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        = 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         = 450     -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\noptimalDistance         = 800    -- 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             = 300      -- Measured at center of mass, leave some clearance\nmaxAltitude             = 600     -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\nmaxPitchMagnitude       = 15      -- 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   = 0       -- Vertical evasive manouvers add/subtract this to/from altitude\nevasiveLeftPeriod       = 4       -- Go left for this amount of time(seconds)\nevasiveRightPeriod      = 4       -- 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 = \"HoverAI\"\n\n-- Tune PIDs here\n--                       P,        D,       I,    OutMax,   OutMin,    IMax,    IMin\nrollPIDData     = {   0.05,     0.01,     0.0,         1,       -1,       1,      -1}\npitchPIDData    = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\naltitudePIDData = {    0.2,     0.05,    0.01,         1,       -1,       1,      -1}\nyawPIDData      = {    0.1,     0.02,     0.0,         1,       -1,       1,      -1}\nslipPIDData     = {   0.05,     0.05,     0.0,         1,       -1,       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\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\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 = evasiveAltitudeChange * math.sin(VehicleState.currentTime)\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        evasionData.altitudeChange = 0\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<highestPriorityValue then\n                    targetData = friendly\n                    highestPriorityValue = health\n                end\n            else\n                local distance = math.sqrt( (targetCenterOfMass.x-VehicleState.centerOfMass.x)*(targetCenterOfMass.x-VehicleState.centerOfMass.x)\n                                           +(targetCenterOfMass.z-VehicleState.centerOfMass.z)*(targetCenterOfMass.z-VehicleState.centerOfMass.z) )\n                if distance<highestPriorityValue then\n                    targetData = friendly\n                    highestPriorityValue = distance\n                end\n            end\n        end\n    end\n\n    if targetData then\n        return GetDirectionToCoordinates(targetData.CenterOfMass)\n    else\n        return false\n    end\nend\n\nfunction SetSerial()\n    local friendlyCount = API:GetFriendlyCount()\n\n    local cloneCount = 0\n    for i=0,friendlyCount-1,1 do\n        local friendly = API:GetFriendlyInfo(i)\n\n        if friendly.BlueprintName==blueprintName then\n            cloneCount = cloneCount+1\n        end\n    end\n    VehicleState.serial = cloneCount\nend\n\nfunction SetTargetPosition(position)\n    VehicleState.targetPosition = GetDirectionToCoordinates(position)\n\n    VehicleState.targetPosition.x             = position.x\n    VehicleState.targetPosition.y             = position.y\n    VehicleState.targetPosition.z             = position.z\n    VehicleState.targetPosition.sideDistance  = math.sin(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\n    VehicleState.targetPosition.frontDistance = math.cos(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\nend\n\nfunction PitchToTarget()\n    if isSatellite then\n        SetPitch(VehicleState.target.Elevation + 90)\n    else\n        if math.abs(VehicleState.target.Azimuth) > 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 * evasion.slip)\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        Idle()\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    \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 useBalloons then\n        BalloonCheck()\n    end\n\n    if repairMode then\n        if VehicleState.AIMode == \"combat\" then\n            if VehicleState.repairTarget then\n                Repair()\n            else\n                if API.IsFlagship then\n                    VehicleState.AIMode = \"patrol\"\n                else\n                    VehicleState.AIMode = \"fleetmove\"\n                end\n            end\n        end\n    end\n        \n    if not (repairMode and VehicleState.AIMode == \"combat\") then\n        if VehicleState.AIMode == \"off\" then\n            Idle()\n        elseif VehicleState.AIMode == \"on\" then\n            Stabilize()\n        elseif VehicleState.AIMode == \"combat\" then\n            if orbiterMode == \"both\" or orbiterMode == \"left\" or orbiterMode == \"right\" then\n                CircleTarget()\n            else\n                FrontalFight()\n            end\n        elseif VehicleState.AIMode == \"patrol\" then\n            Patrol()\n        elseif VehicleState.AIMode == \"fleetmove\" then\n            Guard()\n        end\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"],"BlockStringDataIds":[2],"GameVersion":"v2.15","PersistentSubObjectIndex":17,"BlockCount":22993}}