Sterister
a94eff9283
The attitude reference was captured at the first sensor read, on the ground, where a ship built to fly typically lies over. That made every tilt reading relative to a meaningless datum, and worse: the hull's natural righting swing after liftoff was read both as tilt and as rate response, contaminating the very measurement the test exists to make. - Attitude reference is now taken in the air, after an explicit righting phase that waits for every axis rate to steady (5 s calm, 120 s cap). Until then maxTilt() reads 0, so nothing can trip on ground attitude. - The settled airborne attitude is recorded and reported per axis, with a warning if the hull settles far from level even under balanced lift. - Wizard now says outright that a ship lying over on the ground is fine. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
96 lines
4.1 KiB
Markdown
96 lines
4.1 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,
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waits until buoyancy has righted it and the rates have steadied, and only
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*then* takes its attitude reference. It rocks between front and aft pushes;
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the sign comes from `rate(+push) − rate(−push)`, which cancels any constant
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lean exactly, so a ship hanging crooked measures fine — that lean **is**
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what is being measured. It then learns the differential trim that levels
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the ship, saves it as a warm-start, and descends to hover. No config
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editing, no freefall. Takes 2–4 minutes.
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A hull built to fly usually lies over on the ground; that is fine and
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expected. The ground attitude is never used as a reference — nothing is
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measured until the ship is airborne and steady.
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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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