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vehicles - update autothrottle to use future CBA pid component #11158

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Merged
PabstMirror merged 3 commits into from
Feb 8, 2026
Merged

vehicles - update autothrottle to use future CBA pid component #11158

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fd6d4b5
update autothrottle to use future CBA pid component
TheCandianVendingMachine Dec 6, 2025
2793964
set REQUIRED_CBA_VERSION to 3.18.5
PabstMirror Dec 23, 2025
cf5e5e0
describe magic numbers
TheCandianVendingMachine Feb 8, 2026
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86 changes: 50 additions & 36 deletions addons/vehicles/functions/fnc_autoThrottle.sqf
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,6 @@
*
* Public: No
*/
#define PID_P 1
#define PID_I 0.3
#define PID_D 0
#define EPSILON 0.001

params ["_driver", "_vehicle", ["_preserveSpeedLimit", false]];
Expand All @@ -34,18 +31,37 @@ playSound "ACE_Sound_Click";
GVAR(isSpeedLimiter) = true;
GVAR(isCruiseControl) = true; // enables SET/RESUME

private _speedLimitMS = ((velocityModelSpace _vehicle) select 1) max (5 / 3.6);
if (!_preserveSpeedLimit) then {
// Convert forward speed to KM/H. `speed _vehicle` isnt accurate enough for this controller to work well, so its easier to use M/S. The system assumes it is KM/H so we need the conversion
GVAR(speedLimit) = (((velocityModelSpace _vehicle) select 1) * 3.6) max 5;
GVAR(speedLimit) = _speedLimitMS * 3.6;
};

private _pid = [4.00, 0.60, 2.50, _speedLimitMS, -1e30, 1e30, 60 * 3] call CBA_pid_fnc_create;

private _config = configOf _vehicle;
private _thrustLogFactor = getNumber (_config >> "throttleToThrustLogFactor");
if (_thrustLogFactor == 0) then {
_thrustLogFactor = 1;
};
private _maxSpeed = getNumber (_config >> "maxSpeed");
private _thrustCoefs = getArray (_config >> "thrustCoef");
private _acceleration = getNumber (_config >> "acceleration");
if (_acceleration == 0) then {
_acceleration = 100;
};

if (_thrustCoefs isEqualTo []) then {
_thrustCoefs = [1];
};
private _thrustCoefsAdjustment = 150 / count _thrustCoefs;

private _airData = [_thrustLogFactor, _maxSpeed, _acceleration, _thrustCoefs, _thrustCoefsAdjustment];

[{
params ["_args", "_idPFH"];
_args params ["_driver", "_vehicle", "_autothrottleParameters"];
_autothrottleParameters params ["_lastVelocity", "_integralValue", "_lastTime", "_lastThrottleValue", "_throttleLogValue"];

// this will take into account game being pausesd
private _deltaTime = CBA_missionTime - _lastTime;
_args params ["_driver", "_vehicle", "_pid", "_airData", "_lastThrottleValue"];
_airData params ["_throttleLogValue", "_maxSpeed", "_acceleration", "_thrustCoefs", "_thrustCoefsAdjustment"];

private _role = _driver call EFUNC(common,getUavControlPosition);
if (GVAR(isUAV)) then {
Expand Down Expand Up @@ -79,35 +95,33 @@ if (!_preserveSpeedLimit) then {
[_idPFH] call CBA_fnc_removePerFrameHandler;
};

if (_deltaTime == 0) exitWith {};

private _forwardVelocity = (velocityModelSpace _vehicle) select 1;
// convert from KM/H to M/S
private _velocityError = (GVAR(speedLimit) / 3.6) - _forwardVelocity;

// strictly speaking this would work better if this error was time to zero acceleration. I can't find the acceleration values in config, however, so this works instead
private _errorDiff = _velocityError - _lastVelocity;

private _p = PID_P * _velocityError;
private _i = _integralValue + (PID_I * _errorDiff * _deltaTime);
private _d = PID_D * _errorDiff / _deltaTime;

private _outputBeforeSaturation = _p + _i + _d;
private _throttle = 0 max (_outputBeforeSaturation min 1);

// if we are saturated, we clamp the integral value to avoid integral windup
if (_outputBeforeSaturation != _throttle) then {
// saturated
_i = _integralValue;
_throttle = 0 max ((_p + _d) min 1);
private _setpoint = _pid getVariable "CBA_pid_setpoint";
if (abs ((GVAR(speedLimit) / 3.6) - _setpoint) > EPSILON) then {
[_pid, GVAR(speedLimit) / 3.6] call CBA_pid_fnc_setpoint;
};
private _velocity = (velocityModelSpace _vehicle) select 1;
private _percentMaxSpeed = _velocity / _maxSpeed;
private _coefIdxBase = floor (100 * _percentMaxSpeed / _thrustCoefsAdjustment);
private _coefIdxNext = _coefIdxBase + 1;
_percentMaxSpeed = _percentMaxSpeed - floor _percentMaxSpeed;

private _thrustCoefBase = 1;
private _thrustCoefNext = 1;
if (_coefIdxBase < count _thrustCoefs) then {
_coefIdxNext = _coefIdxNext min (-1 + count _thrustCoefs);
_thrustCoefBase = _thrustCoefs select _thrustCoefBase;
_thrustCoefNext = _thrustCoefs select _thrustCoefNext;
};

_vehicle setAirplaneThrottle _throttle;
private _thrustCoef = linearConversion [0, 1, _percentMaxSpeed, _thrustCoefBase, _thrustCoefNext];
private _availableAcceleration = _thrustCoef * _acceleration;
private _currentAcceleration = _currentThrottle * _availableAcceleration;

_autothrottleParameters set [0, _d];
_autothrottleParameters set [1, _i];
_autothrottleParameters set [2, CBA_missionTime];
_autothrottleParameters set [3, _throttle];
private _velocityCommand = [_pid, _velocity] call CBA_pid_fnc_update;
private _throttle = 1 min (0 max (_currentThrottle + _velocityCommand / _availableAcceleration));

_vehicle setAirplaneThrottle _throttle;
_args set [4, _throttle];

}, 0, [_driver, _vehicle, [0, 0, CBA_missionTime, -1, getNumber (configOf _vehicle >> "throttleToThrustLogFactor")]]] call CBA_fnc_addPerFrameHandler;
}, 0, [_driver, _vehicle, _pid, _airData, -1]] call CBA_fnc_addPerFrameHandler;