Autoland bugfixes

Signed-off-by: Octol1ttle <l1ttleofficial@outlook.com>
Octol1ttle · Feb 27, 2024 · 22ae748 · 22ae748
1 parent dda86b5
commit 22ae748
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Showing 8 changed files with 36 additions and 44 deletions.
diff --git a/src/main/java/ru/octol1ttle/flightassistant/alerts/nav/MinimumsAlert.java b/src/main/java/ru/octol1ttle/flightassistant/alerts/nav/MinimumsAlert.java
@@ -23,7 +23,7 @@ public MinimumsAlert(AirDataComputer data, FlightPlanner plan) {
     @Override
     public boolean isTriggered() {
         Integer minimums = plan.getMinimums(data.groundLevel);
-        return minimums != null && data.altitude <= minimums && plan.landingInProgress;
+        return data.isFlying && plan.landingInProgress && minimums != null && data.altitude <= minimums;
     }
 
     @Override

diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/ComputerHost.java b/src/main/java/ru/octol1ttle/flightassistant/computers/ComputerHost.java
@@ -44,13 +44,13 @@ public ComputerHost(@NotNull MinecraftClient mc, HudRenderer renderer) {
         this.firework = new FireworkController(mc, data, time);
         this.stall = new StallComputer(firework, data);
         this.voidLevel = new VoidLevelComputer(data, firework, stall);
-        this.gpws = new GPWSComputer(data);
+        this.plan = new FlightPlanner(data);
+        this.gpws = new GPWSComputer(data, plan);
         this.elytra = new ElytraStateController(data);
 
         this.yaw = new YawController(time, data);
         this.pitch = new PitchController(data, stall, time, voidLevel, gpws);
 
-        this.plan = new FlightPlanner(data);
         this.autoflight = new AutoFlightComputer(data, gpws, plan, firework, pitch, yaw);
 
         this.alert = new AlertController(this, mc.getSoundManager(), renderer);

diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/autoflight/AutoFlightComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/autoflight/AutoFlightComputer.java
@@ -42,7 +42,7 @@ public AutoFlightComputer(AirDataComputer data, GPWSComputer gpws, FlightPlanner
 
     @Override
     public void tick() {
-        if (autoFireworkEnabled && gpws.getGPWSLampColor() == FAConfig.hud().frameColor && !plan.shouldFlare()) {
+        if (autoFireworkEnabled && gpws.getGPWSLampColor() == FAConfig.hud().frameColor) {
             Integer targetSpeed = getTargetSpeed();
             Integer targetAltitude = getTargetAltitude();
             if (targetSpeed != null) {
@@ -67,9 +67,6 @@ public void tick() {
     }
 
     public @Nullable Float getTargetPitch() {
-        if (plan.shouldFlare()) {
-            return 10.0f;
-        }
         if (getTargetAltitude() == null) {
             return null;
         }

diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/FlightPlanner.java b/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/FlightPlanner.java
@@ -27,8 +27,9 @@ public FlightPlanner(AirDataComputer data) {
 
     @Override
     public void tick() {
-        if (!this.contains(targetWaypoint)) {
-            targetWaypoint = null;
+        landAltitude = null;
+        if (targetWaypoint != null && !this.contains(targetWaypoint)) {
+            nextWaypoint(MathHelper.floor(data.altitude));
         }
 
         if (targetWaypoint == null) {
@@ -37,62 +38,62 @@ public void tick() {
 
         Vector2d target = new Vector2d(targetWaypoint.targetPosition());
 
-        landAltitude = null;
         if (targetWaypoint instanceof LandingWaypoint) {
             landingInProgress = tickLanding(target);
             if (landingInProgress) {
-                targetWaypoint.setTargetAltitude(landAltitude);
+                setLandTargetAltitude(landAltitude);
             }
-
             return;
         }
 
         float altitude = targetWaypoint.targetAltitude() != null ? targetWaypoint.targetAltitude() : data.altitude;
         if (target.sub(data.position.x, data.position.z).length() <= 20.0f && Math.abs(altitude - data.altitude) <= 10.0f) {
-            nextWaypoint(altitude);
+            nextWaypoint(MathHelper.floor(altitude));
         }
     }
 
-    private void nextWaypoint(Float altitude) {
+    private void nextWaypoint(Integer altitude) {
         int nextIndex = this.indexOf(targetWaypoint) + 1;
         if (waypointExistsAt(nextIndex)) {
             targetWaypoint = this.get(nextIndex);
-            if (targetWaypoint instanceof LandingWaypoint && altitude != null) {
-                targetWaypoint.setTargetAltitude(MathHelper.floor(altitude));
-            }
+            setLandTargetAltitude(altitude);
+        } else {
+            targetWaypoint = null;
+        }
+    }
+
+    private void setLandTargetAltitude(Integer altitude) {
+        if (targetWaypoint instanceof LandingWaypoint land && altitude != null) {
+            land.setTargetAltitude(altitude);
         }
     }
 
     private boolean tickLanding(Vector2d target) {
+        double distance = Vector2d.distance(target.x, target.y, data.position.x, data.position.z);
+        if (distance <= 10.0 && data.heightAboveGround <= 3.0f) {
+            nextWaypoint(null);
+            return false;
+        }
+
         BlockPos landPos = data.findGround(new BlockPos.Mutable(target.x, 320, target.y));
         if (landPos == null) {
             return false;
         }
         landAltitude = landPos.getY();
-        Double distance = getDistanceToNextWaypoint();
-        assert distance != null;
-        if (distance < 5.0) {
-            nextWaypoint(null);
-        }
 
         float landAngle = FAMathHelper.toDegrees(MathHelper.atan2(landAltitude - data.altitude, distance));
-        if (landAngle < PitchController.DESCEND_PITCH + 10) {
+        if (landAngle > 5.0f || landAngle < PitchController.DESCEND_PITCH + 15) {
             return false;
         }
+        BlockHitResult result = data.world.raycast(new RaycastContext(data.position, new Vec3d(target.x, landAltitude, target.y), RaycastContext.ShapeType.COLLIDER, RaycastContext.FluidHandling.ANY, data.player));
 
