[Method] Apply Gyro Override

Howdy!
I figured I'd dump all of my helpful methods on the forums to help those who are looking to learn. This is my standard method for applying a gyro override using a specified block as a rotation reference.

Code:

Code:

//Whip's ApplyGyroOverride Method v9 - 8/19/17
void ApplyGyroOverride(double pitch_speed, double yaw_speed, double roll_speed, List<IMyGyro> gyro_list, IMyTerminalBlock reference)
{
	var rotationVec = new Vector3D(-pitch_speed, yaw_speed, roll_speed); //because keen does some weird stuff with signs
	var shipMatrix = reference.WorldMatrix;
	var relativeRotationVec = Vector3D.TransformNormal(rotationVec, shipMatrix);
	foreach (var thisGyro in gyro_list)
	{
		var gyroMatrix = thisGyro.WorldMatrix;
		var transformedRotationVec = Vector3D.TransformNormal(relativeRotationVec, Matrix.Transpose(gyroMatrix));
		thisGyro.Pitch = (float)transformedRotationVec.X;
		thisGyro.Yaw = (float)transformedRotationVec.Y;
		thisGyro.Roll = (float)transformedRotationVec.Z;
		thisGyro.GyroOverride = true;
	}
}

Example Use:

Code:

//Speeds are in radians per second
double desiredPitchSpeed = 1;
double desiredYawSpeed = 2;
double desiredRollSpeed = 3;

List<IMyGyro> gyros = new List<IMyGyro>();

void Main()
{
	var referenceBlock = GridTerminalSystem.GetBlockWithName("Reference"); //grab a block with which to base rotations off off
	
	GridTerminalSystem.GetBlocksOfType(gyros); //grab list of gyros

	bool isBroke = false; //error handling
	if (referenceBlock == null)
	{
		isBroke = true;
		Echo("Error: No reference block found");
	}

	if (gyros.Count == 0)
	{
		 isBroke = true;
		Echo("Error: No gyros found");
	}

	if (isBroke)
		return;

	ApplyGyroOverride(desiredPitchSpeed, desiredYawSpeed, desiredRollSpeed, gyros, referenceBlock); //apply gyro override
}

Hope y'all find this helpful

 

That is helpful. Thank you. I just hope I can remember where I found this code when I need it!