[1.9-1.10] Throttle Controlled Avionics

[Kobymaru]

1 hour ago, allista said:

continuous automatic test

Hey allista, this sounds super interesting to me. Did you create some kind of Framework for automatic testing? This would be super useful for all mods related to automation or control/avionics!

[allista]

48 minutes ago, stk2008 said:

Cool watching stream now there is no audio though not sure if thats intended or not?

 

Sorry, i forgot to turn it back on in the game. When you're constantly testing, your get tired of it eventually.

 

There's not much variation in the stream, because it's fully automated. I'm not even at home now

Asteroid generation followed by rendezvous sequence, in an infinite loop. The main interest to me is how long it will go until some failure, if they're would be any.

2 minutes ago, Kobymaru said:

Hey allista, this sounds super interesting to me. Did you create some kind of Framework for automatic testing? This would be super useful for all mods related to automation or control/avionics!

Actually i did, but not a standalone one - it is an integrated part of TCA, implement as yet another TCA Module 

It is compiled into the .dll only in debug mode.

@Kobymaru, btw, is it T4, or some other phage?

[Kobymaru]

12 minutes ago, allista said:

Actually i did, but not a standalone one 

That's quite alright, I'm not opposed to stealing good code from good people  

Quote

it is an integrated part of TCA, implement as yet another TCA Module 

Well how integrated is it? Could it be surgically removed and grafted into other mods, or do you have deep dependencies on the rest of TCA? I guess I'll take a look and see for myself

 

ps.: Yep, that would be a T4-Phage. I'm a space-loving biologist, so there is no better avatar than a bacteriophage that looks like a SciFi spaceship

Edited March 29, 2017 by Kobymaru

[Urses]

1 hour ago, allista said:

 

Plus, two configuration options became available: gravity turn sharpness (to overcome dense atmospheres) and trajectory search modes: pure dV minimization, fast transfer priority, and manual (in which you can choose from a set of possible transfers).

The Second One hears like a spreedsheat "Orbit available chose one"? If so realy cool!

Thanks for your struggle for us MDU's and you do a realy great Job around!

Godspeed and most of luck.

Funny Kabooms 

Urses

 

Edited March 29, 2017 by Urses

[allista]

2 hours ago, Urses said:

The Second One hears like a spreedsheat "Orbit available chose one"? If so realy cool!

Thanks for your struggle for us MDU's and you do a realy great Job around!

Godspeed and most of luck.

Funny Kabooms 

Urses

 

First two are automatic, the "best" transfer is used according to appropriate metric. The third, Manual, is indeed a list of transfers with info about dV, time to the target and time to the first maneuver. You can choose one, see how it goes in the map view (maneuver nodes is created automatically), choose another... then tell TCA to proceed.

3 hours ago, Kobymaru said:

That's quite alright, I'm not opposed to stealing good code from good people  

Well how integrated is it? Could it be surgically removed and grafted into other mods, or do you have deep dependencies on the rest of TCA? I guess I'll take a look and see for myself

 

ps.: Yep, that would be a T4-Phage. I'm a space-loving biologist, so there is no better avatar than a bacteriophage that looks like a SciFi spaceship

Well, basically it's a unit test system: testing module looks through the assembly for other modules that declare a specifically named (or marked by an attribute) method. Then it provides a ui to choose from the available tests and to launch one. Then it simply calls selected test method each frame. It is the responsibility of a tested module to perform adequate test actions in this method.

The whole thing could be implemented as a part module or a vessel module, or better yet a kspaddon.

P.S. Glad to meet a colleague  Microbiologist, I am.

[allista]

Result of the test:

After 58 successful rendezvous, engine exhaust during a brake maneuver hit the asteroid, spun it up (because asteroids in KSP are 100x less dense than polyurethane foam), and the asteroid hit the ship, which exploded.

Conclusion: this is rare. But some form of near-the-target course correction is needed to eliminate such scenario.

https://clips.twitch.tv/AbstemiousEnthusiasticPandaKeepo

Edited March 29, 2017 by allista

[allista]

Testing (and streaming) again. Added simple course correction. Seems to be working, but need time to be sure.

[Urses]

@allista

Chummer you are far better at the moment as most IRL autopilots. They come all down but with your help the preference is more like in one piece and not debris rain

Great job!

[allista]

Nope. Still crashing...

https://clips.twitch.tv/SpunkyAffluentPresidentPoooound

[kcs123]

Hmm. @allista, I see two possible issues here.

