Manual.

md 6/24/2023

Yoarii's Flight system

Please read the entire manual before attempting to perform an installation, there are important
information throughout that will impact the choices you make.

Yoarii's Flight system

Overview
Required elements (for Do-It-Yourself kits)
Routes and Waypoints
Route vs Floor mode
Waypoint alignment
Skippable waypoints
Enclosures
Floors for parking; ground and space
Cargo mass capacity
Automatic shutdown
Fuel gauges
Installation as an elevator (ground to space)
Aligning the elevator to your ground construct
Creating a route
Route editor
Custom travel vector for additional elevators
Space core placement
Key bindings
Manual Controls (when user is locked in place)
Lua console commands
Mass Overload
Accuracy
Custom / non-gravity aligned travel vectors
A note on non gravity-aligned atmospheric accent/decent and angled flight paths
Shifting gravity wells
Emergency Controller Unit
Thanks

Overview
The goal of this project was initially to write a flight system capable of working as what is known as a shaft-
less space elevator. i.e. vertical movement around a predefined path. The chosen design does however
allow for more than just that and is capable of movement in any direction, within limits of the construct it
operates. The original target of only vertical movement along the gravity vector was thus surpassed and it
is possible to go in a straight line at an angle from the vertical gravity vector. Further, it also allows you to
do up-and-over maneuvers where the construct parks itself on a space platform from whichever direction
you desire.

Required elements (for Do-It-Yourself kits)

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A data bank named "Routes"

A telemeter named "FloorDetector", pointing downwards
Optional data bank named "Settings"
Screen (optional, but strongly recommended)
Atmospheric engines are required in all direction, except in the upward direction as gravity does the
job. Upward engines are used if present.
In space, you need engines in all directions.
Aim for 3g for upward lift when fully loaded.

Routes and Waypoints

Routes is an important concept for this flight system as they are what guides the construct between
positions. A route consists of two or more waypoints, a start, an end, and any number of waypoints in-
between. A waypoint specifies a position in the world. When added to a route a waypoint is associated with
other attributes, such as alignment direction and maximum speed. A route can also contain anonymous
waypoints; these exists only in one route and can't be reused. When traveling along a route, the next
waypoint dictates the direction the constructs forward should point in. Normally this is towards the
waypoint itself, but it can be locked to another direction. When a route is run in reverse, the previous
waypoint determines the alignment direction so that the the construct performs each movement in reverse
along the entire route.

Route vs Floor mode

By default, the screen will show two buttons for the start and end of each available route. Pressing either
will active the route. Below the two buttons, there's a button named "Waypoints" that shows the individual
waypoints in the route. If you would rather have a specific route shown as a list of waypoints to select from
at startup, i.e. floor-mode, use the command set -showFloor 'nameOfYourRoute'. To revert to the
default behavior, type set -showFloor '-'. Only waypoints that have not been marked as unselectable
via the route editor are shown.

Waypoint alignment

The construct will align towards the next point in the route (see setting yawAlignmentThrustLimiter),
unless that point has a locked alignment direction, in which case the construct will keep that direction while
approaching the waypoint. The construct will also automatically lock and hold the direction if the next
target point is nearly straight up or down from its current position, also when issued a move command.

Skippable waypoints

You can mark a waypoint in the route as skippable. Doing so makes the system ignore that point when
calculating the path to travel to the selected waypoint. However, even if a waypoint is marked as such, it is
still used to find the closest point on the complete path when a route is activated. In other words, a
skippable point is only considered as such while traveling, not when determining what point to first move
to to get back onto the path. This may result in that when activating a route while you're currently traveling
between two points, the system may tell you you are too far from the route. A shorter description of this
behavior is that paths resulting from skipped points are not used for evaluating distance to the route on
activation.

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Enclosures

If you intend to build an enclosure for the construct remember that physics in Dual Universe creates a hit
box around constructs in the shape of a box, not the visual contours. As such your enclosure must be able
to fit a box the size of the extreme distances of the construct on all three axes. Leave a margin at least a
full voxel (moving vertices does not count, the entire voxel must be deleted)

Floors for parking; ground and space

Due to Dual Universe's slightly wonky physics, when creating floors for any dynamic construct, ensure that
the floor fully encompasses the dynamic construct and it does NOT cross core boundaries or it might clip
through and fall, or worse, explode.

