initial

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/autopilot_advanced.yolol

@@ -0,0 +1,20 @@
+if:AutoPilot<1 and :Nav<1theng=0 f=0 goto1end ap=:AutoPilot
+r=20 pt=15 yt=15 ep=1.05 ed=5000 et=5000 t=:Turtle :Cruise=0
+ifg>0then:Avoidance=1else:Avoidance=0end
+xD=:wx-:ex yD=:wy-:ey zD=:wz-:ez Dt=sqrt(xD^2+yD^2+zD^2)
+iff<1thenx0=:ex y0=:ey z0=:ez Do=Dt f=1 r=0end
+da=sqrt((:ex-x0)^2+(:ey-y0)^2+(:ez-z0)^2) d0=d1 d1=Dt v1=d0-d1
+dx=(Do-da)*ep+ed ifDt>dx or :cas>0thens=1 :cas=0end
+ifs>0then:FCUForward=0 ifabs v1<15thenf=0 g=0 s=0 goto1endend
+e=10^6 ds=e*sqrt((:fx-:ex)^2+(:fy-:ey)^2+(:fz-:ez)^2) Dd=ds/Dt
+xs=:ex+Dd*xD/e ys=:ey+Dd*yD/e zs=:ez+Dd*zD/e vr=xs-:fx vs=ys-:fy
+vt=zs-:fz vj=:gx-:ex vk=:gy-:ey vl=:gz-:ez va=:fx-:ex vb=:fy-:ey
+vc=:fz-:ez vx=vk*vc-vb*vl vy=-(vj*vc-va*vl) vz=vj*vb+va*vk
+pj=vr*vj+vs*vk+vt*vl px=vr*vx+vs*vy+vz*vt a=pj>-r b=px>-r c=pj<-r
+n="\n" :dd=Do-da+n+Dt+n+v1+"\npj:"+pj+" px:"+px+" r:"+r+" g:"+g d=pj>r
+ifDt<et then:AutoPilot=0 :FCUForward=0end ifg>0thengoto1end h=pj<r
+ifa*h*b*(px<r)theng=ap :FCUForward=t*ap :Nav=0 goto1end j=px>r k=px<-r
+ifc then:FcuRotationalPitch=pt end ifd then:FcuRotationalPitch=-pt end
+ifj then:FcuRotationalYaw=yt end
+ifk then:FcuRotationalYaw=-yt end goto1
+// Original by fixerid

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/avoidance_basic.yolol

@@ -0,0 +1,7 @@
+if:Avoidance<1thengoto1end :rf=1 :range=1
+if:ga>0thengoto4end :FcuRotationalPitch=0
+ifi>0then:FCUForward=f :cas=1 i=0end goto1
+:FcuRotationalPitch=-20 :acount++
+ifi<1theni=1 f=:FCUForward :FCUForward=0end goto1
+
+// Original by fixerid

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/compass_3in1_basic.yolol

@@ -0,0 +1,13 @@
+a="origin_" b=a+"north" c=a+"south" d=a+"east" :kt=b goto2-:kr
+a+="west" e=160000 f=8*e g=f*3/13 h=2*e i=h*13/19 j=f*3/19 k=h*13/3
+l=1000000 m=l-:ke m*=m n=l-:kf n*=n o=l-:kg o*=o :kt=c
+p=q r=s t=u
+v=l-:ke v*=v w=l-:kf w*=w x=l-:kg x*=x :kt=d
+:ex=(m+v)/f+y/g-z/j :ey=v/h-m/i+(y+z)/k :ez=(y+z-m-v)/e
+y=l-:ke y*=y q=l-:kf q*=q s=l-:kg s*=s :kt=a
+:fx=(n+w)/f+p/g-aa/j :fy=w/h-n/i+(p+aa)/k :fz=(p+aa-n-w)/e
+z=l-:ke z*=z aa=l-:kf aa*=aa u=l-:kg u*=u :kt=b
+:gx=(o+x)/f+r/g-t/j :gy=x/h-o/i+(r+t)/k :gz=(r+t-o-x)/e goto3-:kr
+
+// based on ISAN v2.5 by Collective
+// by Firestar99

