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improved tild and speed control

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This commit is contained in:
Alexsandro Percy 2024-01-30 20:30:37 -03:00
parent 5f78cbdd59
commit 9772e7270d
3 changed files with 59 additions and 30 deletions
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41
lib_copter/control.lua
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@ -76,9 +76,9 @@ function airutils.heli_control(self, dtime, hull_direction, longit_speed, longit
self._last_time_command = 0.5
end
self._acceleration = 0
self._lat_acceleration = 0
local acc = 0
if not self._acceleration then self._acceleration = 0 end
if not self._lat_acceleration then self._lat_acceleration = 0 end
if self._engine_running then
--engine acceleration calc
@ -110,21 +110,39 @@ function airutils.heli_control(self, dtime, hull_direction, longit_speed, longit
if is_flying or self.wheels then
local acc_fraction = (self._max_engine_acc / 40)*time_correction
if ctrl.up then
if longit_speed < self._max_speed then self._acceleration = self._acceleration + acc_fraction end
if longit_speed < self._max_speed then
self._acceleration = self._acceleration + acc_fraction
else
self._acceleration = 0
end
elseif ctrl.down then
if longit_speed > -1.0 then self._acceleration = self._acceleration + (-acc_fraction) end
if longit_speed > -1.0 then
self._acceleration = self._acceleration + (-acc_fraction)
else
self._acceleration = 0
end
else
acc = 0
self._acceleration = 0
end
self._acceleration = math.min(self._acceleration,self._max_engine_acc)
if is_flying then --why double check? because I dont want lateral movement when landed
if ctrl.right then
yaw_cmd = 1
if later_speed < self._max_speed and self._yaw_by_mouse then self._lat_acceleration = self._lat_acceleration + acc_fraction end
if later_speed < self._max_speed and self._yaw_by_mouse then
self._lat_acceleration = self._lat_acceleration + acc_fraction
else
self._lat_acceleration = 0
end
elseif ctrl.left then
yaw_cmd = -1
if later_speed > -self._max_speed and self._yaw_by_mouse then self._lat_acceleration = self._lat_acceleration + (-acc_fraction) end
if later_speed > -self._max_speed and self._yaw_by_mouse then
self._lat_acceleration = self._lat_acceleration + (-acc_fraction)
else
self._lat_acceleration = 0
end
else
self._lat_acceleration = 0
end
end
else
@ -153,8 +171,6 @@ function airutils.heli_control(self, dtime, hull_direction, longit_speed, longit
--I'm desperate, center all!
if ctrl.right and ctrl.left then
self._wing_configuration = self._stable_collective
--self._elevator_angle = 0
--self._rudder_angle = 0
end
if ctrl.up and ctrl.down and self._last_time_command >= 0.5 then
@ -170,11 +186,6 @@ function airutils.heli_control(self, dtime, hull_direction, longit_speed, longit
end
end
if is_flying then
--floating_auto_correction(self, self.dtime)
end
--minetest.chat_send_all(dump(self._wing_configuration))
return retval_accel, stop
end