update

src/KSP_tools/krpc_explore.py

@@ -102,6 +102,11 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
     # WAIT 阶段按折减推力估算刹车距离（提前点火，补偿点火/推力建立延迟）
     thrust_discount_wait = 0.9
 
+    # 低空/接地参数（用于“最后几米慢下来”）
+    touchdown_vspeed_tol = 0.6  # m/s：认为“软着陆”的竖直速度容差
+    low_altitude_pid_switch = 10.0  # m：低于该高度切换到竖直速度控制
+    vspeed_p_gain = 0.6  # 比例增益：越大越积极（0.3~1.0 之间可调）
+
     def _get_g(local_vessel):
         try:
             body = local_vessel.orbit.body
@@ -217,23 +222,26 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
             alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name = _read_state()
             remaining_alt = max(0.0, alt - float(target_altitude))
 
-            v = max(0.0, float(srf_speed))
+            # BURN 阶段以“竖直下降速度”为控制对象：下降为负，统一转成向下为正的标量 v_down
-            vf = max(0.0, abs(float(target_vspeed)))
+            v_down = max(0.0, -float(v_speed))
+            vf_down = max(0.0, abs(float(target_vspeed)))  # 目标接地竖直速度（向下为正）
 
-            # 终止条件：以 vessel.situation.name == 'landed' 为准
+            # 终止条件：LANDED 可能会在仍有较大竖直速度时触发（弹跳/碰撞瞬间）
-            if str(situation_name).strip().lower() == 'landed':
+            # 因此要求：LANDED 且竖直速度足够小才结束
+            is_landed = str(situation_name).strip().lower() == 'landed'
+            if is_landed and v_down <= (vf_down + float(touchdown_vspeed_tol)):
                 try:
                     vessel.control.throttle = 0.0
                 except Exception:
                     pass
                 status['result'] = 'landed'
-                status['logs'].append('检测到 vessel.situation=LANDED，着陆完成')
+                status['logs'].append('检测到 vessel.situation=LANDED 且竖直速度满足软着陆阈值，着陆完成')
                 if verbose:
-                    print('检测到 vessel.situation=LANDED，着陆完成')
+                    print('检测到 vessel.situation=LANDED 且竖直速度满足软着陆阈值，着陆完成')
                 break
 
             # 兜底：极低高度 + 速度足够小（防止 situation 迟迟不切换导致卡死）
-            if remaining_alt <= max(0.2, float(target_altitude)) and v <= (vf + 0.5):
+            if remaining_alt <= max(0.2, float(target_altitude)) and v_down <= (vf_down + float(touchdown_vspeed_tol)):
                 try:
                     vessel.control.throttle = 0.0
                 except Exception:
@@ -244,11 +252,16 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
                     print('达到高度/速度阈值，但 vessel.situation 仍未变为 LANDED')
                 break
 
-            # 计算所需净向上加速度
+            # 低空策略：切换到“竖直速度跟踪”以确保最后几米把速度压到目标值
-            if remaining_alt <= 1e-3:
+            if alt <= float(low_altitude_pid_switch):
-                a_req_up = 0.0
+                # 需要的净向上加速度：a_net_up = k * (v_down - vf_down)
+                a_req_up = max(0.0, float(vspeed_p_gain) * max(0.0, (v_down - vf_down)))
             else:
-                a_req_up = max(0.0, (v * v - vf * vf) / (2.0 * remaining_alt))
+                # 中高空：用距离反推所需净向上加速度（使用竖直下降速度）
+                if remaining_alt <= 1e-3:
+                    a_req_up = 0.0
+                else:
+                    a_req_up = max(0.0, (v_down * v_down - vf_down * vf_down) / (2.0 * remaining_alt))
 
             # 推力不足时给满油门
             if mass <= 0 or avail_thrust <= 1e-6:
@@ -259,7 +272,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
             throttle = max(0.0, min(1.0, float(throttle)))
 
             # 低空兜底：高度<5m 且仍很快 -> 满油门
-            if alt < 5.0 and v > 10.0:
+            if alt < 5.0 and v_down > 10.0:
                 throttle = 1.0
 
             try:
@@ -271,7 +284,9 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
                 msg = (
                     f'BURN alt={alt:.1f} rem={remaining_alt:.1f} '
                     f'srf_speed={srf_speed:.2f} vs={v_speed:.2f} '
-                    f'a_req_up={a_req_up:.2f} throttle={throttle:.2f}'
+                    f'v_down={v_down:.2f} vf_down={vf_down:.2f} '
+                    f'a_req_up={a_req_up:.2f} throttle={throttle:.2f} '
+                    f'landed={int(is_landed)}'
                 )
                 status['logs'].append(msg)
                 print(msg)