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              <ShareMode>Faction</ShareMode>
              <ComponentContainer>
                <Components>
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                    <TypeId>MyAutopilotComponent</TypeId>
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                      <Names />
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                      <FacingDirection>Forward</FacingDirection>
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              <ShowInInventory>true</ShowInInventory>
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              <UseSingleWeaponMode>false</UseSingleWeaponMode>
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                        <MyObjectBuilder_ToolbarItemActionParameter>
                          <TypeCode>String</TypeCode>
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                          <TypeCode>String</TypeCode>
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                    <Index>8</Index>
                    <Item />
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                      <Parameters>
                        <MyObjectBuilder_ToolbarItemActionParameter>
                          <TypeCode>String</TypeCode>
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                    <Index>0</Index>
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                        <MyObjectBuilder_ToolbarItemActionParameter>
                          <TypeCode>String</TypeCode>
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                    <Index>4</Index>
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                            <Key>74de02b3-27f9-4960-b1c4-27351f2b06d1</Key>
                            <Value>[main]
block_group_name=[Loki] [Spine] Heli-Control
start_mode=flight
remember_mode=True
max_pitch=30
max_roll=30
max_landing_pitch=10
max_landing_roll=10
precision=16
mouse_speed=0.5
</Value>
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              <CustomName>[Loki] [Spine] Heli Assist Script</CustomName>
              <ShowOnHUD>false</ShowOnHUD>
              <ShowInTerminal>true</ShowInTerminal>
              <ShowInToolbarConfig>true</ShowInToolbarConfig>
              <ShowInInventory>true</ShowInInventory>
              <NumberInGrid>1</NumberInGrid>
              <Enabled>true</Enabled>
              <Program>/*
 * Heli Assist
 * -----------
 * 
 * Credits:
 *    This script uses modified components from existing open source projects. You 
 *    can find the source code of these projects along with license information below.
 *   
 *    Project: Flight Assist (https://github.com/Naosyth/FlightAssist)
 *    Copyright: Copyright (c) 2017 Brandon Worl
 *    Licence: MIT Licence (https://github.com/Naosyth/FlightAssist/blob/master/LICENSE)
 *    
 * Licence:
 *    MIT License
 * 
 *    Copyright (c) 2019 Sean Campbell
 * 
 *    Permission is hereby granted, free of charge, to any person obtaining a copy
 *    of this software and associated documentation files (the "Software"), to deal
 *    in the Software without restriction, including without limitation the rights
 *    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 *    copies of the Software, and to permit persons to whom the Software is
 *    furnished to do so, subject to the following conditions:
 * 
 *    The above copyright notice and this permission notice shall be included in all
 *    copies or substantial portions of the Software.
 * 
 *    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 *    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 *    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 *    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 *    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 *    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 *    SOFTWARE.
 * 
 * Installation:
 *    1. Create a group labeled 'heli assist' (or whatever you have configured the 
 *       Heli-Assist group to be called) containing the gyroscopes, thrusters and 
 *       cockpits you wish to use with Heli-Assist.
 *    2. Load the Heli-Assist script into a programmable block.
 *    3. (optionally) configure the Heli-Assist config as described in the configuration 
 *       section.
 * 
 * Usage:
 *    Once installed, Heli-Assist will align the craft with natural gravity. Using the 
 *    WASD keys will result in the craft pitching and rolling in the appropriate direction 
 *    as to result in forwarding or lateral motion. Additionally, it will regulate thrust 
 *    accordingly to maintain altitude.
 * 
 *    Using the mouse or up down left and right keys will orientate the craft accordingly 
 *    in addition to any pitch or roll already applied to move. Activation of the inertial 
 *    dampeners will result in the craft pitching and rolling in the appropriate direction 
 *    to slow the craft.
 * 
 *    Flight Modes:
 *       For ease of use, Heli-Assist provides different flight modes for multiple situations.
 *          * Flight mode will make the craft behave as described above and is activated by 
 *            running the program with the argument 'flight'. The 'toggle_flight' argument 
 *            will toggle between flight mode and manual mode.
 *          * Landing mode behaves almost identically to flight mode, except that the maximum 
 *            pitch and roll (and thereby rate of acceleration) will be reduced to allow for more 
