remove vessels without wrecking the indexing

Crzyrndm · Jun 13, 2015 · fe097a8 · fe097a8
1 parent 4e4b465
commit fe097a8
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Showing 5 changed files with 51 additions and 18 deletions.
diff --git a/GameData/Pilot Assistant/PilotAssistant.dll b/GameData/Pilot Assistant/PilotAssistant.dll
diff --git a/PilotAssistant/FlightModules/AsstVesselModule.cs b/PilotAssistant/FlightModules/AsstVesselModule.cs
@@ -68,6 +68,7 @@ public void OnDestroy()
         {
             vesselAsst.OnDestroy();
             vesselSSAS.OnDestroy();
+            PilotAssistantFlightCore.Instance.removeVessel(this);
         }
 
         public bool isActiveVessel()

diff --git a/PilotAssistant/FlightModules/SurfSAS.cs b/PilotAssistant/FlightModules/SurfSAS.cs
@@ -152,8 +152,12 @@ public void SurfaceSAS(FlightCtrlState state)
 
         void setCtrlState(SASList ID, double error, double rate, ref float ctrlState)
         {
+            PIDmode mode = PIDmode.PID;
+            if (!controlledVessel.checkLanded() && controlledVessel.IsControllable)
+                mode = PIDmode.PD; // no integral when it can't do anything
+
             if (allowControl(ID))
-                ctrlState = ID.GetSAS(this).ResponseF(error, rate, !controlledVessel.checkLanded() && controlledVessel.IsControllable);
+                ctrlState = ID.GetSAS(this).ResponseF(error, rate, mode);
             else if (!Utils.hasInput(ID))
                 ctrlState = 0; // kill off stock SAS inputs
         }

diff --git a/PilotAssistant/PID/PIDErrorController.cs b/PilotAssistant/PID/PIDErrorController.cs
@@ -7,6 +7,14 @@ namespace PilotAssistant.PID
 {
     using Utility;
     using FlightModules;
+
+    public enum PIDmode
+    {
+        PID,
+        PD,
+        D
+    }
+
     public class PIDErrorController : SASController
     {
         public PIDErrorController(SASList ID, double Kp, double Ki, double Kd, double OutputMin, double OutputMax, double intClampLower, double intClampUpper, double scalar = 1, double easing = 1)
@@ -17,19 +25,21 @@ public PIDErrorController(SASList ID, double[] gains)
             : base(ID, gains)
         { }
 
-        public virtual double ResponseD(double error, double rate, bool useIntegral)
+        public virtual double ResponseD(double error, double rate, PIDmode mode)
         {
-            double res_d, res_i, res_p;
+            double res_d = 0, res_i = 0, res_p = 0;
             res_d = derivativeError(rate);
-            res_i = integralError(error, useIntegral);
-            res_p = proportionalError(error);
+            if (mode == PIDmode.PID)
+                res_i = integralError(error, true);
+            if (mode == PIDmode.PD || mode == PIDmode.PID)
+                res_p = proportionalError(error);
 
             return Utils.Clamp(res_p + res_i + res_d, OutMin, OutMax);
         }
 
-        public virtual float ResponseF(double error, double rate, bool useIntegral)
+        public virtual float ResponseF(double error, double rate, PIDmode mode)
         {
-            return (float)ResponseD(error, rate, useIntegral);
+            return (float)ResponseD(error, rate, mode);
         }
 
         protected override double derivativeError(double rate)

diff --git a/PilotAssistant/PilotAssistantFlightCore.cs b/PilotAssistant/PilotAssistantFlightCore.cs
@@ -94,14 +94,29 @@ IEnumerator clearUnloadedVessels()
         {
             while (HighLogic.LoadedSceneIsFlight)
             {
-                for (int i = 0; i < 1000; i++)
+                for (int i = 0; i < 50; i++)
                     yield return null;
                 Vessel ves = controlledVessels[selectedVesselIndex].vesselRef;
-                controlledVessels.RemoveAll(v => !v.vesselRef.loaded);
+                controlledVessels.RemoveAll(v => v == null || v.vesselRef == null || !v.vesselRef.loaded);
                 selectedVesselIndex = controlledVessels.FindIndex(vm => vm.vesselRef == ves);
             }
         }
 
+        public void removeVessel(AsstVesselModule avm)
+        {
+            if (avm.vesselRef != controlledVessels[selectedVesselIndex].vesselRef)
+            {
+                Vessel ves = controlledVessels[selectedVesselIndex].vesselRef;
+                controlledVessels.Remove(avm);
+                selectedVesselIndex = controlledVessels.FindIndex(vm => vm.vesselRef == ves);
+            }
+            else
+            {
+                controlledVessels.Remove(avm);
+                selectedVesselIndex = 0;
+            }
+        }
+
         public void LoadConfig()
         {
             try
@@ -151,16 +166,19 @@ public void Update()
 
         void vesselSwitch(Vessel v)
         {
-            if (v.IsControllable && !controlledVessels.Any(ves => ves.vesselRef == v))
-            {
-                AsstVesselModule newVesMod = new AsstVesselModule(v);
-                controlledVessels.Add(newVesMod);
-                newVesMod.Start();
-                selectedVesselIndex = controlledVessels.Count - 1;
-            }
-            else
+            if (v.IsControllable)
             {
-                selectedVesselIndex = controlledVessels.FindIndex(vm => vm.vesselRef == v);
+                if (!controlledVessels.Any(ves => ves.vesselRef == v))
+                {
+                    AsstVesselModule newVesMod = new AsstVesselModule(v);
+                    controlledVessels.Add(newVesMod);
+                    newVesMod.Start();
+                    selectedVesselIndex = controlledVessels.Count - 1;
+                }
+                else
+                {
+                    selectedVesselIndex = controlledVessels.FindIndex(vm => vm.vesselRef == v);
+                }
             }
         }