Starbase: YSuite - YS.Pos & YS.Nav

Made with love by Senkii & ThelegendofWolf

Welcome to the code branch of the Starbase: YSuite - YS.Pos & YS.Nav. Ask questions and follow updates on the YSuite Discord.

Module	File or Folder	Coordinates	Velocity	Nav	# Basic Chips	# Advanced Chips	State
YS.Pos SingleChip	ys-pos.yolol	Yes	No	No	1	-	Ready
YS.Pos Velocity	ys-pos-velocity.yolol	Yes	Yes	No	-	1	Ready
YS.Pos MultiChip	/multichip/ys-pos/	Yes	Yes	No	4	1	Not Ready
YS.Nav SingleChip	ys-nav.yolol	Yes	Yes	Yes	-	1	Ready
YS.Nav MultiChip	/multichip/ys-nav/	Yes	Yes	Yes	6	2	Not Ready

Hint: For streaming, rename the yolol chip(s) to GPS, and link a button with OnState 0 and OffState -1 to GPS to temporarily hide your location!

Note: YS.pos and YS.nav are fully compatible with the new version of ISAN. This means you'll be able to navigate to the position of anyone, no matter what system they use!

YS.Pos

Our answer to the question:
Where the f'ck am I!?

YS.Pos SingleChip

Yolol File	Chip	Purpose
ys-pos.yolol	Basic	Calculate and display coordinates

The single chip version of YS.Pos can be found here. This yolol script will output your X, Y and Z coordinates in-game! The script works on a basic chip.

Setup

Connect a receiver anywhere on your ship and change the following data:

Original name	New name	Value
SignalStrength	s	-
ListenAngle	-	180
TargetMessage	tm	-
TargetFrequency	-	1
Frequency	-	0

Connect a text panel anywhere on your ship and change the following data:

Original name	New name	Value
PanelValue	Pos	-
PanelVariableResolution	-	1

Connect a basic (or better) yolol chip anywhere on your ship and put in the script from ys-pos.yolol.

YS.Pos Velocity

Yolol File	Chip	Purpose
ys-pos-velocity.yolol	Advanced	Calculate and display coordinates and velocity

The single chip version of YS.Pos Velocity can be found here. This yolol script will output your X, Y and Z coordinates, and velocity in-game! The script requires at least an advanced chip. The velocity value may fluctuate a lot, and sadly this is not due to the script.

Setup

Follow the setup from YS.Pos SingleChip, but use ys-pos-velocity.yolol and an advanced chip instead.

YS.Pos MultiChip (WIP)

Yolol File	Chip	Purpose
/multichip/ys-pos/calculate-v.yolol	Advanced	Calculate velocity
/multichip/ys-pos/init-variables-z-x.yolol	Basic	Initialize variables and calculate Z and X coordinates
/multichip/ys-pos/print-pos.yolol.yolol	Basic	Print position information
/multichip/ys-pos/receiver-1-2-3.yolol	Basic	Read signal from receivers 1-3
/multichip/ys-pos/receiver-4-y.yolol	Basic	Read signal from receiver 4 and calculate Y coordinate

The multi-chip version of YS.Pos can be found here. The purpose of the multi-chip version is to put the calculations in parallel, which speeds up YS.Pos by a lot. It will give an output every line-duration (around 0.2 seconds). This version requires 4 receivers, 4 basic chips and 1 advanced chip.

Setup

Connect 4 receivers anywhere on your ship and change the following data on all of them:

Original name	New name	Value
ListenAngle	-	180
TargetFrequency	-	1
Frequency	-	0

Then change the data per receiver accordingly:

Receiver nr.	Original name	New name	Value
1	SignalStrength	s1	-
2	SignalStrength	s2	-
3	SignalStrength	s3	-
4	SignalStrength	s4	-
1	TargetMessage	-	origin_east
2	TargetMessage	-	origin_west
3	TargetMessage	-	origin_north
4	TargetMessage	-	origin_south

Connect a text panel anywhere on your ship and change the following data:

Original name	New name	Value
PanelValue	Pos	-
PanelVariableResolution	-	1

Install all yolol chips on the ship.