 *            precise movement. Additionally, the inertial dampeners will automatically activate. 
 *            Landing mode is activated by running the program with the argument 'landing'. The 
 *            'toggle_landing' argument will toggle between landing mode and flight mode.
 *          * Manual mode will disable the WASD keys and inertial dampening affecting pitch and roll 
 *            but will still regulate thrust in order to maintain altitude. Manual mode is useful for 
 *            aiming at targets or ignoring the limits of Heli-Assist's other flight modes, without the 
 *            Heli-Assist automatically correcting. Manual mode is activated by running the program with 
 *            the argument 'manual'. The 'toggle_manual' argument will toggle between manual mode and 
 *            flight mode.
 *          * Standby mode will cause Heli-Assist to relinquish control of all gyroscopes and thrusters, 
 *            allowing the pilot or another script to control them. It is helpful for switching between 
 *            different craft configurations (such as shifting from hovering configuration to a high-speed 
 *            configuration like a modern VTOL aircraft such as a harrier) or allowing for another script 
 *            such as Vector Thrust to take control. Standby mode is activated by running the program with 
 *            the argument 'standby'. The 'toggle_standby' argument will toggle between standby mode and 
 *            flight mode.
 *          * Shutdown mode will power off all thrusters and gyroscopes associated with Heli-Assist. 
 *            Shutdown mode is activated by running the program with the argument 'shutdown'. The 
 *            'toggle_shutdown' argument will toggle between shutdown mode and flight mode.
 * 
 *    Parameters:
 *       Heli-Assist provides multiple flight parameters in addition to its modes for customizability.
 *          * The Precision Aim parameter can be used in flight, landing and manual mode, reducing the 
 *            sensitivity of the mouse/joystick to make aiming easier. It is toggled on/off by running 
 *            the program with the 'toggle_precision' argument.
 *          * The Lateral Override parameter can be used in flight and landing mode and overrides inertial 
 *            dampening on the lateral axis, meaning that disabling the inertial dampeners will only 
 *            disable forward and backwards dampening, to make cruising easier. It is toggled on/off 
 *            by running the program with the 'toggle_lateral_override' argument ('toggle_lateral_dampening' 
 *            does the same and is retained for compatibility reasons).
 * 
 *    Configuration:
 *       Heli Assist is configured by editing the Custom Data of the programmable block and is automatically 
 *       generated on first use.
 *          * block_group_name - This allows for the setting of a custom group name for blocks associated 
 *            with Heli Assist. By default, it is 'Heli Assist' (without quotes).
 *          * start_mode - This sets the mode that Heli Assist will be in when it is first started, as 
 *            described above. By default is 'flight'.
 *          * remember_mode - This setting determines whether Heli Assist should attempt to remember the 
 *            mode it was last in when the script is restarted. By default, it is 'true'.
 *          * max_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and the 
 *            motion dampeners. By default, it is 45.
 *          * max_roll - This sets the maximum allowed roll in degrees for both the WASD keys and the motion 
 *            dampeners. By default, it is 45.
 *          * max_landing_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and 
 *            the motion dampeners while in landing mode. By default, it is 10.
 *          * max_landing_roll - This sets the maximum allowed roll in degrees for both the WASD keys and 
 *            the motion dampeners while in landing mode. By default, it is 10.
 *          * precision - This sets the reduction in movement from gyroscopes when in precision aim mode. 
 *            By default, it is 16.
 *          * mouse_speed - This sets the mouse sensitivity in all modes. By default, it is 10.
 * 
 * Change Log:
 *    v1.15:
 *       * Fixed a bug where craft would gradually drift up due to incorrect craft mass being used.
 *    v1.14:
 *       * Fixed a bug where high pitch and roll config settings would cause craft to pitch and roll indefinitely.
 *       * Fixed a bug where script config is not auto-generated when left blank.
 *       * Added mouse sensitivity setting to config.
 *    v1.13:
 *       * Fixed a bug that prevented lateral dampening override from working.
 *       * Added proportional dampening to inertial dampening.
 *       * Changed lateral dampening to lateral override for less ambiguity
 *       * Updated readme.
 *    v1.12:
 *       * Fixed a bug where control seats facing specific directions would make craft uncontrollable.
 *    v1.11:
 *       * Added automatic detection of new gyroscopes, thrusters and cockpits, updating every 10 seconds.
 *       * Fixed a bug where specific gyroscope configurations would make craft uncontrollable.
 *    v1.10:
 *       * Added precision aim.
 *       * Added lateral only dampening.
 *       * Added standby mode.
 *       * Changed landing mode so it will no longer force the use of dampeners.
 *    v1.01:
 *       * Fixed a bug where gyroscopes would fail to respond when placed in specific directions.
 */

