Modify update structure

SteeringManager.cs * Use UpdateHandler.CurrentFixedTime instead of planetarium time (smaller value, less chance for floating point errors) * Update the state vectors and display vectors if SAS is enabled * Hide angular velocity, rcs, and engine thrust display vectors when SAS is enabled. * Don't throw an exception when getting target direction, throwing an exception won't trigger the kOS logger. Instead, log the exception directly. PIDLoop.cs * Update integral/derivative logic to use the previous dTerm and iTerm if dt is not greater than 0.
KSP-KOS · Apr 17, 2016 · aafb646 · aafb646
1 parent d8cb660
commit aafb646
Show file tree

Hide file tree

Showing 2 changed files with 32 additions and 26 deletions.
diff --git a/src/kOS.Safe/Encapsulation/PIDLoop.cs b/src/kOS.Safe/Encapsulation/PIDLoop.cs
@@ -132,35 +132,37 @@ public ScalarValue Update(ScalarValue sampleTime, ScalarValue input)
             if (LastSampleTime < sampleTime)
             {
                 double dt = sampleTime - LastSampleTime;
-                if (dt < 1)
+                if (Ki != 0)
                 {
-                    if (Ki != 0)
+                    if (ExtraUnwind)
                     {
-                        if (ExtraUnwind)
+                        if (Math.Sign(error) != Math.Sign(ErrorSum))
                         {
-                            if (Math.Sign(error) != Math.Sign(ErrorSum))
+                            if (!unWinding)
                             {
-                                if (!unWinding)
-                                {
-                                    Ki *= 2;
-                                    unWinding = true;
-                                }
-                            }
-                            else if (unWinding)
-                            {
-                                Ki /= 2;
-                                unWinding = false;
+                                Ki *= 2;
+                                unWinding = true;
                             }
                         }
-                        iTerm = ITerm + error * dt * Ki;
-                    }
-                    ChangeRate = (input - Input) / dt;
-                    if (Kd != 0)
-                    {
-                        dTerm = -ChangeRate * Kd;
+                        else if (unWinding)
+                        {
+                            Ki /= 2;
+                            unWinding = false;
+                        }
                     }
+                    iTerm = ITerm + error * dt * Ki;
+                }
+                ChangeRate = (input - Input) / dt;
+                if (Kd != 0)
+                {
+                    dTerm = -ChangeRate * Kd;
                 }
             }
+            else
+            {
+                dTerm = DTerm;
+                iTerm = ITerm;
+            }
             Output = pTerm + iTerm + dTerm;
             if (Output > MaxOutput)
             {

diff --git a/src/kOS/Binding/SteeringManager.cs b/src/kOS/Binding/SteeringManager.cs
@@ -452,13 +452,16 @@ private void Update(FlightCtrlState c)
             sw.Reset();
             sw.Start();
             lastSessionTime = sessionTime;
-            sessionTime = Math.Round(Planetarium.GetUniversalTime(), 3);
+            sessionTime = shared.UpdateHandler.CurrentFixedTime;
+            if (sessionTime - lastSessionTime > 1) ResetIs();
             //if (sessionTime > lastSessionTime)
             //{
             //}
             if (shared.Vessel.ActionGroups[KSPActionGroup.SAS])
             {
+                UpdateStateVectors();
                 UpdateControl(c);
+                UpdateVectorRenders();
             }
             else
             {
@@ -491,8 +494,9 @@ private Direction GetDirectionFromValue()
                 }
             }
             DisableControl();
-            throw new Safe.Exceptions.KOSWrongControlValueTypeException(
-                "STEERING", Value.GetType().Name, "Direction, Vector, Maneuver Node, or special string \"KILL\"");
+            SafeHouse.Logger.LogException(new Safe.Exceptions.KOSWrongControlValueTypeException(
+                "STEERING", Value.GetType().Name, "Direction, Vector, Maneuver Node, or special string \"KILL\""));
+            return new Direction(vesselRotation);
         }
 
         public void UpdateStateVectors()
@@ -1130,7 +1134,7 @@ public void UpdateVectorRenders()
                 }
             }
 
-            if (ShowAngularVectors && enabled)
+            if (ShowAngularVectors && enabled && !Vessel.ActionGroups[KSPActionGroup.SAS])
             {
                 if (vOmegaX == null)
                 {
@@ -1224,7 +1228,7 @@ public void UpdateVectorRenders()
                 }
             }
 
-            if (ShowThrustVectors && enabled)
+            if (ShowThrustVectors && enabled && !Vessel.ActionGroups[KSPActionGroup.SAS])
             {
                 foreach (var fv in engineNeutVectors)
                 {
@@ -1289,7 +1293,7 @@ public void UpdateVectorRenders()
                 vEngines.Clear();
             }
 
-            if (ShowRCSVectors && enabled && Vessel.ActionGroups[KSPActionGroup.RCS])
+            if (ShowRCSVectors && enabled && Vessel.ActionGroups[KSPActionGroup.RCS] && !Vessel.ActionGroups[KSPActionGroup.SAS])
             {
                 foreach (var force in rcsVectors)
                 {