Put the following variablenames in static device fields (Memory chips)

Name
dA
dB
dC
dD
tx
ty
tz
x
y
z
v

YS.Nav

Did your friend give you their coordinates and do you just want to fly there without having to do anything?
YS.Nav has you covered! YS.Nav aims to provide automatic ship navigation for any player.

YS.Nav is an extension of YS.Pos, meaning it includes all features of YS.Pos!

Note: YS.Nav assumes your ship has an FCU, forward thrusters, pitch and yaw thrusters.

YS.Nav SingleChip

Yolol File	Chip	Purpose
ys-nav.yolol	Advanced	Calculate and display coordinates, velocity and target distance + Autonavigation

The single-chip version is cheap but slow. It can be found here.

Setup

Connect a receiver that is as far as possible to the center-front of your ship and change the following data:

Original name	New name	Value
SignalStrength	s	-
ListenAngle	-	180
TargetMessage	tm	-
TargetFrequency	-	1
Frequency	-	0

Connect a text panel anywhere on your ship and change the following data:

Original name	New name	Value
PanelValue	Pos	-
PanelVariableResolution	-	1

Connect a toggle-button with name T.

Connect a toggle-button with name C, OnState 0 and OffState 40, and change the Cruise name in the forward lever (previously FcuForward, now fwd) to C as well.

Change the following names in the FCU (Note: After this you will have to remap your controls!):

Original name	New name
Pitch	p
Yaw	y
fcuForward	fwd

Connect an advanced (or better) yolol chip anywhere on your ship and put in the script from ys-nav.yolol.

Use

Change the values of tx, ty and tz to your desired destination coordinates.
Enable T when your ship is static and the ship will try to aim the receiver to the destination.
Disable T to stop and switch to manual control.
After some time (It can take long due to script lag), it will fly by setting fwd to 100 and turn on Cruise mode (set C to 0).
If your ship flies too far off-route (The target distance is increasing instead of decreasing) it will restart the navigation.
If your ship is within TD meters (Default: 600m), it will disable T, as you have arrived at your destination!
Hint: Do not use outside the safezone

YS.Nav MultiChip (WIP)

Yolol File	Chip	Purpose
/multichip/ys-nav/calculate-target-distance.yolol	Advanced	Calculate target distance
/multichip/ys-nav/calculate-v.yolol	Advanced	Calculate velocity
/multichip/ys-nav/destinations.yolol	Basic	Cycle through destinations (Note: For bus-use!)
/multichip/ys-nav/init-variables-z-x.yolol	Basic	Initialize variables and calculate Z and X coordinates
/multichip/ys-nav/navigation.yolol	Advanced	Navigation
/multichip/ys-nav/print-pos.yolol.yolol	Basic	Print position information
/multichip/ys-nav/receiver-1-2-3.yolol	Basic	Read signal from receivers 1-3
/multichip/ys-nav/receiver-4-y.yolol	Basic	Read signal from receiver 4 and calculate Y coordinate

The multi-chip version of YS.Nav is a lot faster than the single-chip version! You can find this version here.

Setup

Connect 4 receivers close together and as far as possible to the center-front of your ship and change the following data on all of them:

Original name	New name	Value
ListenAngle	-	180
TargetFrequency	-	1
Frequency	-	0

Then change the data per receiver accordingly:

Receiver nr.	Original name	New name	Value
1	SignalStrength	s1	-
2	SignalStrength	s2	-
3	SignalStrength	s3	-
4	SignalStrength	s4	-
1	TargetMessage	-	origin_east
2	TargetMessage	-	origin_west
3	TargetMessage	-	origin_north
4	TargetMessage	-	origin_south

Connect a text panel anywhere on your ship and change the following data:

Original name	New name	Value
PanelValue	Pos	-
PanelVariableResolution	-	1

Install all yolol chips on the ship.
Install the destinations.yolol chip only when aiming to cycle through destinations like a bus!

