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Wico Modular Navigation (WMNav)

Fourth generation of my scripts.

Navigation: autopilot with collision detection and avoidance.


Multiple instructions can be given in a sequence, separated by semi-colon
or new line. A space is required between the instruction letter and any
parameters you pass to it.

C <text>
Comment, to help label your instructions.
Has no effect on the program. Does not count towards instruction limit.

D <distance>
Sets the arrival distance (how close to get to the destination), in meters,
for the next waypoint.
Distance can be a single number, which the ship will try to reach

Distance is measured from the chosen Ship Orientation Block, so if that block is in
the back of your ship, you'll need to increase the arrival distance by at
least the length of your ship (in meters, not blocks).

Default value is 50m.


S <number>
Sets the maximum ship speed, in meters. If set to 0, no limit is enforced.

Default value is 0.

W <coordinates>
Adds a waypoint, at the specified coordinates. Coordinates are a set of
three numbers, separated by commas (i.e. 123,456,-78) or colons
(i.e. 123:456:-78). The last waypoint given (or only waypoint, if only
one given) is the final destination.

GPS Formatted coordinates are also suppoted

O <coordinates>
Orients the FRONT of the ship towards the coordinates.

autopatrol toggles automatically starting a patrol when commands are ended

patrol follows the waypoints in a remote control in order. Once unless autopatrol is on


EXAMPLE:

You can add comments, and you can even set a different speed or distance for
each waypoint:

D 10;patrol
S 45;W GPS:Wicorel #1:-0.51:94.27:-93.73:;W GPS:Wicorel #2:109.91:-384.71:119.44:



Commands can be issued through Programmable Block arguments


Instruction List:
D Distance D min
C Comment C [text]
O Orient O [x,y,z|x;y;z]
W Waypoint W [x,y,z|x;y;z]

L launch from connector (requires dock module)
OL Orbital launch from planet (requires orbital module
dock dock to a connector (requires dock module)
patrol gets waypoints from remote control and follows them in sequence. The max speed is set from the remote control setting

autopatrol toggles the autopatrol flag (automatically restarting patrols). Defaults to off.
refuel toggles the automatic refueling feature (will automatically dock when needed) Defaults to on
relaunch toggles the automatic relaunch feature. Defaults to off (false)

The navigation will use a sensor for collision detection. The sensor must have [WICO] in the name or customdata.

Since the sensor will be used to scan forward, it should be placed as far forward in the craft as possible to give the best scanning range.


The navigation will use camera raycast for collision detection. All cameras will automaticlly be used.

To stop a camera from being used for raycast (because it is inside the craft or otherwise obstructed) put [VIEW] in the name or customdata

Mainly, cameras on the front (direction of travel) are used. However, when the ship is 'inside' an asteroid, it will pathfind to find an exit; it uses cameras on all sides to do this.


Options are stored in custom data so they can be changed.

The main ones are:

[POWER]
batterypcthigh=80 Battery charge needed before relaunch from connector
batterypctlow=20 Battery charge minimum needed before automatically needing a refuel

[CARGO]
cargopctmin=5

[TANKS]
tankspcthigh=99 Hydrogen tanks fill needed before relaunch from connector
tankspctlow=25 Hydrogen tanks fill minimum needed before automatically needing a refuel