" -- \"off\": the default frontal mode, \"both\": doesn't have a preferred side, \"left\"/\"right\": only uses one side to fight\nmatchAltitude = false -- In combat will match the target's altitude(evasion will use this altitude as base, minAltitude and maxAltitude still apply).\nrepairMode = false -- Won't fight but try to repair friendlies\nisSatellite = false -- Will aim at the target with the bottom\nrepairClosestFirst = true -- In repair mode goes to help the most damaged ally first on false\nminDamageNoticed = 1 -- 0.95 means the craft won't bother with anything above 95% health\n\noptimalAltitude = 40 -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\noptimalDistance = 300 -- Try to maintain this distance from target in both modes(doesn't take altitude into account). If you want to get close consider reducing maxPitchMagnitude. -1 means staying stationary.\nminAltitude = 40 -- Measured at center of mass, leave some clearance\nmaxAltitude = 40 -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\nmaxPitchMagnitude = 85 -- Pitch with a bigger absolute value will be clamped to match this\nmaxRoll = 0 -- Max roll\npitchMovementAssist = 0 -- Max angle to pitch at to help forward/backwards movement\nrollMovementAssist = 0 -- Max angle to roll at to help left/right movement\nevasiveAltitudeChange = 70 -- Vertical evasive manouvers add/subtract this to/from altitude\nevasiveLeftPeriod = 6 -- Go left for this amount of time(seconds)\nevasiveRightPeriod = 6 -- Go right for this amount of time(seconds)\nuseBalloons = true -- Set it to false when not using balloons for water start\nballonDeployAltitude = 0 -- Deploy balloons below this one\nballonReleaseAltitude = 100 -- Cut balloons above this\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.\n\n-- Used for getting a serial number(that's not used for anything right now)\nblueprintName = \"Ninja\"\n\n-- Tune PIDs here\n-- P, D, I, OutMax, OutMin, IMax, IMin\nrollPIDData = { 0.2, 0.04, 0.0, 1, -1, 1, -1}\npitchPIDData = { 0.2, 0.05, 0.0, 1, -1, 1, -1}\naltitudePIDData = { 0.1, 0.02, 0.0, 1, -1, 1, -1}\nyawPIDData = { 0.2, 0.05, 0.0, 1, -1, 1, -1}\nslipPIDData = { 0.03, 0.01, 0.0, 0.9, -0.9, 1, -1}\ndistancePIDData = { 0.1, 0.5, 0.0, 1, -1, 1, -1}\n\nfunction Init(I)\n -- forgive me for I have sinned\n API = I\n\n if not VehicleState then\n VehicleState = {}\n end\n VehicleState.centerOfMass = API:GetConstructCenterOfMass()\n VehicleState.pitch = -API:GetConstructPitch()\n VehicleState.roll = API:GetConstructRoll()\n VehicleState.forwardVector = API:GetConstructForwardVector()\n VehicleState.upVector = API:GetConstructUpVector()\n VehicleState.yaw = API:GetConstructYaw()\n VehicleState.speed = API:GetForwardsVelocityMagnitude()\n VehicleState.currentTime = API:GetTime()\n VehicleState.velocity = API:GetVelocityVector()\n VehicleState.AICount = API:GetNumberOfMainframes()\n VehicleState.flagship = API.Fleet.Flagship\n propulsionAngleTolerance = 0.5\n local horizontalProjection = Vector3(VehicleState.forwardVector.x, 0, VehicleState.forwardVector.z)\n\n VehicleState.projectionRotation = Quaternion.Inverse(Quaternion.LookRotation(horizontalProjection, VehicleState.upVector))\n VehicleState.normalRotation = Quaternion.Inverse(Quaternion.LookRotation(VehicleState.forwardVector, VehicleState.upVector))\n\n VehicleState.target = GetCombatTarget()\n if repairMode