1. ateroid location is calculated from center of mass, not from edge of surface
2. engines does not have full thrust immedietaly when started. It takes few ms up to few sec to have full calculated thrust

Therefore, when you calculate time when you need to start engines, you need to substract 1-2 sec for engine start and add 50m or so to distance from targets.

Once engaged, PIDs should take care of stoping too early, but can't compensate if they were not started on time.

[allista]

3 hours ago, kcs123 said:

Hmm. @allista, I see two possible issues here.

1. ateroid location is calculated from center of mass, not from edge of surface
2. engines does not have full thrust immedietaly when started. It takes few ms up to few sec to have full calculated thrust

Therefore, when you calculate time when you need to start engines, you need to substract 1-2 sec for engine start and add 50m or so to distance from targets.

Once engaged, PIDs should take care of stoping too early, but can't compensate if they were not started on time.

1. No, asteroid's geometry is taken into account, heuristically from afar, using actual visual mesh when it's loaded. The same for the active vessel; I even take into account exhaust plumes of all the engines.
2. I'm not aware that stock rocket engines have any spool-up time. The thrust gauge on the UI have one, but that's only for the show. But yes, the issue is the timing: the node is created for analytical solution of a braking problem for inertial reference frame. So it works fine for low-gravity situations, like high orbits, or around small moons. But shedding off some 2km/s in a LKO takes enough time for the end orbit to be different enough from the calculated one (nodes in KSP always assume instant maneuvers). Talking about PIDs, I did have an idea of a PID-controlled non-instant maneuver executor, but that's a hard problem to solve for now...
3. What I did (and what finally began to work after a few logic modifications) is an in-proximity course correction. It won't help with overshooting (but with a rate of ~1km of distance per 2km/s of the maneuver it seems tolerable); but it will move a trajectory a little bit to the side of the target as soon as it's loaded (to obtain its actual size); which is enough, considering that at that range remaining dV is always less than 200m/s.

UPD: with the last modifications of the course correction code there were no more crashes so far (>40 rendezvous).

I will launch the test/stream again in a few hours and leave it for the night.

Stay tuned.

[kcs123]

39 minutes ago, allista said:

I'm not aware that stock rocket engines have any spool-up time.

Yes, they got. Not so noticable as jet engines, but can screw timings, like in your scenario. That was giving me hard times with customizing some of mine kOS scripts until I used that in account. Try to keep right click engine info opened and track current thrust. As you put full throttle from idle, you will not get always full available engine thrust imediately.

It is not so noticable difference like with jet engines, but when very tight timing is required it can ruin your day.

Anyhow, I'm glad that you overcome issue. Looking forward for next version of TCA.

[kcs123]

I just checked in game, atlas is rocket engine that is more noticable to be sluggish in throttle response. I was not sure about exact engine names when I posted first time.

Other engines probably have some latency too, most likely each engine behave slightly different. They provide some trust immediately, but for full thrust they need some time. It will be hard to create compleately universal script that will work on all crafts.

In one of mine kOS scripts I have used combination of full throttles and when closer to target for smooth slow down I used PID controled throttle.
Still need to work on fine tuning PID constants to get one smooth burst instead of short bursts, but it work much better that just ON/OFF with full throttle.

[allista]

The stream was somehow interrupted after 35m, but the test went on for full 8h, yielding 138 successful rendezvous until I finally stopped it manually. During the test 18 cases of potential direct hitting were prevented according to the log. I would say that's a positive result 