IMyShipController controller;
GyroController gyroController;
ThrusterController thrustController;

//Runtime Variables
TimeSpan timeSinceLastUpdate;
bool updateFinished = false;
bool isFirstUpdate = true;

//State Variables;
string mode;

bool enableLateralOverride;
bool enablePrecisionAim;

//Config Variables
string blockGroupName;

string start_mode;
bool rememberLastMode;

float maxFlightPitch;
float maxFlightRoll;

float maxLandingPitch;
float maxLandingRoll;

float precisionAimFactor;
float mouseSpeed;

//Cache Variables
List&lt;IMyShipController&gt; controllerCache;
List&lt;IMyGyro&gt; gyroCache;
List&lt;IMyThrust&gt; thrustCache;

string configCache;

static Program program;

public Program()
{
    controllerCache = new List&lt;IMyShipController&gt;();
    gyroCache = new List&lt;IMyGyro&gt;();
    thrustCache = new List&lt;IMyThrust&gt;();

    timeSinceLastUpdate = TimeSpan.FromSeconds(0);
    Runtime.UpdateFrequency = UpdateFrequency.Update1;

    try { this.Update(); }
    catch (Exception e) { Echo("Error: " + e.Message); }

    program = this;
}

public void Save()
{
    Storage = mode;
}

public void Main(string argument, UpdateType updateSource)
{
    timeSinceLastUpdate += Runtime.TimeSinceLastRun;

    if (isFirstUpdate || !updateFinished || timeSinceLastUpdate &gt; TimeSpan.FromSeconds(10))
    {
        try { this.Update(); }
        catch (Exception e) { Echo("Error: " + e.Message); }
        timeSinceLastUpdate = TimeSpan.FromSeconds(0);
        return;
    }

    Echo("Script running, next update: " + (10 - (uint)timeSinceLastUpdate.TotalSeconds).ToString());
    Echo("Current Mode: " + mode);
    Echo("Precision Aim: " + (enablePrecisionAim ? "enabled" : "disabled"));
    Echo("Lateral Override: " + (enableLateralOverride ? "enabled" : "disabled"));

    if (IsValidMode(argument))
        SwitchToMode(argument);
    else if (argument == "toggle_manual") SwitchToMode(mode == "manual" ? "flight" : "manual");
    else if (argument == "toggle_landing") SwitchToMode(mode == "landing" ? "flight" : "landing");
    else if (argument == "toggle_shutdown") SwitchToMode(mode == "shutdown" ? "flight" : "shutdown");
    else if (argument == "toggle_standby") SwitchToMode(mode == "standby" ? "flight" : "standby");
    else if (argument == "toggle_precision") enablePrecisionAim = !enablePrecisionAim;
    else if (argument == "toggle_lateral_dampening") enableLateralOverride = !enableLateralOverride;
    else if (argument == "toggle_lateral_override") enableLateralOverride = !enableLateralOverride;
    else if (argument == "update")
    {
        updateFinished = false;
        return;
    }