then\n VehicleState.repairTarget = GetRepairTarget()\n end\n\n VehicleState.targetPosition = nil\n\n if API.AIMode == \"fleetmove\" and API.IsFlagship then\n VehicleState.AIMode = \"patrol\"\n else\n VehicleState.AIMode = API.AIMode\n end\n\n if VehicleState.pitch<-180 then\n VehicleState.pitch = VehicleState.pitch+360\n end\n if VehicleState.roll>180 then\n VehicleState.roll = VehicleState.roll-360\n end\n\n if not VehicleState.serial then\n SetSerial()\n InitPIDs()\n \n if API:Component_GetCount(8) == 0 then\n VehicleState.hasAltitudeControl = false\n VehicleState.adjustedAltitude = optimalAltitude\n else\n VehicleState.hasAltitudeControl = true\n SetAltitudeHydrofoil(optimalAltitude)\n end\n end\n\n if VehicleState.hasAltitudeControl then\n SetupAltitudeControl()\n end\nend\n\nfunction SetupAltitudeControl()\n local altitudeFlag = API:Component_GetFloatLogic(8, 0) + 45\n local newAltitude = minAltitude + ((maxAltitude-minAltitude) * altitudeFlag / 90)\n\n if altitudeFeedbackMeters > 0 then\n local promptAltitude = math.floor(newAltitude / altitudeFeedbackMeters) * altitudeFeedbackMeters\n\n if not VehicleState.lastAltitudePrompt or math.abs(promptAltitude - VehicleState.lastAltitudePrompt) >= altitudeFeedbackMeters then\n if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" or VehicleState.AIMode == \"combat\" then\n API:LogToHud(\"Altitude: \" .. promptAltitude .. \"m\")\n end\n VehicleState.lastAltitudePrompt = promptAltitude\n end\n end\n VehicleState.adjustedAltitude = newAltitude\nend\n\nfunction SetAltitudeHydrofoil(newAltitude)\n local relativeAltitude = math.min(math.max(newAltitude, minAltitude), maxAltitude) - minAltitude\n local altitudeFraction = relativeAltitude / (maxAltitude-minAltitude)\n local normalizedRange = altitudeFraction - 0.5\n local fullAngle = normalizedRange * 90\n\n -- initialize altitude flag hydrofoil angle\n API:Component_SetFloatLogic(8, 0, math.min(math.max(fullAngle, -45), 45))\nend\n\n-- Take over all jets, not just vertical ones\nfunction EnableAllJets()\n VehicleState.jetsAtMax = 0\n\n if useJets then\n for i=0,3 do\n API:RequestThrustControl(i)\n end\n for i=6,9 do\n API:RequestThrustControl(i)\n end\n end\nend\n\nfunction ResetJetStrengths()\n if not VehicleState.jetsAtMax or VehicleState.jetsAtMax == 0 then\n API:Component_SetFloatLogicAll(9,1)\n VehicleState.jetsAtMax = 1\n end\nend\n\nfunction SetupPropulsion()\n -- Send an 'on' signal to vertical jets\n if useJets then\n -- up/down\n API:RequestThrustControl(4)\n API:RequestThrustControl(5)\n -- pitch up/down\n API:RequestControl(2, 4, 1)\n API:RequestControl(2, 5, 1)\n end\n\n if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" then\n -- Manual mode, lay off side/forward propulsion strengths\n ResetJetStrengths()\n else\n -- Automatic, toggle everything on\n EnableAllJets()\n end\n\n JetManager = {\n propulsionCount = API:Component_GetCount(9),\n GetComponent = function (serial) return API:Component_GetBlockInfo(9,serial) end,\n SetImpulse = function (serial,impulse) API:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0),1)) end,\n GetFowardVector = function (propulsion) return propulsion.Forwards end,\n type = \"jet\"\n }\n RotorManager = {\n propulsionCount = API:GetSpinnerCount(),\n GetComponent = function (serial) return API:GetSpinnerInfo(serial) end,\n SetImpulse = function (serial,impulse) if