Cargo mass capacity

The cargo mass ratings given for constructs are given in raw mass values, i.e. not taking mass reduction
talents into account. As such, do not blindly look at the mass shown in the inventory interface of DU.
Instead, inspect the item/stack and look at the actual mass of the stack - the DU interface show only 75% of
the actual mass when the construct is fully boosted.

The rating is based on these prerequisites:

Take off from near water level at 100% atmosphere.

Gravity of 1g.
Atmosphere thickness of Alioth.
Zero personal talents.
Construct full boosted with lvl 5 flight/container/tank skills.

From the above it should be understood that taking off from lower atmosphere (such as from a higher
point, or a low-atmosphere planet) makes a big difference in capacity. Likewise, coming into atmosphere
and stopping at higher up/in low atmosphere is also subject to the same altered performance.

Automatic shutdown
When the last point in the route is reached, and the telemeter reports a distance less than the one
configured, the script will automatically shutdown.

Fuel gauges
The screen shows up to four fuel tanks of each of the atmospheric and space types. It chooses the ones to
display based on the lowest percentage and as such you can always see how close you are to run out of
fuel, regardless of how many fuel tanks you have.

Installation as an elevator (ground to space)

Aligning the elevator to your ground construct

To get a near-perfect alignment of the elevator to your ground construct, follow these steps.

1. Place a Programming Board on the construct that will contain the dock/cradle/landing pad of the
elevator.
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2. Connect a screen to the programming board.

3. Select the direction you want to align to and paste one of the four code snippets below into unit -
> start, whichever is appropriate.

Align to forward vector

local Vec3 = require("cpml/vec3")

local v = Vec3(construct.getWorldOrientationForward())
local fmt = "align-to-vector -x %0.14f -y %0.14f -z %0.14f"
local s = string.format(fmt, v.x, v.y, v.z)
slot1.setCenteredText(s)
unit.exit()

Align to backwards vector

local Vec3 = require("cpml/vec3")

local v = -Vec3(construct.getWorldOrientationForward())
local fmt = "align-to-vector -x %0.14f -y %0.14f -z %0.14f"
local s = string.format(fmt, v.x, v.y, v.z)
slot1.setCenteredText(s)
unit.exit()

Align to right vector

local Vec3 = require("cpml/vec3")

local v = Vec3(construct.getWorldOrientationRight())
local fmt = "align-to-vector -x %0.14f -y %0.14f -z %0.14f"
local s = string.format(fmt, v.x, v.y, v.z)
slot1.setCenteredText(s)
unit.exit()

Align to left vector

local Vec3 = require("cpml/vec3")

local v = -Vec3(construct.getWorldOrientationRight())
local fmt = "align-to-vector -x %0.14f -y %0.14f -z %0.14f"
local s = string.format(fmt, v.x, v.y, v.z)
slot1.setCenteredText(s)
unit.exit()

4. Start the Programming Board and copy the command from the screen (CTRL-L to to open editor
while pointing to the screen).

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The command is the part in the text = .... line of the screen code. Do not copy the
quotation marks.

5. Start the elevator, enter manual control mode and raise it up slightly using the move command.
Manual mode is needed to prevent it to shutdown automatically.

6. Paste the command into Lua-chat and press enter to perform the alignment.

Showing the widgets (show-widgets 1) and looking in the "Rotation" widget, under
"Axis/Yaw", at the offset value will show 0 when it is aligned.

7. Once aligned, either hold C or use the move command to set it down again.

8. Turn off the elevator.

Creating a route

1. Decide on what distance above (not height above sea level) you want the route to stop at.
2. Decide on a name for the route. You can use spaces in it, but you must surround it with single quotes,
like so: 'a name'. Double quotes do currently not work due to a bug in DU. Keep the name at 14
characters or less so it fits on the screen.
3. Activate the elevator.
4. In Lua chat, type: create-vertical-route 'route name' -distance 12345, replacing values
as appropriate.

If this isn't your first elevator, and you want this one to run parallel to the first one, add the -
distance, -x, -y, and -z arguments you get using the instructions in the "Travel vector for
additional elevators" section.