    var wasd = controller.MoveIndicator;
    var mouse = new Vector3(controller.RotationIndicator, controller.RollIndicator * 9);
    var dampeningRotation = gyroController.CalculatePitchRollToAchiveVelocity(Vector3.Zero);
    var autoStop = controller.DampenersOverride;

    if (enablePrecisionAim) mouse *= 1 / precisionAimFactor;
    else mouse *= mouseSpeed;

    switch (mode)
    {
        case "flight":
            {
                var pitch = wasd.Z * maxFlightPitch * degToRad;
                var roll = wasd.X * maxFlightRoll * degToRad;
                dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxFlightRoll, maxFlightPitch) * degToRad);

                if ((autoStop || enableLateralOverride) &amp;&amp; IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxFlightRoll * degToRad);
                if (autoStop &amp;&amp; IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxFlightPitch * degToRad);

                gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse);
                thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
                break;
            }
        case "landing":
            {
                var pitch = wasd.Z * maxLandingPitch * degToRad;
                var roll = wasd.X * maxLandingRoll * degToRad;
                dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxLandingRoll, maxLandingPitch) * degToRad);

                if ((autoStop || enableLateralOverride) &amp;&amp; IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxLandingRoll);
                if (autoStop &amp;&amp; IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxLandingPitch);

                gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse);
                thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
                break;
            }
        case "manual":
            gyroController.SetAngularVelocity(mouse); thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
            break;
        case "shutdown":
            break;
        case "standby":
            break;
    }
}

void SwitchToMode(string mode)
{
    if (!IsValidMode(mode)) return;
    switch (mode)
    {
        case "flight":
            gyroController.SetEnabled(true);
            thrustController.SetEnabled(true);
            gyroController.SetOverride(true);
            break;
        case "landing":
            gyroController.SetEnabled(true);
            thrustController.SetEnabled(true);
            gyroController.SetOverride(true);
            controller.DampenersOverride = true;
            break;
        case "manual":
            gyroController.SetEnabled(true);
            thrustController.SetEnabled(true);
            gyroController.SetOverride(true);
            break;
        case "shutdown":
            gyroController.SetEnabled(false);
            thrustController.SetEnabled(false);
            break;
        case "standby":
            gyroController.SetEnabled(true);
            thrustController.SetEnabled(true);
            gyroController.SetOverride(false);
            thrustController.SetYAxisThrust(0);
            break;
    }
    this.mode = mode;
    enablePrecisionAim = false;
    enableLateralOverride = false;
}

bool IsValidMode(string mode)
{
    return mode == "flight" || mode == "landing" || mode == "manual" || mode == "shutdown" || mode == "standby";
}

public void Update()
{
    if (isFirstUpdate || configCache != Me.CustomData || Me.CustomData == "")
    {
        var config = new ConfigSection("main");
        config.Read(Me.CustomData);

        blockGroupName = config.Get&lt;string&gt;("block_group_name", "Heli Assist");

        start_mode = config.Get&lt;string&gt;("start_mode", "flight");
        rememberLastMode = config.Get&lt;bool&gt;("remember_mode", true);

        maxFlightPitch = config.Get&lt;float&gt;("max_pitch", 40.0f);
        maxFlightRoll = config.Get&lt;float&gt;("max_roll", 40.0f);

        maxLandingPitch = config.Get&lt;float&gt;("max_landing_pitch", 15.0f);
        maxLandingRoll = config.Get&lt;float&gt;("max_landing_roll", 15.0f);

        precisionAimFactor = config.Get&lt;float&gt;("precision", 16.0f);
        mouseSpeed = config.Get&lt;float&gt;("mouse_speed", 0.5f);

        if (Me.CustomData == "") Me.CustomData = configCache = config.write();
        else configCache = Me.CustomData;
    }