useAllSpinners or API:IsSpinnerDedicatedHelispinner(serial) then API:SetSpinnerInstaSpin(serial, math.min(math.max(impulse, -1),1)) end end,\n GetFowardVector = function (propulsion) return QuaternionUpVector(propulsion.Rotation) end,\n type = \"spinner\"\n }\n\n PropulsionManagers = {}\n if useAllSpinners or useDediSpinners then\n table.insert(PropulsionManagers, RotorManager)\n end\n if useJets then\n table.insert(PropulsionManagers, JetManager)\n end\n\n PropulsionComponents = {}\n for i=1,table.getn(PropulsionManagers),1 do\n for j=0,PropulsionManagers[i].propulsionCount-1,1 do\n local component = PropulsionManagers[i].GetComponent(j)\n local globalOrientation = PropulsionManagers[i].GetFowardVector(component)\n local localOrientation = VehicleState.normalRotation * globalOrientation\n local horizontalOrientation = VehicleState.projectionRotation * globalOrientation\n local position = VehicleState.normalRotation * (component.Position - VehicleState.centerOfMass)\n\n local currentComponent = {\n serial = j,\n position = position,\n globalOrientation = globalOrientation,\n localOrientation = localOrientation,\n horizontalOrientation = horizontalOrientation,\n sendImpulse = PropulsionManagers[i].SetImpulse,\n type = PropulsionManagers[i].type\n }\n table.insert(PropulsionComponents, currentComponent)\n end\n end\nend\n\nfunction AddComponentImpulse(component, impulse)\n if not component.impulse then\n component.impulse = impulse\n else\n component.impulse = component.impulse + impulse\n end\nend\n\nfunction AddPitchOutput(pitchInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n\n if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\n -- pitch\n if component.position.z<-0.05 then\n AddComponentImpulse(component, -pitchInput * component.localOrientation.y)\n elseif component.position.z>0.05 then\n AddComponentImpulse(component, pitchInput * component.localOrientation.y)\n end\n end\n end\nend\n\nfunction AddRollOutput(rollInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n\n if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\n if component.position.x<-0.05 then\n AddComponentImpulse(component, -rollInput * component.localOrientation.y)\n elseif component.position.x>0.05 then\n AddComponentImpulse(component, rollInput * component.localOrientation.y)\n end\n end\n if VehicleState.AIMode ~= \"off\" and VehicleState.AIMode ~= \"on\" then\n if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\n if component.position.y<-0.05 then\n AddComponentImpulse(component, rollInput * component.localOrientation.x)\n elseif component.position.y>0.05 then\n AddComponentImpulse(component, -rollInput * component.localOrientation.x)\n end\n end\n end \n end\nend\n\nfunction AddYawOutput(yawInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n\n if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\n if component.position.z<-0.05 then\n AddComponentImpulse(component, -yawInput * component.localOrientation.x)\n elseif component.position.z>0.05 then\n AddComponentImpulse(component, yawInput * component.localOrientation.x)\n end\n end\n end\nend\n\nfunction AddAltitudeOutput(altitudeInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n local magnitude = (component.globalOrientation.y > 0 and 1 or -1)\n\n if math.abs(component.globalOrientation.y)>propulsionAngleTolerance then\n