Archean simple plane

; this was converted to code from nodes so is a bit of a mess

const $mynumber1 = 0.200000

var $_plane_counter1 = 0
var $dash = screen("dash1", 0)
var $battCharge = 0
var $stabRoll = 0.0
var $stabPitch = 0.0

function @pid1($_setpoint:number, $_processvalue:number, $_kp:number, $_ki:number, $_kd:number, $_integral:number, $_prev_error:number) : number
	var $_error = $_setpoint - $_processvalue
	var $_dt = delta_time
	var $_derivative = ($_error - $_prev_error) / $_dt
	$_integral += $_error * $_dt
	$_prev_error = $_error
	return $_kp * $_error + $_ki * $_integral + $_kd * $_derivative

init
	$dash.blank()

update
	var $_input_number_9_1 = input_number(9, 1) ; Back/Fwd

	var $_input_number_9_5 = input_number(9, 5) ; Roll
	output_number(2, 0, ($_input_number_9_5 * 0.75))
	output_number(1, 1, ($_input_number_9_5 * -0.75))
	var $_input_number_9_2 = input_number(9, 2) ; Left/Right
	; moved to stab
	var $_input_number_9_8 = input_number(9, 8) ; Aux 1
	output_number(7, 3, $_input_number_9_8)

	;var $wheelie = input_number(9,9)
	;output_number(7, 0, $wheelie)

	var $tilt = input_number("tilt_roll", 0)
	var $pitch = input_number("tilt_pitch", 0)
	var $speed = input_number("speed", 0)
	var $altitude_abs = input_number("altitude", 0)
	var $altitude = input_number("altitude", 1)

	var $stabsw = input_number("dash1", 2)
	if $stabsw == 1
		$stabRoll = $tilt * -2
		output_number(6, 0, -($stabRoll))
		output_number(11, 0, $stabRoll)
	else
		output_number(6, 0, (-($_input_number_9_2 * 0.75)))
		output_number(11, 0, ($_input_number_9_2 * 0.75))

	var $pitchsw = input_number("dash1", 1)
	if $pitchsw == 1
		$stabPitch = @pid1(0.12, $pitch, 0.3,0.2,0.1,0,0)
		output_number(3, 0, $stabPitch)
	else
		output_number(3, 0, ($_input_number_9_1 * -0.75))

	var $_input_number_9_3 = input_number(9, 3) ; Down/Up
	var $_input_number_9_17 = input_number(9, 17) ; Aux 0
	$_plane_counter1 += $_input_number_9_3
	if $_plane_counter1 < 0
		$_plane_counter1 = 0
	if $_plane_counter1 > 100
		$_plane_counter1 = 100
	if $_input_number_9_17
		$_plane_counter1 = 0
	output_number(8, 0, ($_plane_counter1 / 100))
	output_number(8, 1, $mynumber1)

	; dashboard
	$battCharge = input_number("battery1", 2)*100
	$dash.blank()
	$dash.text_size(0.7)
	$dash.write(2, 2, green, text("   Battery: {0}%", $battCharge))
	$dash.write(2, 12, green, text(" Throttle: {0}", $_plane_counter1))
	$dash.write(2, 22, green, text("    Speed: {0}", $speed))
	$dash.write(2, 32, green, text("Radar Alt: {0}", $altitude))
	$dash.write(2, 42, green, text(" Altitude: {0}k", $altitude_abs/1000))