    var blockGroup = GridTerminalSystem.GetBlockGroupWithName(blockGroupName);
    if (blockGroup == null) throw new Exception("Could not find block group with name '" + blockGroupName + "'");

    controllerCache.Clear();
    blockGroup.GetBlocksOfType&lt;IMyShipController&gt;(controllerCache);
    if (!controllerCache.Any()) throw new Exception("Ship must have at least one ship controller");
    controller = null;
    foreach (var controller in controllerCache)
    {
        if (controller.IsUnderControl || (controller.IsMainCockpit &amp;&amp; this.controller == null))
            this.controller = controller;
    }
    if (this.controller == null) this.controller = controllerCache.First();

    gyroCache.Clear();
    blockGroup.GetBlocksOfType&lt;IMyGyro&gt;(gyroCache);
    if (!gyroCache.Any()) throw new Exception("Ship must have atleast one gyroscope");

    thrustCache.Clear();
    blockGroup.GetBlocksOfType&lt;IMyThrust&gt;(thrustCache);
    if (!thrustCache.Any()) throw new Exception("Ship must have atleast one thruster");

    if (thrustController == null) thrustController = new ThrusterController(controller, thrustCache);
    else thrustController.Update(controller, thrustCache);

    if (gyroController == null) gyroController = new GyroController(controller, gyroCache);
    else gyroController.Update(controller, gyroCache);

    if (isFirstUpdate &amp;&amp; rememberLastMode &amp;&amp; IsValidMode(Storage)) SwitchToMode(Storage);
    else if (isFirstUpdate) SwitchToMode(start_mode);

    isFirstUpdate = false;
    updateFinished = true;
}

//The GyroController module is based on Flight Assist's GyroController and HoverModule, sharing code in places.
public class GyroController
{
    const float dampeningFactor = 25.0f;

    private IMyShipController controller;
    private List&lt;IMyGyro&gt; gyroscopes;

    public GyroController(IMyShipController controller, List&lt;IMyGyro&gt; gyroscopes)
    {
        this.controller = controller;
        this.gyroscopes = new List&lt;IMyGyro&gt;(gyroscopes);
    }

    public void Update(IMyShipController controller, List&lt;IMyGyro&gt; gyroscopes)
    {
        SetController(controller);
        AddGyroscopes(gyroscopes);
    }

    public void AddGyroscopes(List&lt;IMyGyro&gt; gyroscopes)
    {
        this.gyroscopes.AddList(gyroscopes);
        this.gyroscopes = this.gyroscopes.Distinct().ToList();
    }

    public void SetController(IMyShipController controller)
    {
        this.controller = controller;
    }

    public void SetEnabled(bool setEnabled)
    {
        foreach (var gyroscope in gyroscopes)
        {
            gyroscope.Enabled = setEnabled;
        }
    }

    public void SetOverride(bool setOverride)
    {
        foreach (var gyroscope in gyroscopes)
        {
            gyroscope.GyroOverride = setOverride;
        }
    }

    public Vector2 CalculatePitchRollToAchiveVelocity(Vector3 targetVelocity)
    {
        Vector3 diffrence = Vector3.Normalize(controller.GetShipVelocities().LinearVelocity - targetVelocity);
        Vector3 gravity = -Vector3.Normalize(controller.GetNaturalGravity());
        float velocity = (float)controller.GetShipSpeed();
        float proportionalModifier = (float)Math.Pow(Math.Abs(diffrence.Length()), 2);

        float pitch = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Right)) * velocity) * proportionalModifier / dampeningFactor;
        float roll = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Forward)) * velocity) * proportionalModifier / dampeningFactor;

        pitch = MinAbs(pitch, 90.0f * degToRad);
        roll = MinAbs(roll, 90.0f * degToRad);