AddComponentImpulse(component, altitudeInput * magnitude)\n end\n end\nend\n\nfunction AddSlipOutput(slipInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n local magnitude = (component.horizontalOrientation.x > 0 and 1 or -1)\n\n if math.abs(component.horizontalOrientation.x)>propulsionAngleTolerance then\n AddComponentImpulse(component, slipInput * magnitude)\n end\n end\nend\n\nfunction AddForwardOutput(forwardInput)\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n local magnitude = (component.horizontalOrientation.z > 0 and 1 or -1)\n\n if math.abs(component.horizontalOrientation.z)>propulsionAngleTolerance then\n AddComponentImpulse(component, forwardInput * magnitude)\n end\n end\nend\n\nfunction SendPropulsionImpulses()\n for i=1,table.getn(PropulsionComponents) do\n local component = PropulsionComponents[i]\n\n if component.impulse ~= nil then\n component.sendImpulse(component.serial, component.impulse)\n else\n if component.type == \"spinner\" then\n API:SetSpinnerSpeedFactor(component.serial, 1)\n end\n end\n end\nend\n\nfunction SetPitch(targetPitch)\n targetPitch = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\n pitchInput,pitchPID = GetPIDOutput(targetPitch, VehicleState.pitch, pitchPID)\n\n AddPitchOutput(pitchInput)\nend\n\nfunction SetRoll(targetRoll)\n targetRoll = math.max(math.min(targetRoll, maxRoll), -maxRoll)\n rollInput,rollPID = GetPIDOutput(targetRoll, VehicleState.roll, rollPID)\n\n AddRollOutput(rollInput)\nend\n\nfunction SetAltitude(targetAltitude)\n local highestTerrainAhead = HighestTerrainAhead()\n\n targetAltitude = math.min(math.max(targetAltitude, highestTerrainAhead+minAltitude), maxAltitude)\n altitudeInput,altitudePID = GetPIDOutput(targetAltitude, VehicleState.centerOfMass.y, altitudePID)\n\n AddAltitudeOutput(altitudeInput)\nend\n\nfunction Turn(targetAzi)\n yawInput,yawPID = GetPIDOutput(0, targetAzi, yawPID)\n\n AddYawOutput(yawInput)\nend\n\nfunction SetSlipSpeedForDistance(distance)\n slipSpeed,slipPID = GetPIDOutput(0, distance, slipPID)\n\n AddSlipOutput(slipSpeed)\n SetRoll(-rollMovementAssist * slipSpeed)\nend\n\nfunction SetForwardSpeedForDistance(distance, usePitch)\n forwardSpeed,distancePID = GetPIDOutput(0, distance, distancePID)\n\n AddForwardOutput(-forwardSpeed)\n if usePitch then\n SetPitch(pitchMovementAssist * forwardSpeed)\n end\nend\n\nfunction GetFrontalEvasionData()\n evasionData = {\n slip = 0,\n altitudeChange = 0\n }\n\n local slipCycleDuration = evasiveRightPeriod + evasiveLeftPeriod\n if slipCycleDuration == 0 then\n return evasionData\n end\n\n local slipCycleTime = VehicleState.currentTime%slipCycleDuration\n if slipCycleTime < evasiveRightPeriod then\n evasionData.slip = 1\n else\n evasionData.slip = -1\n end\n\n if math.abs(VehicleState.pitch) < 45 then\n if slipCycleTime < 3.5 or slipCycleTime > 8.5 then\n evasionData.altitudeChange = evasiveAltitudeChange\n else\n evasionData.altitudeChange = -evasiveAltitudeChange * (slipCycleTime - 3.5) / 5\n end\n end\n\n return evasionData\nend\n\nfunction GetOrbitEvasionPitchOutput(altitude)\n if not pitchDown then\n pitchDown = false\n end\n \n if VehicleState.centerOfMass.y > altitude + evasiveAltitudeChange then\n pitchDown = true\n elseif VehicleState.centerOfMass.y < altitude - evasiveAltitudeChange then\n pitchDown = false\n end\n \n if VehicleState.pitch < -maxPitchMagnitude then\n pitchDown = false\n elseif VehicleState.pitch > maxPitchMagnitude then\n pitchDown = true\n end\n\n if pitchDown then\n return -1\n else\n return 1\n end\nend\n\nfunction HighestTerrainAhead()\n local maxAltitude = 0\n local nextAltitude\n\n local xStep = VehicleState.velocity.x\n local zStep = VehicleState.velocity.z\n \n for i=-0.5,5,0.25 do\n nextAltitude = API:GetTerrainAltitudeForPosition(VehicleState.centerOfMass.x + xStep*i, VehicleState.centerOfMass.y, VehicleState.centerOfMass.z + zStep*i)\n if nextAltitude>maxAltitude then\n maxAltitude = nextAltitude\n end\n end\n return maxAltitude\nend\n\nfunction GetCombatTarget()\n local target = API:GetTargetPositionInfo(0,0)\n\n if target.Valid then\n local azimuth\n if target.Azimuth>180 then\n azimuth = target.Azimuth-360\n else\n azimuth = target.Azimuth\n end\n\n return {\n Elevation = -math.deg(math.atan((VehicleState.centerOfMass.y-target.AltitudeAboveSeaLevel) / target.GroundDistance)),\n Azimuth = azimuth,\n GroundDistance = target.GroundDistance,\n Altitude = target.AltitudeAboveSeaLevel\n }\n else\n return false\n end\nend\n\nfunction GetRepairTarget()\n -- Lower means more important\n local highestPriorityValue = 1000000\n local targetData = false\n local friendlyCount = API:GetFriendlyCount()\n\n for i=0,friendlyCount-1,1 do\n local friendly = API:GetFriendlyInfo(i)\n local targetCenterOfMass = friendly.CenterOfMass\n\n local health = friendly.HealthFraction\n if health<=minDamageNoticed and health<1 then\n if not repairClosestFirst then\n if health 10 then\n SetPitch(0)\n else\n SetPitch(VehicleState.target.Elevation)\n end\n end\nend\n\nfunction Guard()\n SetTargetPosition(VehicleState.flagship.CenterOfMass + VehicleState.flagship.Rotation * API.IdealFleetPosition)\n SetAltitude(VehicleState.targetPosition.y)\n SetAltitudeHydrofoil(VehicleState.targetPosition.y)\n\n if not VehicleState.target then\n if not API.IsFlagship then\n Turn(GetVectorAngle(VehicleState.flagship.ForwardVector, VehicleState.forwardVector))\n end\n\n SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\n SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\n else\n PitchToTarget()\n Turn(VehicleState.target.Azimuth)\n SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\n SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\n end\nend\n\nfunction Patrol()\n SetTargetPosition(API.Waypoint)\n SetAltitude(VehicleState.targetPosition.y)\n SetAltitudeHydrofoil(VehicleState.targetPosition.y)\n \n if not VehicleState.target then\n if VehicleState.targetPosition.GroundDistance > 200 then\n local slipSpeed = GetSlipSpeed() * 5\n slipOutput,slipPID = GetPIDOutput(0, slipSpeed, slipPID)\n\n AddSlipOutput(slipOutput)\n SetRoll(-rollMovementAssist * slipOutput)\n \n Turn(VehicleState.targetPosition.Azimuth)\n SetForwardSpeedForDistance(VehicleState.targetPosition.GroundDistance, true)\n else\n SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\n SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\n end\n else\n PitchToTarget()\n Turn(VehicleState.target.Azimuth)\n SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\n SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\n end\nend\n\nfunction Repair()\n local evasion = GetFrontalEvasionData()\n\n AddSlipOutput(evasion.slip)\n SetRoll(-rollMovementAssist * slipOutput)\n\n Turn(VehicleState.repairTarget.Azimuth) \n