-        BlockHitResult result = data.world.raycast(new RaycastContext(data.position, new Vec3d(target.x, landAltitude + 1.0, target.y), RaycastContext.ShapeType.COLLIDER, RaycastContext.FluidHandling.ANY, data.player));
-
-        return result.getType() == HitResult.Type.MISS;
+        return result.getType() == HitResult.Type.MISS || Math.abs(result.getPos().y - landAltitude) <= 5.0;
     }
 
     public boolean isOnApproach() {
         return targetWaypoint instanceof LandingWaypoint;
     }
 
-    public boolean shouldFlare() {
-        return landAltitude != null && data.altitude - landAltitude <= 5.0f;
-    }
-
     public @Nullable Text formatMinimums() {
         if (targetWaypoint instanceof LandingWaypoint land) {
             return land.formatMinimums();
@@ -153,9 +154,7 @@ public boolean shouldFlare() {
 
     public void execute(int waypointIndex) {
         targetWaypoint = this.get(waypointIndex);
-        if (targetWaypoint instanceof LandingWaypoint) {
-            targetWaypoint.setTargetAltitude(MathHelper.floor(data.altitude));
-        }
+        setLandTargetAltitude(MathHelper.floor(data.altitude));
     }
 
     public boolean waypointExistsAt(int index) {

diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/LandingWaypoint.java b/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/LandingWaypoint.java
@@ -35,9 +35,7 @@ public Text formatMinimums() {
         };
     }
 
-    @Override
-    public Waypoint setTargetAltitude(Integer targetAltitude) {
+    public void setTargetAltitude(Integer targetAltitude) {
         this.targetAltitude = targetAltitude;
-        return this;
     }
 }
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/Waypoint.java b/src/main/java/ru/octol1ttle/flightassistant/computers/navigation/Waypoint.java
@@ -25,8 +25,4 @@ public Integer targetAltitude() {
     public Integer targetSpeed() {
         return targetSpeed;
     }
-
-    public Waypoint setTargetAltitude(Integer targetAltitude) {
-        throw new IllegalStateException("Cannot update altitude on a non-landing waypoint");
-    }
 }
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/safety/GPWSComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/safety/GPWSComputer.java
@@ -10,6 +10,7 @@
 import org.joml.Vector2d;
 import ru.octol1ttle.flightassistant.computers.AirDataComputer;
 import ru.octol1ttle.flightassistant.computers.ITickableComputer;
+import ru.octol1ttle.flightassistant.computers.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.config.FAConfig;
 
 public class GPWSComputer implements ITickableComputer {
@@ -26,13 +27,15 @@ public class GPWSComputer implements ITickableComputer {
     private static final float PULL_UP_THRESHOLD = 5.0f;
     private static final float PITCH_CORRECT_THRESHOLD = 2.5f;
     private final AirDataComputer data;
+    private final FlightPlanner plan;
     public float descentImpactTime = STATUS_UNKNOWN;
     public float terrainImpactTime = STATUS_UNKNOWN;
     public Vector2d terrainAvoidVector = new Vector2d();
     public boolean fireworkUseSafe = true;
 
-    public GPWSComputer(AirDataComputer data) {
+    public GPWSComputer(AirDataComputer data, FlightPlanner plan) {
         this.data = data;
+        this.plan = plan;
     }
 
     @Override
@@ -99,7 +102,7 @@ private float computeTerrainImpactTime() {
         Vec3d end = data.position.add(data.velocityPerSecond.multiply(TERRAIN_RAYCAST_AHEAD_SECONDS));
 
         BlockHitResult result = data.world.raycast(new RaycastContext(data.position, end, RaycastContext.ShapeType.COLLIDER, RaycastContext.FluidHandling.ANY, data.player));
-        if (result.getType() != HitResult.Type.BLOCK || result.getSide() == Direction.UP) {
+        if (plan.landingInProgress || result.getType() != HitResult.Type.BLOCK || result.getSide() == Direction.UP) {
             return STATUS_NO_TERRAIN_AHEAD;
         }
 

diff --git a/src/main/java/ru/octol1ttle/flightassistant/indicators/FlightModeIndicator.java b/src/main/java/ru/octol1ttle/flightassistant/indicators/FlightModeIndicator.java
@@ -111,8 +111,7 @@ private void renderVerticalMode(DrawContext context, TextRenderer textRenderer)
         String type = autoflight.selectedAltitude != null ? ".selected" : ".managed";
 
         if (plan.landingInProgress) {
-            String key = plan.shouldFlare() ? "mode.flightassistant.vert.flare" : "mode.flightassistant.vert.land";
-            verticalMode.update(Text.translatable(key, plan.landAltitude));
+            verticalMode.update(Text.translatable("mode.flightassistant.vert.land", plan.landAltitude));
         } else if (!autoflight.autoPilotEnabled || diff <= 5) {
             verticalMode.update(Text.translatable("mode.flightassistant.vert.alt_hold" + type, targetAltitude));
         } else if (diff <= 10) {