Example: create-vertical-route 'route name' -distance 100000 -x 0.1234 -y

0.5678 -z 0.9012

The screen will now show the name of your route with two buttons, one for the start (ground) and end
(space). Simply clicking these buttons will make the elevator move to those respective locations.

You can now expand on this route by adding additional points to it (see Key-bindings, Manual Controls and
Lua console commands), do do up-and-over maneuvers, sideways movements etc., to fit your exact needs.
Needless to say, any additional movement increases fuel consumption. This is especially true in atmosphere
where gravity generally is higher.

Route editor

The on-screen route editor (accessible from the main screen) allows you to perform the following
operations on a route.

Add a waypoint to a route, with or without direction information.

Remove a waypoint from a route.
Reorder waypoints in a route.
Set a waypoint as skippable, allowing it to be skipped when moving along the route.
Set a waypoint as unselectable, which will hide it from from the floor-selection screen.
Add current pos with or without direction information.

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Discard any changes made to the route.

Save the route.

If there are more waypoints that fit on a single screen, use the arrows below the list to switch to another
page.

Custom travel vector for additional elevators

To ensure that elevators end up at the same relative distances in space as they have on the ground, you
need to make them use the same travel direction. To do so, follow these instructions:

Note: This only looks at the two first points in the route. If you want to use other points, you can use
the sub-pos command.

1. Select one elevator as the reference elevator.

2. Activate the elevator

3. Choose the route you want to use as a reference and type the following command in Lua chat,
replacing with your route name.

get-parallel-from-route YOUR_ROUTE_NAME

This will print something like this:

[I] -distance 123456 -x 0.123456 -y 0.456789 -z 0.789012

4. Copy this from the chat (right click on the Lua chat tab to access menu) and paste it into your favorite
text editor and extract the relevant parts after the [I], you'll find it at the very end of the text.
Ensure that you get all the decimals.

See the accuracy section for additional information.

Space core placement

When placing the space core/construct, using the snapping mode on the elevator can make it much easier
to align it correctly. Just keep in mind where the parking spot is meant to be etc.

Hint: To activate snapping mode, point into empty space, then click middle mouse button, then left click on
the elevator to select it as a reference construct and move the new core/construct using normal
adjustment keys. If you're doing it alone, the ECU must be holding the elevator in place, you can't actively
run the remote controller while deploying a core/construct.

Key bindings
Key Description

Alt-Shift-9 (Un)locks player / enters/exists manual control (WSAD etc.) mode

Manual Controls (when user is locked in place)

Key Description

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Key Description

A Turn left

S Move backwards

W Move forward

D Turn right

C Move down

Space Move up

Alt-A Strafe left

Alt-D Strafe right

Mouse scroll wheel Increase/decrease max speed

Note: Manual control of heavy constructs are much less accurate (especially during vertical
movements). Don't expect the same maneuverability as a tiny 1.5t construct.

Lua console commands

Command Parameters/options Unit/type Optional Description

Initiates a movement relative to

move
the current position

Forward distance; negate to

-f meter Y
move backwards.

Upward distance; negate to

-u meter Y
move downwards.

Rightward distance; negate to

-r meter Y
move leftwards.

-maxspeed km/h Y Maximum approach speed

if true, locks the direction

during the approach to that
-lockdir boolean Y
which the construct had when
the command was issued.

The maximum distance from the

destination the construct may
-margin meter Y
be for the destination to be
considered reached.

goto waypoint or ::pos{} string Moves to the given point

-maxspeed km/h Y See <move>

-lockdir Y See <move>

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Command Parameters/options Unit/type Optional Description

-margin meter Y See <move>

If specified, the distance will be

shortened by this amount, i.e.
stop before reaching the
position. Good for approaching
-offset meter Y
unknown locations.
Negative offsets means the
other side of the point, i.e.
overshoot.

Prints the current position and

print-pos
current alignment point

Aligns to the given point or

align-to waypoint or ::pos{} string
named waypoint

Aligns to the given point, as

align-to- given by a 3D-vector. See
vector section "Aligning the elevator to
your ground construct"

-x number N X-component of the vector

-y number N X-component of the vector

-z number N X-component of the vector

Shows the named route in floor-

floor name of route string N
mode.