SetAltitude(VehicleState.repairTarget.Altitude + VehicleState.adjustedAltitude + evasion.altitudeChange)\n SetForwardSpeedForDistance(VehicleState.repairTarget.GroundDistance - optimalDistance, true)\nend\n\nfunction FrontalFight()\n if not VehicleState.target then\n Patrol()\n return\n end\n\n local evasion = GetFrontalEvasionData()\n if math.abs(VehicleState.target.Azimuth) < 10 then\n AddSlipOutput(evasion.slip)\n SetRoll(-rollMovementAssist * evasion.slip)\n else\n SetRoll(0)\n end\n\n if matchAltitude then\n SetAltitude(VehicleState.target.Altitude + evasion.altitudeChange)\n else\n SetAltitude(VehicleState.adjustedAltitude + evasion.altitudeChange)\n end\n\n PitchToTarget()\n Turn(VehicleState.target.Azimuth)\n SetForwardSpeedForDistance(VehicleState.target.GroundDistance - optimalDistance, false)\nend\n\nfunction CircleTarget()\n if not VehicleState.target then\n Idle()\n return\n end\n\n local sign = 1\n if orbiterMode == \"left\" then\n sign = 1\n elseif orbiterMode == \"right\" then\n sign = -1\n elseif VehicleState.target.Azimuth < 0 then\n sign = -1\n end\n\n local optimalAzi = sign * 90 - sign * 45 * math.min(math.max((VehicleState.target.GroundDistance - optimalDistance) / 200, -1), 1)\n\n if math.abs(90 - math.abs(VehicleState.target.Azimuth)) < 20 then\n SetRoll(-sign * VehicleState.target.Elevation)\n else\n SetRoll(0)\n end\n\n local altitude\n if matchAltitude then\n altitude = VehicleState.target.Altitude\n else\n altitude = VehicleState.adjustedAltitude\n end\n\n if maxPitchMagnitude > 0 and evasiveAltitudeChange > 0 then\n AddPitchOutput(GetOrbitEvasionPitchOutput(altitude))\n else\n SetPitch(-pitchMovementAssist)\n SetAltitude(altitude)\n end\n\n Turn(VehicleState.target.Azimuth - optimalAzi)\n AddForwardOutput(1)\nend\n\nfunction Stabilize()\n SetAltitude(VehicleState.adjustedAltitude)\n SetPitch(0)\n SetRoll(0)\nend\n\nfunction Idle()\n SetAltitude(VehicleState.adjustedAltitude)\n SetSlipSpeedForDistance(0)\n SetForwardSpeedForDistance(0, true)\nend\n\nfunction Update(I)\n if I:IsDocked() then\n return\n end\n\n I:TellAiThatWeAreTakingControl()\n\n Init(I)\n SetupPropulsion(I)\n\n if VehicleState.target then\n ActivateShields()\n else\n DeactivateShields()\n end\n \n if VehicleState.AIMode == \"off\" then\n Idle()\n elseif VehicleState.AIMode == \"on\" then\n Stabilize()\n elseif VehicleState.AIMode == \"combat\" then\n FrontalFight()\n elseif VehicleState.AIMode == \"patrol\" then\n Patrol()\n elseif VehicleState.AIMode == \"fleetmove\" then\n Guard()\n end\n\n SendPropulsionImpulses()\nend\n\nfunction BalloonCheck()\n if VehicleState.centerOfMass.y < ballonDeployAltitude then\n API:Component_SetBoolLogicAll(0, true)\n elseif VehicleState.centerOfMass.y > ballonReleaseAltitude then\n API:Component_SetBoolLogicAll(0, false)\n end\nend\n\n-- ________________________________________________________________________________​___ Generic helper functions ________________________________________________________________________________​___\n\n\nfunction GetDirectionToCoordinates(position)\n local vectorToPosition = Vector3(position.x-VehicleState.centerOfMass.x, position.y-VehicleState.centerOfMass.y, position.z-VehicleState.centerOfMass.z)\n local direction = vectorToPosition.normalized\n\n local aziDot = direction.x*VehicleState.forwardVector.x + direction.z*VehicleState.forwardVector.z\n local