        return new Vector2(roll, pitch);
    }

    public Vector3 CalculateVelocityToAlign(float offsetPitch = 0.0f, float offsetRoll = 0.0f)
    {
        var gravity = -Vector3.Normalize(Vector3.TransformNormal(controller.GetNaturalGravity(), Matrix.Transpose(controller.WorldMatrix)));
        var target = Vector3.Normalize(Vector3.Transform(gravity, Matrix.CreateFromAxisAngle(Vector3.Right, offsetPitch) * Matrix.CreateFromAxisAngle(Vector3.Forward, offsetRoll)));

        var pitch = Vector3.Dot(Vector3.Forward, target);
        var roll = Vector3.Dot(Vector3.Right, target);

        return new Vector3(pitch, 0, roll);
    }

    public void SetAngularVelocity(Vector3 velocity)
    {
        var cockpitLocalVelocity = Vector3.TransformNormal(velocity, controller.WorldMatrix);
        foreach (var gyro in gyroscopes)
        {
            var gyroLocalVelocity = Vector3.TransformNormal(cockpitLocalVelocity, Matrix.Transpose(gyro.WorldMatrix));

            gyro.Pitch = gyroLocalVelocity.X;
            gyro.Yaw = gyroLocalVelocity.Y;
            gyro.Roll = gyroLocalVelocity.Z;
        }
    }
}

public class ThrusterController
{
    private IMyShipController controller;
    private List&lt;IMyThrust&gt; allThrusters;
    private List&lt;IMyThrust&gt; upThrusters, downThrusters, leftThrusters, rightThrusters, forwardThrusters, backwardThrusters;

    public ThrusterController(IMyShipController controller, List&lt;IMyThrust&gt; thrusters)
    {
        upThrusters = new List&lt;IMyThrust&gt;();
        downThrusters = new List&lt;IMyThrust&gt;();
        leftThrusters = new List&lt;IMyThrust&gt;();
        rightThrusters = new List&lt;IMyThrust&gt;();
        forwardThrusters = new List&lt;IMyThrust&gt;();
        backwardThrusters = new List&lt;IMyThrust&gt;();

        Update(controller, thrusters);
    }

    public void Update(IMyShipController controller, List&lt;IMyThrust&gt; thrusters)
    {
        this.controller = controller;
        this.allThrusters = thrusters.Distinct().ToList();

        foreach (var thruster in thrusters)
        {
            if (thruster.GridThrustDirection.Z &lt; 0) forwardThrusters.Add(thruster);
            if (thruster.GridThrustDirection.Z &gt; 0) backwardThrusters.Add(thruster);
            if (thruster.GridThrustDirection.Y &lt; 0) upThrusters.Add(thruster);
            if (thruster.GridThrustDirection.Y &gt; 0) downThrusters.Add(thruster);
            if (thruster.GridThrustDirection.X &lt; 0) leftThrusters.Add(thruster);
            if (thruster.GridThrustDirection.X &gt; 0) rightThrusters.Add(thruster);

            thruster.ThrustOverride = 0;
        }

        forwardThrusters = forwardThrusters.Distinct().ToList();
        backwardThrusters = backwardThrusters.Distinct().ToList();
        upThrusters = upThrusters.Distinct().ToList();
        downThrusters = downThrusters.Distinct().ToList();
        leftThrusters = leftThrusters.Distinct().ToList();
        rightThrusters = rightThrusters.Distinct().ToList();
    }

    public void SetEnabled(bool enabled)
    {
        foreach (var thruster in allThrusters)
        {
            thruster.Enabled = enabled;
        }
    }

    public float SetZAxisThrust(float thrust)
    {
        return setAxisThrust(thrust, ref forwardThrusters, ref backwardThrusters);
    }

    public float SetYAxisThrust(float thrust)
    {
        return setAxisThrust(thrust, ref upThrusters, ref downThrusters);
    }

    public float SetXAxisThrust(float thrust)
    {
        return setAxisThrust(thrust, ref leftThrusters, ref rightThrusters);
    }