Stops and returns to the

hold position at the time of
execution, then holds.

Puts the system into idle mode,

idle
engines are off.

Turns the construct the

turn angle degrees N specified number of degrees
around the Z-axis (up)

Initiates a strafing move with

strafe distance meter N
locked direction.

Lists the currently available

route-list
routes

route-edit name of route N Opens a route for editing

route- Creates a new route and opens

name of route N
create it for editing

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Command Parameters/options Unit/type Optional Description

route- Saves the currently open route,

save and closes it for editing.

route- Activates the named route and

name of route N
activate starts the flight.

Specifies which waypoint index

that shall be the final
-index integer Y destination. Default is '0',
meaning the last point in the
route.

route-
name of route N Deletes the named route
delete

route-
Renames a route
rename

The name of the route to

-from string
rename

-to string The new name of the route

route-
Removes the point at index
delete- index of waypoint number N
from the route.
pos

route- Moves a point from one index to

move-pos another

-from number The index to move from

The index to move to. Positions

-to at and after the position are
shifted forward.

route-
Moves the position at the given
move-pos- position index, 1..n number N
index one step forward.
forward

route-
Moves the position at the given
move-pos- position index, 1..n number N
index one step backward.
back

route-
add- Adds the current position to the
current- current route
pos

-maxspeed km/h Y See <move>

-lockdir boolean Y See <move>

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Command Parameters/options Unit/type Optional Description

-margin meter Y See <move>

route-
add-
named-
pos

Adds a named waypoint to the

name of waypoint
route

-maxspeed km/h Y See <move>

-lockdir Y See <move>

-margin meter Y See <move>

route-set-
Sets margin on all points in the
all- meter N
route to the provided value
margins

route-set-
Sets max speed on all points in
all-max- km/h N
the route to get provided value
speeds

route-set- Sets the respective option on

pos- -index number N the point given by index in the
option currently edited route.

Toggles the skippable option of

the point. A skippable point may
-toggleSkippable Y
be skipped when traveling to
another point in the route.

Toggles the selectable option of

the point. A selectable point will
-toggleSelectable Y show up in the list of available
points when a route is show in
floor-mode.

Sets the margin, in meters, for

-margin number Y
the point.

route- Prints the options of the given

print-pos- number N point in the currently open
options route.

route- Prints the current route to the

print console

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Command Parameters/options Unit/type Optional Description

pos-
Creates a waypoint relative to
create-
name of waypoint the constructs position along
along-
the gravity vector.
gravity

Upward distance; negate to

-u meter N place point downwards the
source of gravity

pos- Creates a waypoint relative to

create- name of waypoint the construct and its current
relative orientation.

Forward distance; negate to

-f meter Y
move backwards.

Upward distance; negate to

-u meter Y
move downwards.

Rightward distance; negate to

-r meter Y
move leftwards.

Prints the position relative to

pos-print-
the construct and its current
relative
orientation.

Forward distance; negate to

-f meter Y
move backwards.

Upward distance; negate to

-u meter Y
move downwards.

Rightward distance; negate to

-r meter Y
move leftwards.

Save the current position as a

pos-save-
named waypoint for later use in
current-as
a route

If given, this is the name to save

-name string Y
as.

If specified automatically
created a waypoint by name
-auto Y
WPnnn, such as WP001. Takes
precedence over -auto

Saves the provided position as a

pos-save-
name of waypoint N named waypoint for later use in
as
a route

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Command Parameters/options Unit/type Optional Description

The position string to save as

-pos ::pos{} N
the given name

pos- Renames the waypoint and all

rename references to it in routes.

-old N Name of the existing waypoint

-new N New name of the waypoint

pos-list Lists the saved positions

pos-
Deletes a waypoint.
delete

name of waypoint string N The waypoint to delete.

Creates a route by the given

name from current position to a
point above (or below) at the
given distance along gravity or
create-
optionally, using the given
vertical- name of route
values for the up-vector. The
route
start end end points are given a
margin of 0.3m to counter small
construct movements when the
controller turns off.

The distance of the point above

-distance number N
or below (when negative)

If specified an extra point will

be added so that the part of the
path that is in atmosphere will
-followGravInAtmo Y
follow the gravity vector,
regardless of the specified
custom vector.

