feat: 初始化提交

测试文件/着陆.py

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+import time
+import krpc
+
+conn = krpc.connect(name='SpaceX Landing')
+if not conn.space_center:
+    print("No active vessel found.")
+    exit()
+vessel = conn.space_center.active_vessel
+
+# 复用之前的 PID 类
+class PID:
+    def __init__(self, kp, ki, kd, integral_limit=1.0):
+        self.kp, self.ki, self.kd = kp, ki, kd
+        self.prev_error = 0
+        self.integral = 0
+        self.integral_limit = integral_limit
+
+    def update(self, error, dt):
+        self.integral += error * dt
+        self.integral = max(-self.integral_limit, min(self.integral_limit, self.integral))
+        derivative = (error - self.prev_error) / dt
+        self.prev_error = error
+        return (self.kp * error) + (self.ki * self.integral) + (self.kd * derivative)
+
+# 1. 初始设置
+vessel.auto_pilot.engage()
+vessel.auto_pilot.reference_frame = vessel.surface_velocity_reference_frame
+vessel.auto_pilot.target_direction = (0, -1, 0) # 始终指向速度反方向（Retrograde）
+
+speed_pid = PID(kp=0.15, ki=0.05, kd=0.1, integral_limit=0.5)
+
+# 节流阀平滑处理相关变量
+last_throttle = 0.0
+alpha = 0.3  # 平滑系数。越大响应越快，越小越平滑
+
+print("着陆程序启动...")
+
+vessel.control.throttle = 0.99
+time.sleep(0.1)
+vessel.control.throttle = 0  # 自检
+
+
+while True:
+    flight = vessel.flight(vessel.orbit.body.reference_frame)
+    # 获取距地高度（考虑到雷达高度计）
+    alt = max(0, flight.surface_altitude - 9.50) 
+    vel = flight.vertical_speed
+    
+    # --- 姿态控制逻辑优化 ---
+    # 防止低速时由于速度方向频繁改变导致的姿态抖动
+    if alt < 30 or abs(vel) < 0.5:
+        # 离地很近或速度很慢时，强制垂直向上
+        vessel.auto_pilot.reference_frame = vessel.surface_reference_frame
+        vessel.auto_pilot.target_direction = (1, 0, 0) # 向天
+    else:
+        # 正常减速阶段，锁定速度反方向（Retrograde）
+        vessel.auto_pilot.reference_frame = vessel.surface_velocity_reference_frame
+        vessel.auto_pilot.target_direction = (0, -1, 0)
+
+    # 打开刹车
+    if alt < 10000 and vessel.available_thrust > 0 and vessel.control.brakes == False:
+        vessel.control.brakes = True
+
+
+    # 2. 动态速度规划 (关键逻辑)
+    # 这是一个简化的着陆曲线：目标速度 = -sqrt(2 * 理想加速度 * 高度) 
+    # 我们希望在靠近地面时速度减小到 -2 m/s
+    target_vel = -10000.0 # 高度较高时先全速下降
+    if alt < 5000:
+        if alt > 500:
+            target_vel = -min(300.0, 0.5 * alt) # 高空较快下降
+        elif alt > 200:
+            target_vel = -min(100.0, 0.5 * alt) # 高空较快下降
+        elif alt > 30:
+            # 打开刹车
+            if vessel.control.brakes == True:
+                vessel.control.brakes = False
+            target_vel = -20.0 # 中高度恒定下降速度
+        else:
+            target_vel = -3.0 # 接近地面时恒定慢速
+        
+    
+    # 3. 触地检测
+    if alt < 1.0 and abs(vel) < 0.5:
+        vessel.control.throttle = 0
+        vessel.control.sas = True 
+        print("已着陆！")
+        break
+
+    # 4. 自动部署脚架
+    if alt < 500:
+        vessel.control.gear = True
+
+    # 5. PID 计算
+    dt = 0.1
+    error = target_vel - vel
+    raw_throttle = speed_pid.update(error, dt)
+    
+    # --- 简易低延迟滤波 (EMA) ---
+    # 使用 0.4 的 alpha 值兼顾了响应速度和稳定性
+    throttle = (alpha * raw_throttle) + ((1.0 - alpha) * last_throttle)
+    
+    # 限制并在执行前更新 last_throttle
+    throttle = max(0.0, min(1.0, throttle))
+    last_throttle = throttle
+    
+    vessel.control.throttle = throttle
+    
+    print(f"高度: {alt:.2f}m | 目标速: {target_vel:.1f}m/s | 实际速: {vel:.1f}m/s | 节流阀: {throttle:.2f}")
+    time.sleep(dt)