    public float CalculateMaxEffectiveForwardThrust()
    {
        return calculateMaxAxisThrust(ref forwardThrusters);
    }

    public float CalculateMaxEffectiveBackwardThrust()
    {
        return calculateMaxAxisThrust(ref backwardThrusters);
    }

    public float CalculateMaxEffectiveLeftThrust()
    {
        return calculateMaxAxisThrust(ref leftThrusters);
    }

    public float CalculateMaxEffectiveRightThrust()
    {
        return calculateMaxAxisThrust(ref rightThrusters);
    }

    public float CalculateMaxEffectiveUpThrust()
    {
        return calculateMaxAxisThrust(ref upThrusters);
    }

    public float CalculateMaxEffectiveDownThrust()
    {
        return calculateMaxAxisThrust(ref downThrusters);
    }

    public float CalculateThrustToHover()
    {
        var gravityDir = controller.GetNaturalGravity();
        var weight = controller.CalculateShipMass().PhysicalMass * gravityDir.Length();
        var velocity = controller.GetShipVelocities().LinearVelocity;

        gravityDir.Normalize();
        var gravityMatrix = Matrix.Invert(Matrix.CreateFromDir(gravityDir));
        velocity = Vector3D.Transform(velocity, gravityMatrix);

        if (Vector3.Transform(controller.WorldMatrix.GetOrientation().Down, gravityMatrix).Z &lt; 0)
            return (float)(weight + weight * -velocity.Z);
        else
            return -(float)(weight + weight * -velocity.Z);
    }

    private float calculateMaxAxisThrust(ref List&lt;IMyThrust&gt; thrusters)
    {
        float thrust = 0;
        foreach (var thruster in thrusters)
        {
            thrust += thruster.MaxEffectiveThrust;
        }
        return thrust;
    }

    private float calculateEffectiveThustRatio(IMyThrust thruster)
    {
        return thruster.MaxThrust / thruster.MaxEffectiveThrust;
    }

    private float setAxisThrust(float thrust, ref List&lt;IMyThrust&gt; thrustersPos, ref List&lt;IMyThrust&gt; thrustersNeg)
    {
        List&lt;IMyThrust&gt; thrusters, backThrusters;

        if (thrust &gt;= 0)
        {
            thrusters = thrustersPos;
            backThrusters = thrustersNeg;
        }
        else
        {
            thrusters = thrustersNeg;
            backThrusters = thrustersPos;
        }

        thrust = Math.Abs(thrust);

        foreach (var thruster in backThrusters)
        {
            thruster.ThrustOverride = 0.0f;
        }

        foreach (var thruster in thrusters)
        {
            //TODO: replace with smart thruster thrust allocation code.
            var localThrust = (thrust / thrusters.Count) * calculateEffectiveThustRatio(thruster);
            thruster.ThrustOverride = (float.IsNaN(localThrust) || float.IsInfinity(localThrust)) ? 0 : localThrust;
        }
        return 0.0f;
    }
}

const float degToRad = (float)Math.PI / 180;
const float radToDeg = 180.0f / (float)Math.PI;

public static bool IsEqual(float value1, float value2, float epsilon = 0.0001f)
{
    return Math.Abs(NotNaN(value1 - value2)) &lt;= epsilon;
}

public static float NotNaN(float value)
{
    return float.IsNaN(value) ? 0 : value;
}

public static float MinAbs(float value1, float value2)
{
    return Math.Min(Math.Abs(value1), Math.Abs(value2)) * (value1 &lt; 0 ? -1 : 1);
}
class ConfigSection
{
    Dictionary&lt;string, string&gt; config;
    string name;

    public ConfigSection(string name)
    {
        this.config = new Dictionary&lt;string, string&gt;();
        this.name = name;
    }

    public void Read(string text)
    {
        config.Clear();

        var ini = new MyIni();
        MyIniParseResult parseResult;
        if (!ini.TryParse(text, out parseResult))
            throw new Exception("Failed To Read Config: " + parseResult.Error + " on line" + parseResult.LineNo.ToString());

