update

src/KSP_tools/krpc_explore.py

@@ -159,9 +159,6 @@ def auto_land_predictive(
 
     status = {'result': 'failed', 'logs': []}
 
-    # 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）
-
-
     # 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
@@ -244,13 +241,12 @@ def auto_land_predictive(
                 print(msg)
 
             # 点火条件：进入刹车距离 or 推力未知（inf）但高度很低
-            should_ignite = (remaining_alt <= braking_dist) or (braking_dist == float('inf') and remaining_alt < 200.0)
+            should_ignite = (remaining_alt <= braking_dist + v_speed) or (braking_dist == float('inf') and remaining_alt < 200.0)
             if should_ignite:
                 break
 
             # 确保仍在滑行
-            vessel.control.throttle = 0.0
-            time.sleep(0.01)
+            time.sleep(0.05)
 
         # 燃烧闭环：根据 remaining_alt 反推需要的减速度 -> 油门
         while True:
@@ -325,11 +321,12 @@ def auto_land_predictive(
                     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)} '
+                    f'current_thrust={vessel.thrust:.1f}kN'
                 )
                 status['logs'].append(msg)
                 print(msg)
 
-            time.sleep(0.01)
+            time.sleep(0.05)
 
     finally:
         try:
@@ -348,6 +345,8 @@ def auto_land_predictive(
     return status
 
 if __name__ == "__main__":
-    xxx = auto_land_predictive(bottom_clearance_margin=20)
+    xxx = auto_land_predictive(
+        bottom_clearance_margin=30,
+    )
     print(xxx)
     print('done')