better fix to prevent pitch FMA flickering with autopilot

Signed-off-by: Octol1ttle <[email protected]>

Author: Octol1ttle

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/autoflight/base/PitchComputer.kt

@@ -75,10 +75,10 @@ class PitchComputer(computers: ComputerBus) : Computer(computers), FlightControl
         if (canMoveOrBlockPitch() && finalInput.status == ControlInput.Status.ACTIVE) {
             var target: Float = finalInput.target
             if (!finalInput.priority.isHigherOrSame(minimumPitch?.priority)) {
-                target = target.coerceAtLeast(minimumPitch!!.target)
+                target = target.coerceAtLeast(minimumPitch!!.target + 1.0f)
             }
             if (!finalInput.priority.isHigherOrSame(maximumPitch?.priority)) {
-                target = target.coerceAtMost(maximumPitch!!.target)
+                target = target.coerceAtMost(maximumPitch!!.target - 1.0f)
             }
             smoothSetPitch(computers.data.player, pitch, target.throwIfNotInRange(-90.0f..90.0f), finalInput.deltaTimeMultiplier.throwIfNotInRange(0.001f..Float.MAX_VALUE))
         }
@@ -109,17 +109,11 @@ class PitchComputer(computers: ComputerBus) : Computer(computers), FlightControl
 
         val max: ControlInput? = maximumPitch
         if (max != null && computers.data.pitch > max.target) {
-            if (computers.data.pitch - max.target < 5.0f) {
-                return max.copy(text = null)
-            }
             return max
         }
 
         val min: ControlInput? = minimumPitch
         if (min != null && computers.data.pitch < min.target) {
-            if (min.target - computers.data.pitch < 5.0f) {
-                return min.copy(text = null)
-            }
             return min
         }
 

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/autoflight/modes/BuiltInVerticalModes.kt

@@ -32,7 +32,7 @@ data class VerticalSpeedVerticalMode(val targetVerticalSpeed: Double, override v
     }
 
     companion object {
-        private val controller: PIDController = PIDController(1.75, 0.125, 0.3, 10, -70.0, 70.0)
+        private val controller: PIDController = PIDController(1.8, 0.1, 0.35, 10, -85.0, 85.0)
         private var lastPitchCommand: Float = 0.0f
     }
 }

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/safety/GroundProximityComputer.kt

@@ -55,7 +55,7 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
                 Status.SAFE
             } else if (groundImpactStatus == Status.SAFE && (data.velocityPerSecond.y > -10 || groundImpactTime > cautionThreshold)) {
                 Status.SAFE
-            } else if (data.velocityPerSecond.y > -7.5 || groundImpactTime > clearThreshold) {
+            } else if (data.velocityPerSecond.y > -8.5 || groundImpactTime > clearThreshold) {
                 Status.SAFE
             } else if (groundImpactStatus >= Status.CAUTION && groundImpactTime > warningThreshold) {
                 Status.CAUTION
@@ -73,7 +73,7 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
                 Status.SAFE
             } else if (obstacleImpactStatus == Status.SAFE && (damageOnCollision < data.player.health * 0.5f || obstacleImpactTime > groundImpactTime * 1.1f || obstacleImpactTime > cautionThreshold)) {
                 Status.SAFE
-            } else if (damageOnCollision < data.player.health * 0.25f || obstacleImpactTime > groundImpactTime * 1.5f || obstacleImpactTime > clearThreshold) {
+            } else if (damageOnCollision < data.player.health * 0.25f || obstacleImpactTime > groundImpactTime * 1.2f || obstacleImpactTime > clearThreshold) {
                 Status.SAFE
             } else if (obstacleImpactStatus >= Status.CAUTION && obstacleImpactTime > warningThreshold) {
                 Status.CAUTION