Put the following variablenames in static device fields (Memory chips)

Name
OK
TD
dA
dB
dC
dD
tx
ty
tz
x
y
z
v

Connect a toggle-button with name Nav.

Connect a toggle-button with name rt

Change the following names in the FCU (Note: After this you will have to remap your controls!):

Original name	New name
Pitch	p
Yaw	ya
fcuForward	fwd

Use

Change the values of tx, ty and tz to your desired destination coordinates.
Enable Nav when your ship is static and the ship will try to aim the receiver to the destination.
Disable Nav to stop and switch to manual control.
After some time (It can take long due to script lag), it will fly by setting fwd to 100. If your ship flies too far off-route (The target distance is increasing instead of decreasing) it will restart the navigation.
If your ship is within OK meters (Default: 200m), it will disable Nav, as you have arrived at your destination!

Hint: Do not use outside the safezone

Use as bus

Make sure you have the destinations.yolol installed.
In there, change the different target coordinates to make multiple stops.
In navigation.yolol remove :Nav=(:TD<:OK) from line 7.

Math

Curious about the math behind YS.Pos and YS.Nav?

To be able to determine one's position in Starbase, we use multilateration. This is a method that allows us to calculate your position in 3D space, if the coordinates of four points that are not on a plane, and the distances from you to those points are known.
A visualisation of this method can be seen in the animation below:

Origin Transmitter Coordinates: Setting up a coordinate system

Luckily, the FrozenByte Developers put 4 fixed transmitters in the universe, which are not on one plane! We cannot immediately assign coordinates to the transmitters. First we have to measure the signal strength differences between all transmitters. This gives us the data that can be seen in /data/measurement_data_and_coordinate_calculations.xlsx, B3 to G6. These are the measurements done from both sides of the transmitter (The transmitter is a physical entity, disabling us from putting a receiver inside to measure the correct signal strength difference) and from both transmitters, A to B and B to A for example. The averages are taken and shown in B7 to G7.
The converted values (MaximumSignalStrength-signalstrength = 1000000-signalstrength) are shown in B8 to G8.

We use the following names for the stations:

Assigned Letter	In-Game Name
A	origin_east
B	origin_west
C	origin_north
D	origin_south

We use a (hopefully) player-preferred axis setup, assuming your current location is Origin:

• Positive Z towards the belt.
  
• Positive Y 'up'.
  

Therefore, it is best to put A and B on the X-axis and put A in the origin. This gives us the coordinates of A and B, which are shown in B11 to C13. From here, we can calculate the X-coordinates of C and D by creating spheres:

• Sphere_A_C: Sphere with origin A and radius distance(A to C)
• Sphere_B_C: Sphere with origin B and radius distance(B to C)

Then the X-coordinate can be found by evaluating Sphere_A_C = Sphere_B_C, and the same can be done for D.

Here, things get difficult as C and D do not share the same X-Coordinate in our coordinate system. Luckily, stating that C and D share the same Z-Coordinate, the Z-Axis will be pointing roughly towards the belt, which is convenient. If we also state that their Z-Coordinate is positive, we can use an algorithm to find a Cz=Dz such that distance(C to D) corresponds to the measured value. The algorithm used for this can be found in /data/find_coords.py. The algorithm starts from a guessed value of Z and evaluates the increasing Z value each time by calculating the Y-Coordinates of C and D with it and evaluating if distance(C to D) is as close to the measured value as possible.

Then, all the coordinates of the transmitters have been calculated or found and can be seen in B11 to E13. This creates the following model:

To play around with it or have a closer look, go to GeoGebra and open the /data/model_geogebra.ggb file.

Calculations and equations

Now that we have the coordinates of all transmitters and can measure the distance to each of them In-Game with a receiver, we can perform calculations and setup equations for multilateration. The calculations can be found in /data/calculations.txt.
A MATLAB script is used to form the most simplified equations from the calculations. This script can be found in /data/equations.m.
Another MATLAB script can be used to test the equations from the calculations text file and can be found in /data/test_calculations.m.

This + lots of coffee + late nights = code