1.1 bugfixes

Author: gotmachine

GameData/MandatoryRCS/MandatoryRCS.dll

@@ -0,0 +1,45 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using UnityEngine;
+
+namespace MandatoryRCS
+{
+    class DebugInfo : PartModule
+    {
+        VesselModuleRotation vm;
+        ModuleTorqueController tc;
+        ModuleReactionWheel rw;
+
+        [KSPField(guiActive = true, guiName = "Ang. Velocity", guiFormat = "00.00")]
+        public float angularVelocity;
+
+        [KSPField(guiActive = true, guiName = "rollTorque", guiFormat = "00.00")]
+        public float rollTorque;
+
+        [KSPField(guiActive = true, guiName = "pitchTorque", guiFormat = "00.00")]
+        public float pitchTorque;
+
+        [KSPField(guiActive = true, guiName = "yawTorque", guiFormat = "00.00")]
+        public float yawTorque;
+
+        public void FixedUpdate()
+        {
+            if (!(HighLogic.LoadedSceneIsFlight && FlightGlobals.ready))
+            {
+                return;
+            }
+
+            vm = vessel.vesselModules.OfType<VesselModuleRotation>().First();
+            tc = part.Modules.GetModule<ModuleTorqueController>();
+            rw = part.Modules.GetModule<ModuleReactionWheel>();
+
+            angularVelocity = vessel.angularVelocity.magnitude;
+            rollTorque = rw.RollTorque;
+            pitchTorque = rw.PitchTorque;
+            yawTorque = rw.YawTorque;
+
+        }
+    }
+}

MandatoryRCS-Source/DebugInfo.cs

@@ -47,6 +47,7 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="DebugInfo.cs" />
     <Compile Include="ModuleTorqueController.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="MandatoryRCSEvents.cs" />

MandatoryRCS-Source/MandatoryRCS.csproj

@@ -74,7 +74,7 @@ public void Start()
 
         public void FixedUpdate()
         {
-            if (!(HighLogic.LoadedSceneIsFlight && FlightGlobals.ready))
+            if (!(HighLogic.LoadedSceneIsFlight && FlightGlobals.ready && this.vessel.loaded && !this.vessel.packed))
             {
                 return;
             }
@@ -108,7 +108,7 @@ public void FixedUpdate()
                         physicsTorqueFactor = vessel.vesselModules.OfType<VesselModuleRotation>().First().wheelsPhysicsTorqueFactor;
                         rwmodule.enabled = true;
                         rwmodule.isEnabled = true;
-                        rwmodule.RollTorque = maxRollTorque * torqueFactor; //To prevent SAS overshooting and perpetual rolling, do not apply angular velocity nerf to roll
+                        rwmodule.RollTorque = maxRollTorque * torqueFactor * physicsTorqueFactor;
                         rwmodule.PitchTorque = maxPitchTorque * torqueFactor * physicsTorqueFactor;
                         rwmodule.YawTorque = maxYawTorque * torqueFactor * physicsTorqueFactor;
                     }
@@ -119,7 +119,7 @@ public void FixedUpdate()
                     physicsTorqueFactor = vessel.vesselModules.OfType<VesselModuleRotation>().First().wheelsPhysicsTorqueFactor;
                     rwmodule.enabled = true;
                     rwmodule.isEnabled = true;
-                    rwmodule.RollTorque = maxRollTorque; //To prevent SAS overshooting and perpetual rolling, do not apply angular velocity nerf to roll
+                    rwmodule.RollTorque = maxRollTorque * physicsTorqueFactor;
                     rwmodule.PitchTorque = maxPitchTorque * physicsTorqueFactor;
                     rwmodule.YawTorque = maxYawTorque * physicsTorqueFactor;
                 }

MandatoryRCS-Source/ModuleTorqueController.cs

@@ -32,5 +32,5 @@
 // You can specify all the values or you can default the Build and Revision Numbers 
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.0.0")]
+[assembly: AssemblyVersion("1.1.0.0")]
+[assembly: AssemblyFileVersion("1.1.0.0")]

MandatoryRCS-Source/Properties/AssemblyInfo.cs

@@ -19,6 +19,7 @@ namespace MandatoryRCS
     public class VesselModuleRotation : VesselModule
     {
         private const float lowVelocityThreesold = 0.025f;
+        private const float wheelsMinAngularVelocity = 0.1f; // The angular velocity after witch wheels will begin too loose torque
         private const float wheelsMaxAngularVelocity = 0.785f; // Max angular velocity reaction wheels can fight against (rad/s), 0.785 = 45°/sec
         private const float wheelsMinTorqueFactor = 0.05f; // Reaction wheels torque output at max angular velocity (%)
 