Specifies the margin used for

-extraPointMargin number N
the extra point, default 5 m.

Specifies the X-value of the

-x number N direction vector (see 'Travel
vector for additional elevators').

Specifies the Y-value of the

-y number N direction vector (see 'Travel
vector for additional elevators').

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Command Parameters/options Unit/type Optional Description

Specifies the Z-value of the

-z number N direction vector (see 'Travel
vector for additional elevators').

Prints the negative of the

print- gravitational up-vector, i.e. 'up',
vertical- at the current location. Used to
up get values for use with create-
vertical-route.

Prints the direction and distance

from the first to the second
get-
point in the route in a format
parallel-
directly usable by the create-
from-
vertical-route command.
route
Can be used to create a route
parallel to another one.

Prints the direction and distance

in a format directly usable by
the create-vertical-route
sub-pos A ::pos{} string string N
command. Can be used to
create a route parallel to
another one.

If proved this is the subtrahend.

-sub ::pos{} Y If left out, the current position
is used.

Sets the specified setting to the

set
specified value

Sets the engine warmup time

-engineWarmup seconds Y (T50). Set this to that of the
engine with longes warmup.

Sets the container proficiency

-containerProficiency integer Y
talent level, 1-5

Sets the fuel tank optimization

-fuelTankOptimization integer Y
talent level, 1-5

Sets the atmospheric fuel tank

-atmoFuelTankHandling integer Y
handling talent level, 1-5

Sets the space fuel tank

-spaceFuelTankHandling integer Y
handling talent level, 1-5

Sets the rocket fuel tank

-rocketFuelTankHandling integer Y
handling talent level, 1-5

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Command Parameters/options Unit/type Optional Description

Sets the distance at which the

- system shuts down while in
number Y
autoShutdownFloorDistance Hold-state, as measured by the
'FloorDetector' telemeter

Sets the alignment limit angle

which yaw must be within
-yawAlignmentThrustLimiter number Y
before accelerating to the next
waypoint.

If true, diagnostics widgets are

-showWidgetsOnStart boolean Y
shown on start up

Sets the maximum allowed

activation distance between the
-routeStartDistanceLimit number Y
construct and the closest point
of a route

Sets the step size of the throttle

-throttleStep number Y in manual control mode in
percent, default 10

If true, manual mode is

-manualControlOnStartup boolean Y
activated on startup.

Sets the turn angle per key

-turnAngle degrees Y press for the manual control
mode.

Sets the minimum allowed

offset from the path during
-minimumPathCheckOffset meter Y travel at which the construct
will stop to and return to the
path. Default 2m.

If set, causes the named route

name of to be displayed in floor-mode on
-showFloor Y
route startup. To disable, use '-' as the
route name.

The threshold angle that

determines if the construct will
align to the flight path or the
-pathAlignmentAngleLimit degrees Y
gravity vector. Default: 10
degrees. Set to 0 to disable path
alignment.

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Command Parameters/options Unit/type Optional Description

The threshold distance that

- determines if the construct will
meter Y
pathAlignmentDistanceLimit align to the flight path or the
gravity vector. Default: 200m.

Prints the setting set with the

get See set Y set command, don't add the
leading -.

Prints all current settings. Don't

add the "-" before the
get-all
argument. Example: get
turnAngle.

reset- Resets all settings to their

settings defaults.

set-full- Sets all related talents for

container- containers, atmospheric, space
boosts and rocket fuel tanks to level 5

show- Show/hides widgets with

boolean Y
widgets diagnostic info

Please note that deleting named waypoints do not update routes that reference them. You can create a
new one with the same name as the one deleted, but until you do, any route that referenced it will not be
usable.

Mass Overload
Each construct has a max cargo mass it is rated for. If you load the construct with more then one or more of
the following may happen:

Event Possible reasons

When taking off from planet, it will Too little brake force to counter gravity for the current mass,
start, brake, start repeatedly. which causes the math to say max speed of 0 km/h.

Engines not being powerful enough, and/or the thin

When reaching higher atmosphere it
atmosphere causing too much reduction in power, or too
may slow down, stop, and start falling.
heavy load.