aziCross = direction.z*VehicleState.forwardVector.x - direction.x*VehicleState.forwardVector.z\n local groundDistance = math.sqrt(vectorToPosition.x*vectorToPosition.x + vectorToPosition.z*vectorToPosition.z)\n\n return {\n Elevation = -math.deg(math.atan((VehicleState.centerOfMass.y-position.y) / groundDistance)),\n Azimuth = math.deg(math.atan2(aziCross, aziDot)),\n Altitude = position.y,\n GroundDistance = groundDistance\n }\nend\n\nfunction GetVectorAngle(vector1, vector2)\n local aziDot = vector1.x * vector2.x + vector1.z * vector2.z\n local aziCross = vector1.z * vector2.x - vector1.x * vector2.z\n \n return math.deg(math.atan2(aziCross, aziDot));\nend\n\nfunction InitPID(pidData)\n PID = {}\n PID.Kp = pidData[1]\n PID.Kd = pidData[2]\n PID.Ki = pidData[3]\n PID.OutMax = pidData[4]\n PID.OutMin = pidData[5]\n PID.IMax = pidData[6]\n PID.IMin = pidData[7]\n PID.integral = 0\n PID.previousError = 0\n\n return PID\nend\n\nfunction InitPIDs()\n rollPID = InitPID(rollPIDData)\n pitchPID = InitPID(pitchPIDData)\n altitudePID = InitPID(altitudePIDData)\n yawPID = InitPID(yawPIDData)\n slipPID = InitPID(slipPIDData)\n distancePID = InitPID(distancePIDData)\nend\n\nfunction GetPIDOutput(SetPoint, ProcessVariable, PID)\n local error = SetPoint - ProcessVariable\n local timeDelta = 0.025\n local derivative\n local output\n\n PID.integral = PID.integral + (error*timeDelta) * PID.Ki\n if (PID.integral > PID.IMax) then PID.integral = PID.IMax end\n if (PID.integral < PID.IMin) then PID.integral = PID.IMin end\n\n derivative = (error - PID.previousError)/timeDelta\n\n output = PID.Kp*error + PID.Kd*derivative + PID.integral\n if (output > PID.OutMax) then output = PID.OutMax end\n if (output < PID.OutMin) then output = PID.OutMin end\n\n PID.previousError = error\n return output,PID\nend\n\n-- Props to Evil4Zerggin for the function\nfunction QuaternionUpVector(quaternion)\n local x = 2 * (quaternion.x * quaternion.y - quaternion.z * quaternion.w)\n local y = 1-2 * (quaternion.x * quaternion.x + quaternion.z * quaternion.z)\n local z = 2 * (quaternion.y * quaternion.z + quaternion.x * quaternion.w)\n\n return Vector3(x, y, z).normalized\nend\n\nfunction GetSlipSpeed()\n local velocityHeading = 180/math.pi*math.atan2(VehicleState.velocity.x,VehicleState.velocity.z)\n if velocityHeading<0 then\n velocityHeading = velocityHeading+360\n end\n local slipAngle = velocityHeading - VehicleState.yaw\n local groundSpeedx = VehicleState.velocity.x\n local groundSpeedz = VehicleState.velocity.z\n local groundSpeed = math.sqrt(groundSpeedx^2 + groundSpeedz^2)\n local slipSpeed = groundSpeed*math.sin(slipAngle/180*math.pi)\n\n return slipSpeed\nend\n\nfunction ActivateShields()\n local newStatus = 1\n\n if shieldStatus ~= newStatus then\n local shieldCount = API:Component_GetCount(10)\n\n for i=0,shieldCount-1,1 do\n local shieldType = API:Component_GetIntLogic(10, i)\n\n if shieldType==1 then\n API:Component_SetFloatLogic(10,i,10)\n elseif shieldType==2 then\n API:Component_SetFloatLogic(10,i,reflect)\n elseif shieldType==3 then\n API:Component_SetFloatLogic(10,i,laser)\n end\n end\n\n shieldStatus = newStatus\n end\nend\n\nfunction DeactivateShields()\n if not shieldStatus or shieldStatus~=0 then\n API:Component_SetFloatLogicAll(10,0)\n shieldStatus = 0\n end\nend"],"BlockStringDataIds":[3],"GameVersion":"v1.967","BlockCount":218}}