| Waypoint Initialization |
| (i) set 0 position with current position |
| (ii) set 1, 2 and 3 positions as Table 1 |
| (iii) start tracking Target position and set 4 position |
| (iv) compute |
| Initialization and Coefficients evaluation |
| (i) set s, Hz |
| if 1-2 |
| compute |
| if 2-3 |
| compute |
| (ii) compute according to (19) with initial conditions according to the current phase |
| End. |
| Initial Acceleration |
| if 0-1 |
| not accelerate |
| if 1-2 |
| while () accelerate to |
| if 2-3 |
| while () accelerate to |
| if 3-4 |
| while () accelerate to 0.15 m/s |
| after acceleration switch to ZEM/ZEV Guidance |
| ZEM/ZEV Guidance |
| if 0-1 |
| (i) null acceleration command: |
| if 1-2 or 2-3 |
| (i) compute by (19), setting the initial conditions as the actual position and velocity |
| (ii) compute ZEM and ZEV according to (16)-(17)-(18)-(20)-(21) |
| (iii) compute command acceleration according to (15) |
| (iv) if 2 or 3 are approaching goto Stationkeeping |
| if 3-4 |
| (i) compute by (19), setting the initial conditions as the actual position and velocity |
| (ii) compute and according to (20)-(21) |
| (iii) set |
| (iv) set |
| (v) compute ZEM and ZEV by (16) |
| (vi) compute command acceleration by (15) |
| (vii) if |
| stop controlling thrust on -axis: |
| if |
| stop controlling thrust: |
| End. |
| Stationkeeping |
| if 1-2 |
| (i) break to maintain position within a 10 × 10 m box around 2 and velocity lower than 10 cm/s (three axes) |
| if 2-3 |
| (i) break to maintain position within a 5 × 5 m box around 3 and velocity lower than 5 cm/s (three axes) |
| when Stationkeeping is reached goto ZEM/ZEV Guidance |
| End. |