Should you end up in these situations, it is easiest to just disable the controller (and the ECU), and let it fall
back down a bit then activate it again. It will then attempt to hold the position it was at when it was
started, i.e. brake and activate engines to counter the fall. You can repeat this until you're at an height the
engines work again. Having said that, an overloaded ship is still overloaded and bad things are likely to
happen.

Accuracy
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The aim is 0.1m accuracy and this is also the default for the all movements. However, depending on various
factors such as engine choice, mass (and thus acceleration), the construct may go off the path slightly.
There is a failsafe that triggers if the nearest point on the path too far off (see setting
minimumPathCheckOffset, or as defined by the next waypoint), in which case the construct will brake
and return to the point at which it went off the path before continuing the route. If you want to override
this behavior, you can reactivate the route again which will make the construct move to the closest point on
the path from where where it is when you reactivate the route.

You may also increase the margin on specific waypoints to allow more wiggle room during travel, this may
be especially useful on waypoints towards which the acceleration/speed is high or the path is diagonal
relative to the gravity vector. Alternatively, you can set a maximum speed to reduce acceleration duration
and speed.

The two settings pathAlignmentAngleLimit and pathAlignmentDistanceLimit control if/when the

construct aligns itself to the current flight path. While doing so significantly increases the ability to stay on
the path (especially during atmospheric descent), it may cause issues if the approach to the parking
position is at an angle and it has been encapsulated. The alignment only happens if the distance to the next
and previous waypoint is greater than pathAlignmentDistanceLimit and if the angle to the gravity
vector is less than pathAlignmentAngleLimit. Should you wish to disable the alignment completely, set
pathAlignmentAngleLimit to 0.

Custom / non-gravity aligned travel vectors

The further the distance is between the reference elevator and any additional one, the harder it is to stay
exactly on the desired path, especially during strong (de)acceleration. The script will attempt to bring the
elevator back to the path in time for the end position, but if this becomes a problem you can add an
additional point in the route to force it back to the path prior to reaching the final point.

A note on non gravity-aligned atmospheric accent/decent and angled flight paths

While it is possible to make routes that are not gravity aligned work, they may be somewhat unreliable.
These are the main reasons:

Atmospheric brakes

Quote from NQ-support: The speed is projected on the horizontal plane of the construct. And
we add a brake force in that plane in the opposite direction of that projected speed, which
induces a vertical force when the ship has a pitch.

It is this horizontal force that causes the construct to be pushed off the path. The easiest way to
work around this is to ensure that the entry to the planet is aligned with the gravity vector by adding
an extra point in the route in space directly above the point inside the atmosphere (see pos-
create-along-gravity). The downside is that this will be a position the construct has to stop at,
which prolongs the travel time and increases fuel consumption due to extra acceleration.

Strong acceleration

Sideways engines are generally weaker than the main downward pointing engines so when
accelerating, the weaker ones may have difficulties to keep the construct on the path.

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Shifting gravity wells

As described in Accuracy, the script aligns either to gravity or the travel path. When gravity direction
changes, such as near Thades' moonlets (where they appear to be the sum of the different gravity wells
depending on the location of the construct), the script will adjust its alignment accordingly. Another case
where this will happen (theoretically, not actually tested at the time of writing this) is when traveling
between planets such as Alioth and Haven/Sanctuary; at the midpoint the script should flip over 180
degrees.

This means that a route starting at the surface of Thades and ending among the moonlets will have
different alignment directions along the travel path. As such, a space construct placed based on the
elevator's alignment in space will not point exactly away from Thades, but clearly be at an angle to the
planet. Please keep all this in mind when building your space construct.

A way to work around this is to add an extra point in the route within the distance of
pathAlignmentDistanceLimit so that you force the alignment to be along gravity for the duration of
the travel between the points.

Emergency Controller Unit

When running on an ECU, the script only do two things:

Attempts to hold the position it has when activated

Detect a floor, and if detected it shuts down.

The requirements for linking are the same as for when running on a controller.

Thanks
Special thanks goes out to these players:

Vargen - for our endless discussions and a fountain of ideas.

Zcrewball - for doing the industry supplying an endless number of sacrificial elements.
De Overheid - Helping out with the visual design.
Emma Roid, 2Bitter, Petra25, AceMan - for feedback

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