Moving the mission and mission control in their own file. Adapting the rescue mission for the new shuttle

2023-08-31 17:31:43 +02:00
parent c403da605b
commit 1499e737c1
8 changed files with 450 additions and 246 deletions
--- a/maneuvers/utils.py
+++ b/maneuvers/utils.py
@@ -63,3 +63,60 @@ def correct_course(conn, vessel, waypoint, reference_frame):
        vessel.control.up = -.1
    else:
        vessel.control.up = 0
+
+
+def kill_rcs_velocity(vessel, reference_frame):
+    print("Killing RCS velocity")
+    velo = vessel.velocity(reference_frame)
+    vessel.control.rcs = True
+    while any(abs(component) > .05 for component in velo) > .05:
+        if abs(velo[0]) > .05:
+            sign = -velo[0] / abs(velo[0])
+            if abs(velo[0]) > .1:
+                vessel.control.up = 1 * sign
+            elif abs(velo[0]) > .05:
+                vessel.control.up = .1 * sign
+            else:
+                vessel.control.up = 0
+
+        if abs(velo[1]) > .05:
+            sign = -velo[1] / abs(velo[1])
+            if abs(velo[1]) > .1:
+                vessel.control.forward = 1 * sign
+            elif abs(velo[1]) > .05:
+                vessel.control.forward = .1 * sign
+            else:
+                vessel.control.forward = 0
+
+        if abs(velo[2]) > .05:
+            sign = velo[2] / abs(velo[2])
+            if abs(velo[2]) > .1:
+                vessel.control.right = 1 * sign
+            elif abs(velo[2]) > .05:
+                vessel.control.right = .1 * sign
+            else:
+                vessel.control.right = 0
+        sleep(.1)
+        velo = vessel.velocity(reference_frame)
+    vessel.control.rcs = False
+    print("RCS velocity killed")
+
+
+def get_safety_radius(vessel):
+    bbox = vessel.bounding_box(vessel.reference_frame)
+    return max(magnitude(bbox[0]), magnitude(bbox[1]))
+
+
+def point_toward_direction(vessel, direction, reference_frame):
+    ap = vessel.auto_pilot
+    ap.reference_frame = reference_frame
+    ap.target_direction = unitary(direction)
+    ap.target_roll = 0
+    ap.sas = False
+    ap.engage()
+    sleep(1)
+    ap.wait()
+
+    ap.disengage()
+    ap.sas_mode = SASMode.stability_assist
+    ap.sas = True