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= 800\n\nAvoidanceCoefficient = 3\n\nCruiseAltitude = 300\ndepth = 200\n\nMaximumYawAngle = 120\nMinimumYawAngle = 60\n\nMaximumThrustAngle = 80\n\nYawKp = 0.3\nYawTd = YawKp * 5\n\nRollKp = 0.2\nRollTd = RollKp * 10\n\nPitchKp = 0.2\nPitchTd = PitchKp * 10\n\nAltitudeKp = 0.6\nAltitudeTd = YawKp * 5\n\n\n\n--                PDData[1]:Kp  PDData[2]:Td  PDData[3]:OutMax  PDData[4]:OutMin  PDData[5]:preP\nYawPDData      = {       YawKp,        YawTd,                1,               -1}\nRollPDData     = {      RollKp,       RollTd,                1,               -1}\nPitchPDData    = {     PitchKp,      PitchTd,                1,               -1}\nAltitudePDData = {  AltitudeKp,   AltitudeTd,                1,               -1}\n\nfunction PDControl(SetPoint,ProcessVariable,PDData)\n  PDData[5] = PDData[5] or 0\n  \n  local P = SetPoint - ProcessVariable\n  local D = (P - PDData[5]) / 0.025\n  local Output = P * PDData[1] + D * PDData[1] * PDData[2]\n  \n  Output = math.min(Output,PDData[3])\n  Output = math.max(Output,PDData[4])\n  \n  PDData[5] = P\n  \n  return Output\nend\n\n\n\nfunction Update(I)\n  I:ClearLogs()\n  \n  Angle = 0\n  YawTarget = 0\n  ElevationAngle = 0\n  \n  if I:GetConstructRoll() < 180 then\n    Roll = I:GetConstructRoll()\n  else\n    Roll = I:GetConstructRoll() - 360\n  end\n  \n  if I:GetConstructPitch() < 180 then\n    Pitch = I:GetConstructPitch()\n  else\n    Pitch = I:GetConstructPitch() - 360\n  end\n  \n  \n  \n  if I:GetNumberOfTargets(0) > 0 then\n    I:RequestControl(2,8,1)\n    I:RequestComplexControllerStimulus(1)\n    \n    AimPointVector = I:GetTargetInfo(0,0).AimPointPosition - I:GetConstructCenterOfMass()\n    APGD = math.sqrt(AimPointVector.x * AimPointVector.x + AimPointVector.z * AimPointVector.z)\n    \n    YawTarget = 90 + (Distance - APGD)\n    \n    YawTarget = math.min(Angle,MaximumYawAngle)\n    YawTarget = math.max(Angle,MinimumYawAngle)\n    \n    Azimuth = Mathf.DeltaAngle(math.deg(math.atan2(AimPointVector.x,AimPointVector.z)),math.deg(math.atan2(I:GetConstructForwardVector().x,I:GetConstructForwardVector().z)))\n    ElevationAngle = Mathf.DeltaAngle(math.deg(math.atan2(APGD,0)),math.deg(math.atan2(APGD,AimPointVector.y)))\n    \n    if Azimuth < 0 then\n      YawTarget = -YawTarget\n      ElevationAngle = -ElevationAngle\n    end\n    \n    YawTarget = Azimuth - YawTarget\n  end\n  \n  \n  \n  Length = I:GetConstructMaxDimensions().z - I:GetConstructMinDimensions().z\n  AvoidanceDistance = Length * AvoidanceCoefficient\n  \n  if I:GetNumberOfTargets(0) > 0 then\n    CloseEnemyIndex = CloseEnemyIndex or 0\n    \n    for i = 0,I:GetNumberOfTargets(0) - 1 do\n      EnemyVector = I:GetTargetInfo(0,i).Position - I:GetConstructCenterOfMass()\n      CloseEnemyVector = I:GetTargetInfo(0,CloseEnemyIndex).Position - I:GetConstructCenterOfMass()\n      \n      if EnemyVector.magnitude < CloseEnemyVector.magnitude then\n        CloseEnemyIndex = i\n      end\n    end\n    \n    CloseEnemySpeed = I:GetTargetInfo(0,CloseEnemyIndex).Velocity\n  end\n  \n  if I:GetFriendlyCount() > 0 then\n    CloseFriendlyIndex = CloseFriendlyIndex or 0\n    \n    for i = 0,I:GetFriendlyCount() - 1 do\n      FriendlyVector = I:GetFriendlyInfo(i).CenterOfMass - I:GetConstructCenterOfMass()\n      CloseFriendlyVector = I:GetFriendlyInfo(CloseFriendlyIndex).CenterOfMass - I:GetConstructCenterOfMass()\n      \n      if FriendlyVector.magnitude < CloseFriendlyVector.magnitude then\n        CloseFriendlyIndex = i\n      end\n    end\n    \n    CloseFriendlySpeed = I:GetFriendlyInfo(CloseFriendlyIndex).Velocity\n  end\n  \n  if CloseEnemyVector and CloseFriendlyVector then\n    if CloseEnemyVector.magnitude < CloseFriendlyVector.magnitude then\n      CloseVehicleVector = CloseEnemyVector\n      CloseVehicleSpeed = CloseEnemySpeed\n    else\n      CloseVehicleVector = CloseFriendlyVector\n      CloseVehicleSpeed = CloseFriendlySpeed\n    end\n  else\n    CloseVehicleVector = CloseEnemyVector or CloseFriendlyVector\n    CloseVehicleSpeed = CloseEnemySpeed or CloseFriendlySpeed\n  end\n  \n  if CloseEnemyVector or CloseFriendlyVector then\n    if CloseVehicleVector.magnitude < AvoidanceDistance and CloseVehicleSpeed.magnitude > 5 or CloseVehicleVector.magnitude < AvoidanceDistance and I:GetVelocityVector().magnitude > 5 then\n      if I:GetForwardsVelocityMagnitude() > 0 then\n        ForwardVector = I:GetConstructForwardVector()\n      else\n        ForwardVector = -I:GetConstructForwardVector()\n      end\n      \n      YawTarget = MaximumYawAngle\n      \n      CloseVehicleAzimuth = Mathf.DeltaAngle(math.deg(math.atan2(CloseVehicleVector.x,CloseVehicleVector.z)),math.deg(math.atan2(ForwardVector.x,ForwardVector.z)))\n      \n      if CloseVehicleAzimuth < 0 then\n        YawTarget = -YawTarget\n      end\n      \n      CloseVehicleAzimuth1 = CloseVehicleAzimuth\n      CloseVehicleAzimuth2 = Mathf.DeltaAngle(math.deg(math.atan2(-CloseVehicleVector.x,-CloseVehicleVector.z)),math.deg(math.atan2(CloseVehicleSpeed.x,CloseVehicleSpeed.z)))\n      \n      if math.abs(CloseVehicleAzimuth1) + math.abs(CloseVehicleAzimuth2) < 90 and math.abs(CloseVehicleAzimuth1) < math.abs(CloseVehicleAzimuth2) then\n        if CloseVehicleAzimuth1 > 0 and CloseVehicleAzimuth2 < 0 or CloseVehicleAzimuth1 < 0 and CloseVehicleAzimuth2 > 0 then\n          YawTarget = -YawTarget\n        end\n      end\n      \n      YawTarget = CloseVehicleAzimuth - YawTarget\n    end\n  end\n  \n  \n  \n  YawDrive = PDControl(YawTarget,0,YawPDData)\n  RollDrive = PDControl(ElevationAngle,Roll,RollPDData)\n  PitchDrive = PDControl(0,Pitch,PitchPDData)\n  AltitudeDrive = PDControl(CruiseAltitude,I:GetConstructCenterOfMass().y,AltitudePDData)\n  \n  \n  \n  PitchDrive = PitchDrive * math.cos(math.rad(Roll)) + YawDrive * math.sin(math.rad(Roll))\n  \n  I:RequestControl(2,0,YawDrive)\n  I:RequestControl(2,1,-YawDrive)\n  \n  I:RequestControl(2,2,RollDrive)\n  I:RequestControl(2,3,-RollDrive)\n  \n  I:RequestControl(2,4,-PitchDrive)\n  I:RequestControl(2,5,PitchDrive)\n  \n  YawDrive = math.min(YawDrive,math.sin(math.rad(MaximumThrustAngle)))\n  YawDrive = math.max(YawDrive,-math.sin(math.rad(MaximumThrustAngle)))\n  \n  ThrustX = I:GetConstructForwardVector().x * math.cos(math.asin(-YawDrive)) - I:GetConstructForwardVector().z * math.sin(math.asin(-YawDrive))\n  ThrustZ = I:GetConstructForwardVector().x * math.sin(math.asin(-YawDrive)) + I:GetConstructForwardVector().z * math.cos(math.asin(-YawDrive))\n  \n  for i = 0,I:GetWeaponCount() - 1 do\n    I:AimWeaponInDirection(i,ThrustX,0,ThrustZ,5)\n  end\n  \n  if SpinnerCount ~= I:GetSpinnerCount() or not SpinnerCount then\n    SpinnerCount = I:GetSpinnerCount()\n    \n    ForwardHelispinner = {}\n    BackwardHelispinner = {}\n    \n    ForwardHelispinnerCount = 0\n    BackwardHelispinnerCount = 0\n    \n    for i = 0,I:GetSpinnerCount() - 1 do\n      if I:IsSpinnerDedicatedHelispinner(i) then\n        if I:Maths_AngleBetweenVectors(I:GetSpinnerInfo(i).Position - I:GetConstructCenterOfMass(),I:GetConstructForwardVector()) < 90 then\n          ForwardHelispinnerCount = ForwardHelispinnerCount + 1\n          ForwardHelispinner[ForwardHelispinnerCount] = i\n        else\n          BackwardHelispinnerCount = BackwardHelispinnerCount + 1\n          BackwardHelispinner[BackwardHelispinnerCount] = i\n        end\n      end\n    end\n  end\n  \n  for i = 1,table.maxn(ForwardHelispinner) do\n    I:SetSpinnerInstaSpin(ForwardHelispinner[i],AltitudeDrive - PitchDrive)\n  end\n  \n  for i = 1,table.maxn(BackwardHelispinner) do\n    I:SetSpinnerInstaSpin(BackwardHelispinner[i],AltitudeDrive + PitchDrive)\n  end\n  \n  if I:GetTerrainAltitudeForLocalPosition(0,0,I:GetConstructMaxDimensions().z + AvoidanceDistance) > depth then\n    I:RequestControl(2,8,-1)\n    I:RequestComplexControllerStimulus(2)\n  end\n  \n  \n  \n  I:Log('TargetDistance  '..I:GetTargetPositionInfo(0,0).GroundDistance)\n  I:Log('Angle  '..I:GetTargetPositionInfo(0,0).Azimuth)\n  I:Log('YawDrive  '..YawDrive)\n  I:Log('RollDrive  '..RollDrive)\n  I:Log('PitchDrive  '..PitchDrive)\n  I:Log('AltitudeDrive  '..AltitudeDrive)\nend","https://steamuserimages-a.akamaihd.net/ugc/870745474358521022/FDFE263452ACF420FB3B99B4D008E41236454B33/?interpolation=lanczos-none&output-format=jpeg&output-quality=95&fit=inside%7C*%3A0","https://steamuserimages-a.akamaihd.net/ugc/782910068898853457/838D7276323D5208DA6D3F7C10618A4667F80101/?interpolation=lanczos-none&output-format=jpeg&output-quality=95&fit=inside%7C*%3A0"],"BlockStringDataIds":[191,193,194],"GameVersion":"v2.11","PersistentSubObjectIndex":184,"BlockCount":31339}}