feat: 优化着陆控制逻辑，加入横向速度纠偏

自动着陆.py

@@ -27,7 +27,15 @@ class SpaceX_Lander:
         self.loop_dt = 0.05               # 控制周期
         
         # PID 控制器
-        self.speed_pid = PID(kp=0.06, ki=0.05, kd=0.05, integral_limit=10.0, alpha=0.5, output_limit=(0.0, 1.0))
+        # 垂直速度 -> 节流阀 (不需要变，保持现状)
+        self.vertical_speed_pid = PID(kp=0.06, ki=0.05, kd=0.05, integral_limit=10.0, alpha=0.5, output_limit=(0.0, 1.0))
+        
+        # 横向速度 -> 倾斜角度 (Aggressive Tuning)
+        # kp 增加到 3.0：意指每 1m/s 的横向速度误差，就倾斜 3 度去修正
+        # ki 增加到 0.02：消除残余稳态误差
+        # kd 增加到 0.1：提供更好的阻尼，防止震荡
+        self.horizontal_north_pid = PID(kp=3.0, ki=0.02, kd=0.1, integral_limit=15.0, alpha=0.5, output_limit=(-20.0, 20.0))
+        self.horizontal_east_pid = PID(kp=3.0, ki=0.02, kd=0.1, integral_limit=15.0, alpha=0.5, output_limit=(-20.0, 20.0))
         
         # 状态
         self.state = LandingState.GLIDE
@@ -69,7 +77,11 @@ class SpaceX_Lander:
                 last_time = now
 
                 # 获取实时飞行数据
-                flight = self.vessel.flight(self.celestial.reference_frame)
+                hybrid_ref = self.conn.space_center.ReferenceFrame.create_hybrid( # type: ignore
+                    position=self.vessel.orbit.body.reference_frame,
+                    rotation=self.vessel.surface_reference_frame
+                )
+                flight = self.vessel.flight(hybrid_ref)
                 current_altitude = flight.surface_altitude
                 current_velocity = flight.velocity
                 current_vertical_speed = flight.vertical_speed
@@ -104,21 +116,44 @@ class SpaceX_Lander:
                 # 2. 状态执行逻辑
                 throttle = 0.0
                 
+                # 计算横向控制输出 (全阶段开启，除非触地瞬间)
+                # 目标横向速度为 0
+                north_error = 0 - current_velocity[1]
+                east_error = 0 - current_velocity[2]
+                
+                north_output = self.horizontal_north_pid.update(north_error, dt)
+                east_output = self.horizontal_east_pid.update(east_error, dt)
+
+                # 根据不同阶段应用差异化的横向姿态控制
+                # 动力阶段（LAND/FINAL）需要倾斜推力来反推；气动阶段（GLIDE）则需要调整攻角利用阻力和升力
+
+
+
+                dynamic_max_tilt = max(5.0, min(20.0, h_err * 0.4))
+                
+                if self.state == LandingState.GLIDE:
+                    # 气动阶段：采用反向纠偏策略 (依靠舰体气动效应)
+                    self.set_steering_with_lateral_error(-east_output * 3, -north_output * 3, max_tilt=dynamic_max_tilt)
+                else:
+                    # 动力阶段：采用正向纠偏策略 (依靠引擎推力矢量)
+                    self.set_steering_with_lateral_error(east_output, north_output, max_tilt=dynamic_max_tilt)
+
                 if self.state == LandingState.GLIDE:
                     throttle = 0.0
-                    print(f"高度: {h_err:.1f}m, 点火距: {transition_distance:.1f}m, 东速: {current_velocity[1]:.1f}m/s, 北速: {current_velocity[0]:.1f}m/s, 状态: GLIDE", " "*10, end="\r")
+                    print(f"高度: {h_err:.1f}m, 点火距: {transition_distance:.1f}m, 状态: GLIDE, 北速: {current_velocity[1]:.1f}m/s, 东速: {current_velocity[2]:.1f}m/s", " "*5, end="\r")
                 
                 elif self.state == LandingState.LAND:
                     # 动态减速曲线
                     a_plan = max(0.1, a_net_max * self.safety_factor)
                     ideal_speed = -(max(0, self.target_landing_speed**2 + 2 * a_plan * (h_err - self.final_approach_alt))**0.5)
-                    throttle = self.speed_pid.update(ideal_speed - current_vertical_speed, dt)
-                    print(f"高度: {h_err:.1f}m, 理想速: {ideal_speed:.1f}m/s, 当前速: {current_vertical_speed:.1f}m/s, 状态: LAND", " "*10, end="\r")
+                    throttle = self.vertical_speed_pid.update(ideal_speed - current_vertical_speed, dt)
+                    
+                    print(f"高度: {h_err:.1f}m, 理想速: {ideal_speed:.1f}m/s, 当前速: {current_vertical_speed:.1f}m/s, 状态: LAND, 偏角: {dynamic_max_tilt:.1f}", " "*5, end="\r")
                 
                 elif self.state == LandingState.FINAL:
                     # 匀速下降阶段
-                    throttle = self.speed_pid.update(self.target_landing_speed - current_vertical_speed, dt)
-                    print(f"高度: {h_err:.1f}m, 目标速: {self.target_landing_speed:.1f}m/s, 当前速: {current_vertical_speed:.1f}m/s, 状态: FINAL", " "*10, end="\r")
+                    throttle = self.vertical_speed_pid.update(self.target_landing_speed - current_vertical_speed, dt)
+                    print(f"高度: {h_err:.1f}m, 目标速: {self.target_landing_speed:.1f}m/s, 当前速: {current_vertical_speed:.1f}m/s, 状态: FINAL", " "*5, end="\r")
                     
                     # 触地检测
                     if h_err < 0.5 and abs(current_vertical_speed) < 0.5:
@@ -140,7 +175,7 @@ class SpaceX_Lander:
     def _switch_state(self, new_state):
         print(f"\n[状态切换]: {self.state} -> {new_state}")
         self.state = new_state
-        self.speed_pid.reset()
+        self.vertical_speed_pid.reset()
 
 if __name__ == "__main__":
     lander = SpaceX_Lander()