@@ -78,7 +79,7 @@ private void FixedUpdate()
                 if (Vessel.packed) 
                 {
                     // Check if target / maneuver is modified/deleted during timewarp
-                    if (TimeWarp.WarpMode == TimeWarp.Modes.HIGH && TimeWarp.CurrentRateIndex > 0)
+                    if (autopilotTargetHold && TimeWarp.WarpMode == TimeWarp.Modes.HIGH && TimeWarp.CurrentRateIndex > 0)
                     {
                         autopilotTargetHold = TargetHoldValidity();
                     }
@@ -200,7 +201,7 @@ private void RotateTowardTarget()
                 return;
             }
 
-            Vessel.SetRotation(Quaternion.FromToRotation(Vessel.GetTransform().up, AutopilotTargetDirection()) * Vessel.transform.rotation, true);
+            Vessel.SetRotation(Quaternion.FromToRotation(Vessel.GetTransform().up, AutopilotTargetDirection()) * Vessel.transform.rotation, false); // false seems to fix the "infinite roll bug"
         }
 
         private void RotatePacked()
@@ -210,7 +211,7 @@ private void RotatePacked()
                 return;
             }
 
-            Vessel.SetRotation(Quaternion.AngleAxis(angularVelocity.magnitude * TimeWarp.CurrentRate, Vessel.ReferenceTransform.rotation * angularVelocity) * Vessel.transform.rotation, true);
+            Vessel.SetRotation(Quaternion.AngleAxis(angularVelocity.magnitude * TimeWarp.CurrentRate, Vessel.ReferenceTransform.rotation * angularVelocity) * Vessel.transform.rotation, false); // false seems to fix the "infinite roll bug"
         }
 
         private bool RestoreSASMode(int mode)
@@ -249,7 +250,7 @@ private void SaveOffRailsStatus()
             }
 
             // Determine the wheelsPhysicsTorqueFactor
-            wheelsPhysicsTorqueFactor = Math.Max(1.0f - Math.Min((angularVelocity.magnitude * wheelsMaxAngularVelocity), 1.0f), wheelsMinTorqueFactor);
+            wheelsPhysicsTorqueFactor = Math.Max(1.0f - Math.Min((Math.Max(angularVelocity.magnitude - wheelsMinAngularVelocity, 0.0f) * wheelsMaxAngularVelocity), 1.0f), wheelsMinTorqueFactor);
 
             // Checking if the autopilot hold mode should be enabled
             if (Vessel.Autopilot.Enabled

MandatoryRCS-Source/VesselModuleRotation.cs

@@ -57,21 +57,19 @@ So public domain, feel free to do anything, especially updating this plugin if I
 ## Changelog and bugs
 
 #### Known bugs and glitches
-- The reaction wheels nerf cause the SAS to overshoot when trying to stabilize roll. This is problematic for large vessels and may cause them to roll back and forth forever, I'm working on this. 
+- The reaction wheels nerf cause the SAS to overshoot when trying to stabilize roll. This is problematic for large vessels and may cause them to roll back and forth forever. Should be a lot better if not fixed in 1.1
 - When switching to an unloaded vessel with its SAS in "target", "antitarget" or "maneuver" mode, the orientation change is applied a few frames after the vessel is unpacked, leading to the rotation event being visible to the player. Won't fix as this is minor, purely cosmetic and fixing would require massive modifications.
 
 #### v1.1 for KSP 1.2.2
-- (bugfix) Removed reaction wheels roll torque being nerfed by angular velocity to prevent SAS perpetual overshooting.
+- (bugfix) Fixed SAS orientation being applied when not reached on initiating timewarp (woops)
+- (bugfix) Tweaked a few things to prevent the perpetual SAS roll overshoot.
 
 #### v1.0 for KSP 1.2.2
 - (feature) The torque output from reaction wheels is now affected by the vessel angular velocity : the torque output decrease when the angular velocity increase, down to a minimum of 5% when the angular velocity reach 45° / second.
 - (bugfix) Fixed reaction wheels providing a bit of torque when switching SAS from stability assist mode to a target hold mode after loading a vessel (fixed by forcing module desactivation every fixedupdate)
 - (bugfix) Fixed SAS overshooting its target when using RCS (Fixed by explicitly setting reaction wheels torque to 0 when the module is disabled)
 - (bugfix) Irrelevant reaction wheels action groups options are now hidden
 
-#### v1.0-pre1 for KSP 1.2.2
-First test build
-
 #### Perhaps planned features
 
 - Ingame settings in the difficulty options menu