Spoiler

[ThrottleControlledAvionics: 02:18:56.011] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 54890323: 30.6506774276495
[ThrottleControlledAvionics: 02:21:52.008] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1344178519: 74.9242731630802
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[ThrottleControlledAvionics: 08:43:34.696] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1123144916: 9.98057188093662
[ThrottleControlledAvionics: 08:48:11.180] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1828128522: 55.6869667619467
[ThrottleControlledAvionics: 08:51:36.789] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1485174605: 24.9384994059801
[ThrottleControlledAvionics: 08:56:48.846] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 162713241: 9.78078800439835
[ThrottleControlledAvionics: 08:59:57.565] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 981430729: 18.3679009526968
[ThrottleControlledAvionics: 09:03:12.781] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1646516449: 63.1359990388155
[ThrottleControlledAvionics: 09:07:46.107] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 431068128: 9.81451024115086
[ThrottleControlledAvionics: 09:11:09.378] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1176420172: 58.1555022448301
[ThrottleControlledAvionics: 09:14:47.082] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 170726219: 17.5522371083498
[ThrottleControlledAvionics: 09:18:15.691] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1237953401: 31.4310962706804
[ThrottleControlledAvionics: 09:21:28.341] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 51976613: 86.1579472124577
[ThrottleControlledAvionics: 09:24:02.652] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 190647506: 17.5192495882511
[ThrottleControlledAvionics: 09:26:48.151] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1067927645: 11.8403331786394
[ThrottleControlledAvionics: 09:30:30.676] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 2071649409: 85.5939607322216
[ThrottleControlledAvionics: 09:33:43.636] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 2095355214: 94.0297293961048
[ThrottleControlledAvionics: 09:36:15.444] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 2029820296: 34.9074224233627
[ThrottleControlledAvionics: 09:39:20.437] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 2072293196: 48.9140301048756
[ThrottleControlledAvionics: 09:43:01.869] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1617278376: 16.6096754819155
[ThrottleControlledAvionics: 09:47:01.733] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1274190526: 6.74729619920254
[ThrottleControlledAvionics: 09:50:20.547] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 966564912: 71.3825263828039
[ThrottleControlledAvionics: 09:53:25.881] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1515430648: 64.3098218291998
[ThrottleControlledAvionics: 09:56:42.922] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 349683492: 29.3040724396706
[ThrottleControlledAvionics: 10:00:21.144] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 854749520: 8.32313102483749
[ThrottleControlledAvionics: 10:03:37.801] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 2011651785: 8.57311746478081
[ThrottleControlledAvionics: 10:06:34.896] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 642478446: 7.92120127379894
[ThrottleControlledAvionics: 10:09:21.164] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1749493858: 35.6390691548586
[ThrottleControlledAvionics: 10:13:17.087] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 853571828: 26.7935957759619
[ThrottleControlledAvionics: 10:15:19.838] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1438804882: 69.8887562304735
[ThrottleControlledAvionics: 10:18:28.499] Engine Cluster Test.RendezvousAutopilot: Done. Dist to REN Test 1269475851: 42.5263098478317

 

[allista]

This is how it looks:

https://clips.twitch.tv/AnimatedHilariousRatDAESuppy

https://clips.twitch.tv/AdorableRichYakinikuBrokeBack

[allista]

And another two finely captured:

https://clips.twitch.tv/SullenBadKiwiNerfBlueBlaster

https://clips.twitch.tv/UglyPerfectHabaneroRaccAttack

[Beetlecat]

22 minutes ago, allista said:

And another two finely captured:

https://clips.twitch.tv/SullenBadKiwiNerfBlueBlaster

https://clips.twitch.tv/UglyPerfectHabaneroRaccAttack

That second one is phenomenally cool to watch. Just screeching to a halt. Next, you'll have to create a power-slide parallel parking autopilot for high performance rovers.

[Derponaught]

Hi,  mod noob here.  I've installed RoverDudes USI constellation pack, I then went to download this awesome looking mod & CKAN warns me that they may be incompatible as the both use 000_AT_Utils.  Can anyone tell me if these mods will play nice together?  If so is there a way to bypass CKAN's warning or should I just install manually from GitHub & overwrite any duplicates?

 

Thanks in advance to any help

[allista]

Latest test results:

• 11h 10m of continuous operation
• 198 successful rendezvous
• 41 prevented collisions
• no crashes, stopped manually

Next: rendezvous from launchpad to orbit.

12 hours ago, Derponaught said:

Hi,  mod noob here.  I've installed RoverDudes USI constellation pack, I then went to download this awesome looking mod & CKAN warns me that they may be incompatible as the both use 000_AT_Utils.  Can anyone tell me if these mods will play nice together?  If so is there a way to bypass CKAN's warning or should I just install manually from GitHub & overwrite any duplicates?

Oh... that's new. Sure, they play nice together, AT_Utils being just a common library for all my mods (including TCA and Ground Construction which USI MKS uses); so it's only natural that both depend on it. There shouldn't be any conflicts in CKAN either, as far as you install everything through it.

[Derponaught]

4 hours ago, allista said:

Oh... that's new. Sure, they play nice together.................

Great, Cheers!

 

More info:

 

I downloaded USI constellation directly from RoverDude's GitHib page (Why? I can't remember but there was a reason I didn't grab it from CKAN lol (Not wanting to be overwhelmed I deleted the folders: ART, Karbonite, KarbonitePlus, Orion, SoundingRockets & WarpDrive from the UmbraSpaceIndustries folder)).  I then searched TCA in CKAN went to install & got this:

About to install...

