feat: 初始化提交

测试文件/动态着陆v4.py

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+import time
+import krpc, simple_pid
+
+
+conn = krpc.connect(name='动态着陆 V4')
+if not conn.space_center:
+    print("No active vessel found.")
+    exit()
+vessel = conn.space_center.active_vessel
+flight = vessel.flight(vessel.orbit.body.reference_frame)
+# ================= 配置参数 (V4 - 动态着陆) =================
+
+
+
+# ================= 飞控 =================
+
+pid = simple_pid.PID(0.15, 0.05, 0.1, setpoint=0)
+pid.output_limits = (0, 1)  # 节流阀范围
+alpha = 0.3  # 节流阀平滑系数
+last_throttle = 0.0
+print("动态着陆 V4 已启动")
+while True:
+    alt = max(0, flight.surface_altitude - 9.50)  # 考虑雷达高度计偏差
+    vel = flight.speed
+
+    # 计算 PID 输出
+    raw_throttle = pid(vel)
+    if raw_throttle is None:
+        raw_throttle = 0.0
+
+    # 节流阀平滑处理
+    smoothed_throttle = (1 - alpha) * last_throttle + alpha * raw_throttle
+    last_throttle = smoothed_throttle
+
+    vessel.control.throttle = smoothed_throttle
+
+    time.sleep(0.1)