        var keys = new List&lt;MyIniKey&gt;();
        ini.GetKeys(name, keys);
        foreach (var key in keys)
        {
            config.Add(key.Name, ini.Get(key).ToString());
        }
    }

    public string write()
    {
        MyIni ini = new MyIni();
        ini.AddSection(name);

        foreach (var kv in config) { ini.Set(name, kv.Key, kv.Value); }

        return ini.ToString();
    }

    public T Get&lt;T&gt;(string key, T value)
    {
        if (!config.ContainsKey(key))
        {
            config.Add(key, value.ToString());
            return value;
        }
        string result; config.TryGetValue(key, out result);
        return (T)Convert.ChangeType(result, typeof(T));
    }
}</Program>
              <Storage>shutdown</Storage>
            </MyObjectBuilder_CubeBlock>
            <MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
              <SubtypeName>HalfSlopeArmorBlock</SubtypeName>
              <Min x="-6" y="15" z="-24" />
              <BlockOrientation Forward="Up" Up="Forward" />
              <ColorMaskHSV x="0.05" y="0.07" z="0.26" />
              <SkinSubtypeId>CarbonFibre_Armor</SkinSubtypeId>
            </MyObjectBuilder_CubeBlock>
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              <ColorMaskHSV x="0.05" y="0.07" z="0.26" />
              <SkinSubtypeId>CarbonFibre_Armor</SkinSubtypeId>
            </MyObjectBuilder_CubeBlock>
            <MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
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              <SkinSubtypeId>CarbonFibre_Armor</SkinSubtypeId>
            </MyObjectBuilder_CubeBlock>
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              <ColorMaskHSV x="0.05" y="0.07" z="0.26" />
              <SkinSubtypeId>CarbonFibre_Armor</SkinSubtypeId>
            </MyObjectBuilder_CubeBlock>
            <MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
              <SubtypeName>SmallBlockArmorHalfSlopeCorner</SubtypeName>
              <Min x="-5" y="15" z="-24" />
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            </MyObjectBuilder_CubeBlock>
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              <ColorMaskHSV x="0.05" y="0.07" z="0.26" />
              <SkinSubtypeId>CarbonFibre_Armor</SkinSubtypeId>
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            <MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
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            </MyObjectBuilder_CubeBlock>
          </CubeBlocks>
          <XMirroxPlane x="-6" y="16" z="-24" />
          <BlockGroups>
            <MyObjectBuilder_BlockGroup>
              <Name>[Loki] [Spine] Batteries</Name>
              <Blocks>
                <Vector3I>
                  <X>-6</X>
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                </Vector3I>
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              <Name>[Loki] [Spine] Merge Blocks</Name>
              <Blocks>
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                </Vector3I>
              </Blocks>
            </MyObjectBuilder_BlockGroup>
            <MyObjectBuilder_BlockGroup>
              <Name>[Loki] [Spine] Heli-Control</Name>
              <Blocks>
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              </Blocks>
            </MyObjectBuilder_BlockGroup>
          </BlockGroups>
          <DisplayName>[Loki] [Spine] Heli Module</DisplayName>
          <DestructibleBlocks>true</DestructibleBlocks>
          <CreatePhysics>false</CreatePhysics>
          <EnableSmallToLargeConnections>false</EnableSmallToLargeConnections>
          <IsRespawnGrid>false</IsRespawnGrid>
          <LocalCoordSys>0</LocalCoordSys>
          <TargetingTargets />
          <NPCGridClaimElapsed xsi:nil="true" />
        </CubeGrid>
      </CubeGrids>
      <EnvironmentType>None</EnvironmentType>
      <WorkshopId>0</WorkshopId>
      <OwnerSteamId>76561198406231217</OwnerSteamId>
      <Points>0</Points>
    </ShipBlueprint>
  </ShipBlueprints>
</Definitions>