dragon-iss-docking-autopilot
说明： Go中的自动驾驶仪，用于在模拟器中对接SpaceX Dragon舱
(Autopilot in Go for docking the SpaceX Dragon capsule in the simulator)
(Autopilot in Go for docking the SpaceX Dragon capsule in the simulator)
文件列表:
LICENSE (1074, 2020-05-29)
autopilot.go (4985, 2020-05-29)
cmd (0, 2020-05-29)
cmd\autopilot-server (0, 2020-05-29)
cmd\autopilot-server\main.go (700, 2020-05-29)
go.mod (68, 2020-05-29)
loader.js (746, 2020-05-29)
vendor (0, 2020-05-29)
vendor\go_wasm_exec.js (17333, 2020-05-29)
autopilot.go (4985, 2020-05-29)
cmd (0, 2020-05-29)
cmd\autopilot-server (0, 2020-05-29)
cmd\autopilot-server\main.go (700, 2020-05-29)
go.mod (68, 2020-05-29)
loader.js (746, 2020-05-29)
vendor (0, 2020-05-29)
vendor\go_wasm_exec.js (17333, 2020-05-29)
# Dragon ISS Docking Autopilot in Go
Autopilot written in Go and executed as WebAssembly for docking the SpaceX
Dragon capsule in the [official simulator](https://iss-sim.spacex.com).
### [Screencast of the autopilot in action](https://youtu.be/jLTr6UwuSd4)
## Why
I never used Go and WebAssembly together before. This seemed like a nice and
small excercise and I also got to refresh controller algorithms.
## Using this autopilot
- Compile the autopilot and serve the files.
```bash
go run ./cmd/autopilot-server
```
- Open the SpaceX ISS docking simulator: https://iss-sim.spacex.com
- Open the developer console of your browser (eg. right click > Inspect in Chrome)
- Paste the following code into the console to load the autopilot:
```js
const s = document.createElement("script");
s.setAttribute("src", "http://localhost:8000/loader.js?t="+ new Date().getTime());
document.body.appendChild(s);
```
If you want to make modifications to `autopilot.go`, restart the
`autopilot-server`, refresh the simulator page and paste the above
JavaScript code into the console again.
## Controller algorithm
The main controller algorithm is the `correct()` method in `autopilot.go`.
At first the current rate is calculated using the previous time and offset
and dampened over some cycles `DampingCycles`.
Then a correction factor `Correction` is used to calculate the target rate.
This target rate is limited based on the offset and `RateFactor` but kept
between `RateMin` and `RateMax`.
The difference between target and current rate is then added to a clicks
accumulator. Full clicks are then subtracted from the accumulator and
returned from the function.
Play around with the `ios` configuration to get different controller behavior.
## Contributing
If you improved this autopilot or added a new feature, don't hesitate to open a PR.
I'm looking forward to see what you will do with it.
---
Built by [@mbertschler](https://twitter.com/mbertschler)
## Why
I never used Go and WebAssembly together before. This seemed like a nice and
small excercise and I also got to refresh controller algorithms.
## Using this autopilot
- Compile the autopilot and serve the files.
```bash
go run ./cmd/autopilot-server
```
- Open the SpaceX ISS docking simulator: https://iss-sim.spacex.com
- Open the developer console of your browser (eg. right click > Inspect in Chrome)
- Paste the following code into the console to load the autopilot:
```js
const s = document.createElement("script");
s.setAttribute("src", "http://localhost:8000/loader.js?t="+ new Date().getTime());
document.body.appendChild(s);
```
If you want to make modifications to `autopilot.go`, restart the
`autopilot-server`, refresh the simulator page and paste the above
JavaScript code into the console again.
## Controller algorithm
The main controller algorithm is the `correct()` method in `autopilot.go`.
At first the current rate is calculated using the previous time and offset
and dampened over some cycles `DampingCycles`.
Then a correction factor `Correction` is used to calculate the target rate.
This target rate is limited based on the offset and `RateFactor` but kept
between `RateMin` and `RateMax`.
The difference between target and current rate is then added to a clicks
accumulator. Full clicks are then subtracted from the accumulator and
returned from the function.
Play around with the `ios` configuration to get different controller behavior.
## Contributing
If you improved this autopilot or added a new feature, don't hesitate to open a PR.
I'm looking forward to see what you will do with it.
---
Built by [@mbertschler](https://twitter.com/mbertschler)
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