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/compass_basic.yolol

@@ -0,0 +1,20 @@
+a="" b=" " c="  " d="   " e="    " f="     " g="\n" h="-" i="|"
+j="  |\n" k="-         -" l="\n     |" m=:kx n=:ky goto:kz
+:g=o+p+q+m+r+s+g+g+g+k+g+g+l m=:kx n=:ky goto:kz // original by
+:g=j+t+u+q+m+g+g+k+g+g+l m=:kx n=:ky goto:kz // Firestar99
+:g=j+g+t+u+q+m+g+k+g+g+l m=:kx n=:ky goto:kz
+:g=j+g+g+v+t+q+m+w+x+y+g+g+l m=:kx n=:ky goto:kz
+:g=j+g+g+k+g+t+u+q+m+g+l m=:kx n=:ky goto:kz
+:g=j+g+g+k+g+g+t+u+q+m+l m=:kx n=:ky goto:kz
+:g=j+g+g+k+g+g+g+t+z+q+m+w+s m=:kx n=:ky goto:kz
+t=a q=a w=e x=f u=a z=a p=a s=i v=a y=h o=a r=b goton
+t=a q=a w=d x=f u=b z=b p=a s=i v=h y=h o=a r=b goton
+t=b q=a w=c x=f u=b z=b p=a s=i v=h y=h o=a r=b goton
+t=c q=a w=b x=f u=b z=b p=a s=i v=h y=h o=a r=b goton
+t=d q=a w=a x=f u=b z=b p=b s=i v=h y=h o=a r=a goton
+t=e q=a w=a x=e u=b z=b p=b s=b v=h y=h o=b r=a goton
+t=f q=a w=a x=d u=b z=i p=i s=b v=h y=h o=c r=a goton
+t=f q=b w=a x=c u=b z=i p=i s=b v=h y=h o=c r=a goton
+t=f q=c w=a x=b u=b z=i p=i s=b v=h y=h o=c r=a goton
+t=f q=d w=a x=a u=b z=i p=i s=b v=h y=h o=c r=a goton
+t=f q=e w=a x=a u=b z=i p=i s=a v=h y=a o=c r=a goton

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/compass_delta_advanced.yolol

@@ -0,0 +1,14 @@
+:ka+=.7*(:ka==0) :kz=2-:kr>0 goto2-:kr
+a="+0" b="O1" c=0 d=0 e=0 f=0 g=0 h=.5 i=1
+j=:ex k=:ey l=:ez m=:fx-j n=:fy-k o=:fz-l p=:gx-j q=:gy-k r=:gz-l
+s=(m*m+n*n+o*o)^h m/=s n/=s o/=s t=(p*p+q*q+r*r)^h p/=t q/=t r/=t
+u=:wx-j v=:wy-k w=:wz-l x=(u*u+v*v+w*w)^.5 u/=x v/=x w/=x y=n*r-q*o
+z=o*p-r*m aa=m*q-p*n ab=m*u+n*v+o*w ac=y*u+z*v+aa*w ad=p*u+q*v+r*w
+f=ac*3/i f=6-f-(3-f)*(f<3)-(-3-f)*(f>-3) g=ad*5/i
+:kz=15-g-(5-g)*(g<5)-(-5-g)*(g>-5) :kx=a+b-ab<0-a-b :ky=f :kl=x
+:hx=m :hy=n :hz=o :ix=y :iy=z :iz=aa :jx=p :jy=q :jz=r
+i=:ka :ks=((j-c)^2+(k-d)^2+(l-e)^2)^.5/1.6 c=j d=k e=l goto3-:kr
+:kz=1 c="\n Read\n upgrade\ninstruction\n !!!"
+:g=c+"\n\nmissing :ka" goto12-:kr
+
+// original by Firestar99

Reference/EGOTech/rigger/yolol/nav_cas_with_isan/waypoint_saver_basic.yolol

@@ -0,0 +1,20 @@
+if:savewp<1thengoto1end n=:wpn l=n+2 k=1000 p="\n"
+t="  \nX:"+:newx/k*k+" \nY:"+:newy/k*k+" \nZ:"+:newz/k*k gotol
+:w1=t :wp=n+"\n"+w :savewp=0 goto1
+:w2=t :wp=t :savewp=0 goto1
+:w3=t :wp=t :savewp=0 goto1
+:w4=t :wp=t :savewp=0 goto1
+:w5=t :wp=t :savewp=0 goto1
+:w6=t :wp=t :savewp=0 goto1
+:w7=t :wp=t :savewp=0 goto1
+:w8=t :wp=t :savewp=0 goto1
+:w9=t :wp=t :savewp=0 goto1
+:w10=t :wp=t :savewp=0 goto1
+:w11=t :wp=t :savewp=0 goto1
+:w12=t :wp=t :savewp=0 goto1
+:w13=t :wp=t :savewp=0 goto1
+:w14=t :wp=t :savewp=0 goto1
+:w15=t :wp=t :savewp=0 goto1
+:w16=t :wp=t :savewp=0 goto1
+:w17=t :wp=t :savewp=0 goto1
+:w18=t :wp=t :savewp=0 goto1