 * Throttle Controlled Avionics v3.3.1
 * AT Utils v1.2.0
 * Configurable Containers Core 2.4.0

Downloading "https://spacedock.info/mod/198/Throttle Controlled Avionics/download/3.3.1"
Downloading "https://github.com/allista/AT_Utils/releases/download/v1.2.0/AT_Utils-v1.2.0.zip"
Downloading "https://spacedock.info/mod/1002/Configurable Containers/download/2.4.0"
Module "Throttle Controlled Avionics" successfully installed

Oh no!

It looks like you're trying to install a mod which is already installed,
or which conflicts with another mod which is already installed.

As a safety feature, the CKAN will *never* overwrite or alter a file
that it did not install itself.

If you wish to install AT-Utils v1.2.0 via the CKAN,
then please manually uninstall the mod which owns:

GameData/000_AT_Utils/000_AT_Utils.version

and try again.

Your GameData has been returned to its original state.

Error!

Edited April 1, 2017 by Derponaught

[kcs123]

5 hours ago, Derponaught said:

Great, Cheers!

 

More info:

  Reveal hidden contents

I downloaded USI constellation directly from RoverDude's GitHib page (Why? I can't remember but there was a reason I didn't grab it from CKAN lol (Not wanting to be overwhelmed I deleted the folders: ART, Karbonite, KarbonitePlus, Orion, SoundingRockets & WarpDrive from the UmbraSpaceIndustries folder)).  I then searched TCA in CKAN went to install & got this:

About to install...

 * Throttle Controlled Avionics v3.3.1
 * AT Utils v1.2.0
 * Configurable Containers Core 2.4.0

Downloading "https://spacedock.info/mod/198/Throttle Controlled Avionics/download/3.3.1"
Downloading "https://github.com/allista/AT_Utils/releases/download/v1.2.0/AT_Utils-v1.2.0.zip"
Downloading "https://spacedock.info/mod/1002/Configurable Containers/download/2.4.0"
Module "Throttle Controlled Avionics" successfully installed

Oh no!

It looks like you're trying to install a mod which is already installed,
or which conflicts with another mod which is already installed.

As a safety feature, the CKAN will *never* overwrite or alter a file
that it did not install itself.

If you wish to install AT-Utils v1.2.0 via the CKAN,
then please manually uninstall the mod which owns:

GameData/000_AT_Utils/000_AT_Utils.version

and try again.

Your GameData has been returned to its original state.

Error!

It looks like conflict with mixing manual and CKAN automatic installs. Also, keep in mind, when you uninstall something trough CKAN, it may not always remove some folders properly. Because of failed folder removal, new install might recognize that something is already installed.

Backup everything first, of course, but try to uninstall both, TCA and MKS. Then delete any reamaining folders that CKAN was not able to remove. After that install both mods trough CKAN again. It should work.

[allista]

Now you can watch the next series of tests: this time rendezvous from launchpad at KSC. This should be more interesting and eventful than orbit2orbit rendezvous.

@Kobymaru, btw, for this I had to reimplement the testing framework as a standalone addon with dedicated UI and a simple interface for test classes. Have not pushed the changes up to GitHub, though. Will do it tomorrow.

Edited April 3, 2017 by allista

[g_BonE]

ive been on a hiatus from KSP for a few months and see that TCA got a new UI and quite few new features. quick question: did You implement a docking autopilot as well ?

Thanks and keep it up!

[danielboro]

the good- pinpoint acuresy  wen landing on target - every time

the bad- the target is a base and every time it crashes right on top of it
 

is ther a miss by X meter option? if not can you add it?

[allista]

1 hour ago, danielboro said:

the good- pinpoint acuresy  wen landing on target - every time

the bad- the target is a base and every time it crashes right on top of it
 

is ther a miss by X meter option? if not can you add it?

Currently no, you can only edit target waypoint if it was set manually; proxy waypoints (that point to a ship) are not editable. And CPS does not work during deceleration, only when the final landing sequence is engaged.

Deorbit Autopilot still needs a lot of work; I'm currently testing it massively with the same automated testing framework that I used for rendezvous. And there are some crashes even in a seemingly normal situation, and suboptimal behaviour when there's not enough fuel.

On 4/6/2017 at 7:14 PM, g_BonE said:

ive been on a hiatus from KSP for a few months and see that TCA got a new UI and quite few new features. quick question: did You implement a docking autopilot as well ?

Thanks and keep it up!

Sorry, no. And honestly, I'm not planning to: it's currently out of the scope of TCA as I see it, and there's too much to be done with the existing modules anyway.

Doesn't MJ's docking autopilot work for you?