Sterister
d012246d0c
- Sign test measures rate response on every gimbal axis and picks the one that actually answers the differential push -> pitchIndex is now MEASURED per ship (build orientation no longer matters). Verified both-direction response accepted at half threshold. Tilt guard watches all axes. - Altitude supervisor: drifting out of the measuring band re-centers and retries instead of aborting; single 7-min deadline. Faster hover trim (0.05 -> 0.12, matches verified Ki_climb) plus an 8 s settle phase. - Single-balloon ships: sign test marks itself done, FLY zeroes u_diff. - Cockpit terminal now explains link status (OFFLINE checklist); autopilot standby screen warns loudly when no modem is attached. - Failure text points at cross-wired links (both burners firing on one pulse). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
88 lines
3.7 KiB
Markdown
88 lines
3.7 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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pushes the front balloon, verifies the response in both directions
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(auto-escalating the push if the response is weak), then descends and holds
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hover. No config editing, no freefall. Takes 1–3 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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