Sterister
81e558d04e
The tilt abort was circular logic -- it demanded a balanced ship before it would learn how to balance one. Removed entirely, and the test restructured so imbalance is handled structurally rather than guarded against: - Rocking probe: alternate front/aft pushes; sign = rate(+) - rate(-). A constant lean appears in both terms and cancels exactly, so no balanced baseline is needed. Alternating also keeps the ship rocking around its start attitude instead of accumulating tilt. Two agreeing cycles verify. - New BALANCE phase: with the sign known, an integral loop learns the differential trim that actually levels this ship and saves it as the pitchTrim warm-start. Not converging is a warning, not a failure. - maxTiltAbort is now "measurement is good enough, stop pushing" -- it ends a measurement early once the window is full, never the test. - Only three failures remain: no lift, liftoff timeout, no response on any gimbal axis. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
91 lines
3.9 KiB
Markdown
91 lines
3.9 KiB
Markdown
# Airship Autopilot (Create: Aeronautics + CC:Tweaked)
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Altitude/pitch autopilot for a hot-air airship, delivered as an in-game installer
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so it runs on any Minecraft server regardless of the computer's id.
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## Install — ONE command, both PCs
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Run the **same** command on each CC computer:
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```
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wget run https://gt.zyon.no/Stian/airship-autopilot/raw/branch/main/install.lua
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```
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The installer detects which PC it is on (flight sensors → `autopilot`,
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monitor → `cockpit`), installs the right role, and continues **straight into
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setup** — no reboot, no role names to remember. Re-run the same command any
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time to update; it also cleans out files that no longer belong and asks
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whether to keep or reset the ship profile.
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(Advanced: append `autopilot` or `cockpit` to override detection.)
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Requires HTTP enabled on the server (default on). If it is off, set
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`[http] enabled = true` in `computercraft-server.toml` and restart the server.
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## First-time setup (per ship)
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The installer ships **code only** — everything ship-specific (which redstone
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side drives which balloon, pitch sign, hover level) is measured on the ship by
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the **setup wizard**, which the install flow takes you straight into:
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1. **Wiring** — the wizard pulses each free side; you say which burner fired.
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2. **Sign test** — the ship lifts off by itself, finds its own lift power, then
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*rocks* between front and aft pushes. The sign comes from
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`rate(+push) − rate(−push)`, which cancels any constant lean exactly, so a
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ship hanging crooked measures fine — that lean **is** the thing being
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measured. It then learns the differential trim that levels the ship, saves
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it as a warm-start, and descends to hover. No config editing, no freefall.
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Takes 2–4 minutes.
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After that the ship is ready: `FLY` from the menu or `ENGAGE` from the cockpit
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console. Pitch and altitude keep self-learning in flight. The wizard can be
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re-run any time: `ap setup`, press `S` in standby, or menu choice 1.
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Balloon orientation does **not** need to match any particular side of the
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computer — or any particular build direction: sensors are found by type,
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wiring is mapped by the wizard, and the sign test measures **which gimbal
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axis** responds to the push (saved as `pitchIndex`) along with its sign. The
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only physical requirement is two balloons spaced along the hull.
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## Roles
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| Role | Boots | Purpose |
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|-------------|----------------------|---------------------------------------------|
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| `autopilot` | `ap boot` → wizard/standby | v3 observer autopilot (13 modules in `autopilot/`) |
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| `cockpit` | `cockpit` | pilot control console (monitor + modem) |
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Boot chain (autopilot): `startup.lua` → `ap boot` → `autopilot/main.lua`.
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Menu any time: `Ctrl+T`, then `ap`. (`stabilizeV2` remains as an alias.)
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Ship state lives on the computer only: `sides.txt`, `calib.txt`, `target.txt`,
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`settings.txt`. Reset it via menu `p` → `R`, or when re-running the installer.
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## Updating the code
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The repo is the source of truth for the installer. After editing the Lua:
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```
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./build.sh # regenerate manifests
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git commit -am "sync autopilot"
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git push
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```
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Then re-run the `wget run` command in-game to pull the update.
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Syncing with the singleplayer dev world (optional):
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```
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./build.sh --from-world # world -> files/ (code only; state/legacy filtered)
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./build.sh --to-world # files/ -> world (code only; never touches state)
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```
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Default world path is the "Modda wii" save; pass a different
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`computercraft/computer` path as arg 2 if the world moves.
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## Notes
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Design history, hardware facts, tuning lessons and the recommended control
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strategy are in `AIRSHIP_AUTOPILOT_NOTES.md` (in the modpack profile). The
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control loop never fully converged; pitch oscillation under climb is the open
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problem. Keep the altitude cascade simple and make pitch a slow trim.
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