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Armor
2026-01-14 23:34:11 +08:00
parent cbd1480bf8
commit fcbd2af197
1 changed files with 25 additions and 9 deletions
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src/KSP_tools/krpc_explore.py
+25 -9
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@@ -131,7 +131,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
ap = None ap = None
def _read_state(): def _read_state():
"""从接口读取状态：alt, surface_speed(标量), vertical_speed, mass, available_thrust, g""" """从接口读取状态：alt, surface_speed(标量), vertical_speed, mass, available_thrust, g, situation_name"""
flight = vessel.flight(surface_frame) if surface_frame is not None else vessel.flight() flight = vessel.flight(surface_frame) if surface_frame is not None else vessel.flight()
alt = float(getattr(flight, 'surface_altitude', 0.0)) alt = float(getattr(flight, 'surface_altitude', 0.0))
srf_speed = float(getattr(flight, 'speed', 0.0)) srf_speed = float(getattr(flight, 'speed', 0.0))
@@ -139,7 +139,11 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
mass = float(getattr(vessel, 'mass', 0.0)) mass = float(getattr(vessel, 'mass', 0.0))
avail_thrust = float(getattr(vessel, 'available_thrust', 0.0)) avail_thrust = float(getattr(vessel, 'available_thrust', 0.0))
g_local = _get_g(vessel) g_local = _get_g(vessel)
return alt, srf_speed, v_speed, mass, avail_thrust, g_local try:
situation_name = str(getattr(getattr(vessel, 'situation', None), 'name', ''))
except Exception:
situation_name = ''
return alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name
try: try:
# 初始确保不点火 # 初始确保不点火
@@ -152,7 +156,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
ignited = False ignited = False
last_log_t = 0.0 last_log_t = 0.0
while True: while True:
alt, srf_speed, v_speed, mass, avail_thrust, g_local = _read_state() alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name = _read_state()
remaining_alt = max(0.0, alt - float(target_altitude)) remaining_alt = max(0.0, alt - float(target_altitude))
# v：使用 surface speed（标量）作为“需要刹掉的速度” # v：使用 surface speed（标量）作为“需要刹掉的速度”
@@ -208,22 +212,34 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
# 燃烧闭环：根据 remaining_alt 反推需要的减速度 -> 油门 # 燃烧闭环：根据 remaining_alt 反推需要的减速度 -> 油门
while True: while True:
alt, srf_speed, v_speed, mass, avail_thrust, g_local = _read_state() alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name = _read_state()
remaining_alt = max(0.0, alt - float(target_altitude)) remaining_alt = max(0.0, alt - float(target_altitude))
v = max(0.0, float(srf_speed)) v = max(0.0, float(srf_speed))
vf = max(0.0, abs(float(target_vspeed))) vf = max(0.0, abs(float(target_vspeed)))
# 终止条件（接地附近 + 速度已足够小） # 终止条件：以 vessel.situation.name == 'landed' 为准
if remaining_alt <= max(0.2, float(target_altitude)) and v <= (vf + 0.5): if str(situation_name).strip().lower() == 'landed':
try: try:
vessel.control.throttle = 0.0 vessel.control.throttle = 0.0
except Exception: except Exception:
pass pass
status['result'] = 'landed' status['result'] = 'landed'
status['logs'].append('预测着陆完成') status['logs'].append('检测到 vessel.situation=LANDED，着陆完成')
if verbose: if verbose:
print('预测着陆完成') print('检测到 vessel.situation=LANDED，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):
try:
vessel.control.throttle = 0.0
except Exception:
pass
status['result'] = 'touchdown_pending'
status['logs'].append('达到高度/速度阈值，但 vessel.situation 仍未变为 LANDED')
if verbose:
print('达到高度/速度阈值，但 vessel.situation 仍未变为 LANDED')
break break
# 计算所需净向上加速度 # 计算所需净向上加速度
@@ -258,7 +274,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
status['logs'].append(msg) status['logs'].append(msg)
print(msg) print(msg)
time.sleep(0.05) time.sleep(0.01)
finally: finally:
try: try: