From 70ecabe5cdda5cf43d714b71ef03ab200868a573 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sat, 6 Sep 2025 21:00:52 -0300
Subject: [PATCH 01/25] [MP-8]: Update protobuf on pom.xml file

---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index 71cf327..46f310f 100644
--- a/pom.xml
+++ b/pom.xml
@@ -95,7 +95,7 @@
     <dependency>
       <groupId>com.google.protobuf</groupId>
       <artifactId>protobuf-java</artifactId>
-      <version>3.22.1</version>
+      <version>4.32.0</version>
     </dependency>
   </dependencies>
 

From 1e96de8be72e012fc728bbbaa51846e429dcb872 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sat, 6 Sep 2025 21:03:26 -0300
Subject: [PATCH 02/25] [MP-8]: Use stream events to update telemetry data

---
 src/main/java/com/pesterenan/MechPeste.java   |  1 +
 .../pesterenan/controllers/Controller.java    | 11 +----
 .../com/pesterenan/model/ActiveVessel.java    | 42 ++++++++++---------
 .../pesterenan/model/ConnectionManager.java   |  4 ++
 .../com/pesterenan/model/VesselManager.java   | 30 +++++--------
 .../com/pesterenan/utils/ControlePID.java     | 32 +++++++++++---
 .../views/FunctionsAndTelemetryJPanel.java    | 21 +++++-----
 7 files changed, 76 insertions(+), 65 deletions(-)

diff --git a/src/main/java/com/pesterenan/MechPeste.java b/src/main/java/com/pesterenan/MechPeste.java
index 250cc73..c40f9c9 100644
--- a/src/main/java/com/pesterenan/MechPeste.java
+++ b/src/main/java/com/pesterenan/MechPeste.java
@@ -44,6 +44,7 @@ public static void main(String[] args) {
         StatusDisplay statusDisplay = MainGui.newInstance().getStatusPanel();
         app.connectionManager = new ConnectionManager("MechPeste - Pesterenan", statusDisplay);
         app.vesselManager = new VesselManager(app.connectionManager, statusDisplay);
+        app.vesselManager.setTelemetryPanel(MainGui.getInstance().getFunctionsAndTelemetryPanel());
         app.vesselManager.startUpdateLoop();
     }
 
diff --git a/src/main/java/com/pesterenan/controllers/Controller.java b/src/main/java/com/pesterenan/controllers/Controller.java
index 8552d27..d6e81fd 100644
--- a/src/main/java/com/pesterenan/controllers/Controller.java
+++ b/src/main/java/com/pesterenan/controllers/Controller.java
@@ -11,15 +11,6 @@ public Controller(ConnectionManager connectionManager, VesselManager vesselManag
     }
 
     public void run() {
-        try {
-            while (!Thread.interrupted()) {
-                long currentTime = System.currentTimeMillis();
-                if (currentTime > timer + 100) {
-                    recordTelemetryData();
-                    timer = currentTime;
-                }
-            }
-        } catch (Exception ignored) {
-        }
+        // This method should be overridden by subclasses.
     }
 }
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 164fa29..3a9bcd1 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -1,7 +1,7 @@
 package com.pesterenan.model;
 
-import java.util.HashMap;
 import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
 
 import com.pesterenan.controllers.Controller;
 import com.pesterenan.controllers.DockingController;
@@ -31,7 +31,7 @@ public class ActiveVessel {
     protected Vessel activeVessel;
     protected SpaceCenter spaceCenter;
     protected Connection connection;
-    private final Map<Telemetry,Double> telemetryData = new HashMap<>();
+    private final Map<Telemetry,Double> telemetryData = new ConcurrentHashMap<>();
     public AutoPilot ap;
     public Flight flightParameters;
     public ReferenceFrame orbitalReferenceFrame;
@@ -172,23 +172,6 @@ public void startModule(Map<String,String> commands) {
         controllerThread.start();
     }
 
-    public void recordTelemetryData() throws RPCException {
-        if (getActiveVessel().getOrbit().getBody() != currentBody) {
-            initializeParameters();
-        }
-        synchronized (telemetryData) {
-            try {
-                telemetryData.put(Telemetry.ALTITUDE, altitude.get() < 0 ? 0 : altitude.get());
-                telemetryData.put(Telemetry.ALT_SURF, surfaceAltitude.get() < 0 ? 0 : surfaceAltitude.get());
-                telemetryData.put(Telemetry.APOAPSIS, apoapsis.get() < 0 ? 0 : apoapsis.get());
-                telemetryData.put(Telemetry.PERIAPSIS, periapsis.get() < 0 ? 0 : periapsis.get());
-                telemetryData.put(Telemetry.VERT_SPEED, verticalVelocity.get());
-                telemetryData.put(Telemetry.HORZ_SPEED, horizontalVelocity.get() < 0 ? 0 : horizontalVelocity.get());
-            } catch (RPCException | StreamException ignored) {
-            }
-        }
-    }
-
     public Map<Telemetry,Double> getTelemetryData() {
         return telemetryData;
     }
@@ -239,12 +222,33 @@ private void initializeParameters() {
             surfaceReferenceFrame = getActiveVessel().getSurfaceReferenceFrame();
             flightParameters = getActiveVessel().flight(orbitalReferenceFrame);
             totalMass = connection.addStream(getActiveVessel(), "getMass");
+            totalMass.start();
+
+            // Add callbacks to update telemetry data automatically
             altitude = connection.addStream(flightParameters, "getMeanAltitude");
+            altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
+            altitude.start();
+
             surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
+            surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
+            surfaceAltitude.start();
+
             apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
+            apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
+            apoapsis.start();
+
             periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
+            periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
+            periapsis.start();
+
             verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
+            verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
+            verticalVelocity.start();
+
             horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
+            horizontalVelocity.addCallback(val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
+            horizontalVelocity.start();
+
         } catch (RPCException | StreamException e) {
             System.err.println("Error while initializing parameters for active vessel: " + e.getMessage());
         }
diff --git a/src/main/java/com/pesterenan/model/ConnectionManager.java b/src/main/java/com/pesterenan/model/ConnectionManager.java
index 89f1337..391413e 100644
--- a/src/main/java/com/pesterenan/model/ConnectionManager.java
+++ b/src/main/java/com/pesterenan/model/ConnectionManager.java
@@ -36,6 +36,10 @@ public SpaceCenter getSpaceCenter() {
         return spaceCenter;
     }
 
+    public KRPC getKRPC() {
+        return krpc;
+    }
+
     public void connectAndMonitor(final String connectionName) {
         if (connectionScheduler != null && !connectionScheduler.isShutdown()) {
             return;
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index f581ab3..24ecd97 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -29,6 +29,11 @@ public class VesselManager {
     private ActiveVessel currentVessel;
     private int currentVesselId = -1;
     private StatusDisplay statusDisplay;
+    private FunctionsAndTelemetryJPanel telemetryPanel;
+
+    public void setTelemetryPanel(FunctionsAndTelemetryJPanel panel) {
+        this.telemetryPanel = panel;
+    }
 
     public VesselManager(ConnectionManager connectionManager, StatusDisplay statusDisplay) {
         this.connectionManager = connectionManager;
@@ -68,12 +73,11 @@ public void startUpdateLoop() {
                     return;
                 }
                 checkAndUpdateActiveVessel();
-                updateTelemetryData();
                 updateUI();
             } catch (RPCException e) {
                 System.err.println("RPC Error: " + e.getMessage());
             }
-        }, 0, 250, TimeUnit.MILLISECONDS);
+        }, 0, 100, TimeUnit.MILLISECONDS);
     }
 
     public ListModel<String> getCurrentManeuvers() {
@@ -89,7 +93,7 @@ public ListModel<String> getCurrentManeuvers() {
                 } catch (RPCException ignored) {
                 }
             });
-        } catch (RPCException | NullPointerException ignored) {
+        } catch (RPCException | NullPointerException | UnsupportedOperationException ignored) {
         }
         return list;
     }
@@ -156,22 +160,10 @@ private void checkAndUpdateActiveVessel() throws RPCException {
         }
     }
 
-    private void updateTelemetryData() {
-        if (currentVesselId == -1 || currentVessel == null)
-            return;
-        try {
-            currentVessel.recordTelemetryData();
-        } catch (RPCException e) {
-            System.err.println("Error while recording telemetry: " + e.getMessage());
-            currentVessel = null;
-            currentVesselId = -1;
-        }
-    }
-
     private void updateUI() {
         SwingUtilities.invokeLater(() -> {
-            if (currentVessel != null) {
-                FunctionsAndTelemetryJPanel.updateTelemetry(currentVessel.getTelemetryData());
+            if (currentVessel != null && telemetryPanel != null) {
+                telemetryPanel.updateTelemetry(currentVessel.getTelemetryData());
                 MainGui.getInstance().getCreateManeuverPanel().updatePanel(getCurrentManeuvers());
                 if (currentVessel.hasModuleRunning()) {
                     statusDisplay.setStatusMessage(currentVessel.getCurrentStatus());
@@ -192,12 +184,12 @@ private boolean filterVessels(Vessel vessel, String search) {
                 final Vector vesselPos = new Vector(vessel.position(active.getSurfaceReferenceFrame()));
                 final double distance = Vector.distance(activePos, vesselPos);
                 switch (search) {
-                    case "closest":
+                    case "closest" :
                         if (distance < TEN_KILOMETERS) {
                             return true;
                         }
                         break;
-                    case "samebody":
+                    case "samebody" :
                         return true;
                 }
             }
diff --git a/src/main/java/com/pesterenan/utils/ControlePID.java b/src/main/java/com/pesterenan/utils/ControlePID.java
index 1fce344..4c9c07b 100644
--- a/src/main/java/com/pesterenan/utils/ControlePID.java
+++ b/src/main/java/com/pesterenan/utils/ControlePID.java
@@ -14,6 +14,7 @@ public class ControlePID {
     private double previousError, previousMeasurement, lastTime = 0.0;
     private double timeSample = 0.025; // 25 millisegundos
     private double proportionalTerm;
+
     private double derivativeTerm;
 
     public ControlePID() {
@@ -32,6 +33,10 @@ public ControlePID(double kp, double ki, double kd, double outputMin, double out
         this.outputMax = outputMax;
     }
 
+    public double getTimeSample() {
+        return timeSample;
+    }
+
     public void reset() {
         this.previousError = 0;
         this.previousMeasurement = 0;
@@ -63,10 +68,6 @@ public double calculate(double measurement, double setPoint) {
         return limitOutput(proportionalTerm + integralTerm + derivativeTerm);
     }
 
-    private double limitOutput(double value) {
-        return Utilities.clamp(value, outputMin, outputMax);
-    }
-
     public void setOutput(double min, double max) {
         if (min > max) {
             return;
@@ -92,13 +93,32 @@ public void setTimeSample(double milliseconds) {
         timeSample = milliseconds > 0 ? milliseconds / 1000 : timeSample;
     }
 
-    private double getCurrentTime() {
+    /**
+     * Tries to return the milliseconds from the game, if it fails, returns the
+     * system time
+     * 
+     * @returns the current time in milisseconds
+     */
+    public double getCurrentTime() {
         try {
             return spaceCenter.getUT();
         } catch (RPCException | NullPointerException ignored) {
-            System.err.println("Não foi possível buscar o tempo do jogo, retornando do sistema");
             return System.currentTimeMillis();
         }
     }
 
+    /** Uses busy waiting to lock the thread until time passes the time sample */
+    public void waitForNextSample() throws InterruptedException {
+        double startTime = getCurrentTime();
+        while (getCurrentTime() - startTime < getTimeSample()) {
+            Thread.sleep(1);
+            if (Thread.interrupted()) {
+                throw new InterruptedException();
+            }
+        }
+    }
+
+    private double limitOutput(double value) {
+        return Utilities.clamp(value, outputMin, outputMax);
+    }
 }
diff --git a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
index b6593bd..353bfe1 100644
--- a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
+++ b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
@@ -14,7 +14,6 @@
 import javax.swing.JPanel;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.MechPeste;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.Module;
@@ -27,9 +26,9 @@ public class FunctionsAndTelemetryJPanel extends JPanel implements UIMethods {
 
     private final Dimension btnFuncDimension = new Dimension(140, 25);
     private JButton btnLiftoff, btnLanding, btnManeuvers, btnDocking, btnRover, btnCancel;
-    private static JLabel lblAltitude, lblSurfaceAlt, lblApoapsis, lblPeriapsis, lblVertSpeed, lblHorzSpeed;
-    private static JLabel lblAltitudeValue, lblSurfaceAltValue, lblApoapsisValue;
-    private static JLabel lblPeriapsisValue, lblVertSpeedValue, lblHorzSpeedValue;
+    private JLabel lblAltitude, lblSurfaceAlt, lblApoapsis, lblPeriapsis, lblVertSpeed, lblHorzSpeed;
+    private JLabel lblAltitudeValue, lblSurfaceAltValue, lblApoapsisValue;
+    private JLabel lblPeriapsisValue, lblVertSpeedValue, lblHorzSpeedValue;
 
     private VesselManager vesselManager;
 
@@ -189,26 +188,26 @@ private void changeFunctionPanel(ActionEvent e) {
         MainGui.changeToPage(e);
     }
 
-    public static void updateTelemetry(Map<Telemetry,Double> telemetryData) {
+    public void updateTelemetry(Map<Telemetry,Double> telemetryData) {
         synchronized (telemetryData) {
             for (Telemetry key : telemetryData.keySet()) {
                 switch (key) {
-                    case ALTITUDE:
+                    case ALTITUDE :
                         lblAltitudeValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
                         break;
-                    case ALT_SURF:
+                    case ALT_SURF :
                         lblSurfaceAltValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
                         break;
-                    case APOAPSIS:
+                    case APOAPSIS :
                         lblApoapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
                         break;
-                    case PERIAPSIS:
+                    case PERIAPSIS :
                         lblPeriapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
                         break;
-                    case VERT_SPEED:
+                    case VERT_SPEED :
                         lblVertSpeedValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
                         break;
-                    case HORZ_SPEED:
+                    case HORZ_SPEED :
                         lblHorzSpeedValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
                         break;
                 }

From 875c5d302c71d1f724ac0384af58e947ea4323fd Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sun, 7 Sep 2025 22:43:12 -0300
Subject: [PATCH 03/25] [MP-8]: Refactored LiftoffController to use callbacks
 on streams

---
 .../controllers/LiftoffController.java        | 54 ++++++++++---------
 1 file changed, 29 insertions(+), 25 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index 4dfb85e..5b6a691 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -13,6 +13,7 @@
 import com.pesterenan.utils.Utilities;
 
 import krpc.client.RPCException;
+import krpc.client.Stream;
 import krpc.client.StreamException;
 import krpc.client.services.SpaceCenter.Engine;
 import krpc.client.services.SpaceCenter.Fairing;
@@ -21,12 +22,9 @@ public class LiftoffController extends Controller {
 
     private static final float PITCH_UP = 90;
     private ControlePID thrControl;
-    private float currentPitch;
-    private float finalApoapsisAlt;
-    private float heading;
-    private float roll;
-    private float maxTWR;
-
+    private float currentPitch, finalApoapsisAlt, heading, roll, maxTWR;
+    private volatile boolean targetApoapsisReached, dynamicPressureLowEnough = false;
+    private int apoapsisCallbackTag, pressureCallbackTag;
     private boolean willDecoupleStages, willOpenPanelsAndAntenna;
     private String gravityCurveModel = Module.CIRCULAR.get();
     private Navigation navigation;
@@ -55,6 +53,25 @@ private void initializeParameters() {
     @Override
     public void run() {
         try {
+            // Apoapsis Check using Stream Callback
+            apoapsisCallbackTag = apoapsis.addCallback((apo) -> {
+                if (apo >= getFinalApoapsis()) {
+                    targetApoapsisReached = true;
+                    apoapsis.removeCallback(apoapsisCallbackTag);
+                }
+            });
+            apoapsis.start();
+
+            // Dynamic Pressure Check using Stream Callback
+            Stream<Float> pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
+            pressureCallbackTag = pressureStream.addCallback((pressure) -> {
+                if (pressure <= 10) {
+                    dynamicPressureLowEnough = true;
+                    pressureStream.removeCallback(pressureCallbackTag);
+                }
+            });
+            pressureStream.start();
+
             tuneAutoPilot();
             liftoff();
             gravityCurve();
@@ -73,29 +90,22 @@ private void gravityCurve() throws RPCException, StreamException, InterruptedExc
         throttle(getMaxThrottleForTWR(maxTWR));
         double startCurveAlt = altitude.get();
 
-        while (currentPitch > 1) {
-            if (apoapsis.get() > getFinalApoapsis()) {
-                throttle(0);
-                break;
-            }
+        while (currentPitch > 1 && !targetApoapsisReached) {
             double altitudeProgress = Utilities.remap(startCurveAlt, getFinalApoapsis(), 1, 0.01, altitude.get(),
                     false);
             currentPitch = (float) (calculateCurrentPitch(altitudeProgress));
             double currentMaxTWR = calculateTWRBasedOnPressure(currentPitch);
             ap.setTargetPitch(currentPitch);
-            throttle(Math.min(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000),
-                    getMaxThrottleForTWR(currentMaxTWR)));
+            double throttleValue = Math.min(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000),
+                    getMaxThrottleForTWR(currentMaxTWR));
+            throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
 
             if (willDecoupleStages && isCurrentStageWithoutFuel()) {
                 decoupleStage();
             }
             setCurrentStatus(String.format(Bundle.getString("status_liftoff_inclination") + " %.1f", currentPitch));
-
-            Thread.sleep(25);
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
         }
+        throttle(0);
     }
 
     private double calculateTWRBasedOnPressure(float currentPitch) throws RPCException {
@@ -110,13 +120,9 @@ private void finalizeCurve() throws RPCException, StreamException, InterruptedEx
         setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
         getActiveVessel().getControl().setRCS(true);
 
-        while (flightParameters.getDynamicPressure() > 10) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
+        while (!dynamicPressureLowEnough) {
             navigation.aimAtPrograde();
             throttle(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000));
-            Thread.sleep(25);
         }
         throttle(0.0f);
         if (willDecoupleStages) {
@@ -142,8 +148,6 @@ private void jettisonFairings() throws RPCException, InterruptedException {
             setCurrentStatus(Bundle.getString("status_jettisoning_shields"));
             for (Fairing f : fairings) {
                 if (f.getJettisoned()) {
-                    // Overly complicated way of getting the event from the button in the fairing
-                    // to jettison the fairing, since the jettison method doesn't work.
                     String eventName = f.getPart().getModules().get(0).getEvents().get(0);
                     f.getPart().getModules().get(0).triggerEvent(eventName);
                     Thread.sleep(10000);

From 9dc4ee226d0bdaee0ba2fe36f4c60c93b3102ccd Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sun, 7 Sep 2025 23:19:36 -0300
Subject: [PATCH 04/25] [MP-8]: Refactored ManeuverController to use callbacks
 on streams

---
 .../controllers/ManeuverController.java       | 289 ++++++++++--------
 1 file changed, 170 insertions(+), 119 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 83af766..78463c5 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -29,12 +29,18 @@
 public class ManeuverController extends Controller {
 
     public final static float CONST_GRAV = 9.81f;
-    private ControlePID ctrlRCS;
-    private ControlePID ctrlManeuver;
+    private ControlePID ctrlManeuver, ctrlRCS;
     private Navigation navigation;
     private boolean fineAdjustment;
     private double lowOrbitAltitude;
 
+    private volatile boolean isBurnComplete, isOriented, isTimeToBurn = false;
+    private int burnCompleteCallbackTag, headingErrorCallbackTag, pitchErrorCallbackTag, timeToBurnCallbackTag;
+    private Stream<Float> headingErrorStream;
+    private Stream<Float> pitchErrorStream;
+    private Stream<Double> timeToNodeStream;
+    private Stream<Triplet<Double,Double,Double>> remainingBurn;
+
     public ManeuverController(ConnectionManager connectionManager, VesselManager vesselManager,
             Map<String,String> commands) {
         super(connectionManager, vesselManager);
@@ -58,11 +64,15 @@ private void initializeParameters() {
 
     @Override
     public void run() {
-        calculateManeuver();
-        if (!(commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())
-                || commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())
-                || commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get()))) {
-            executeNextManeuver();
+        try {
+            calculateManeuver();
+            if (!(commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())
+                    || commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())
+                    || commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get()))) {
+                executeNextManeuver();
+            }
+        } catch (InterruptedException e) {
+            cleanup();
         }
     }
 
@@ -146,30 +156,26 @@ public void calculateManeuver() {
         }
     }
 
-    public void matchOrbitApoapsis() {
-        try {
-            Orbit targetOrbit = getTargetOrbit();
-            System.out.println(targetOrbit.getApoapsis() + "-- APO");
-            Node maneuver = biEllipticTransferToOrbit(targetOrbit.getApoapsis(),
-                    getActiveVessel().getOrbit().getTimeToPeriapsis());
-            while (true) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                double currentDeltaApo = compareOrbitParameter(maneuver.getOrbit(), targetOrbit, Compare.AP);
-                String deltaApoFormatted = String.format("%.2f", currentDeltaApo);
-                System.out.println(deltaApoFormatted);
-                if (deltaApoFormatted.equals(String.format("%.2f", 0.00))) {
-                    break;
-                }
-                double dvPrograde = maneuver.getPrograde();
-                double ctrlOutput = ctrlManeuver.calculate(currentDeltaApo, 0);
-
-                maneuver.setPrograde(dvPrograde - (ctrlOutput));
-                Thread.sleep(25);
+    public void matchOrbitApoapsis() throws RPCException, StreamException, InterruptedException {
+        Orbit targetOrbit = getTargetOrbit();
+        System.out.println(targetOrbit.getApoapsis() + "-- APO");
+        Node maneuver = biEllipticTransferToOrbit(targetOrbit.getApoapsis(),
+                getActiveVessel().getOrbit().getTimeToPeriapsis());
+        while (true) {
+            if (Thread.interrupted()) {
+                throw new InterruptedException();
+            }
+            double currentDeltaApo = compareOrbitParameter(maneuver.getOrbit(), targetOrbit, Compare.AP);
+            String deltaApoFormatted = String.format("%.2f", currentDeltaApo);
+            System.out.println(deltaApoFormatted);
+            if (deltaApoFormatted.equals(String.format("%.2f", 0.00))) {
+                break;
             }
-        } catch (Exception e) {
-            setCurrentStatus("Não foi possivel ajustar a inclinação");
+            double dvPrograde = maneuver.getPrograde();
+            double ctrlOutput = ctrlManeuver.calculate(currentDeltaApo, 0);
+
+            maneuver.setPrograde(dvPrograde - (ctrlOutput));
+            Thread.sleep(25);
         }
     }
 
@@ -191,7 +197,7 @@ private double[] getTimeToIncNodes(Orbit targetOrbit) throws RPCException {
         return new double[]{vesselOrbit.uTAtTrueAnomaly(ascendingNode), vesselOrbit.uTAtTrueAnomaly(descendingNode)};
     }
 
-    private void alignPlanesWithTargetVessel() {
+    private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
         try {
             Vessel vessel = getActiveVessel();
             Orbit vesselOrbit = getActiveVessel().getOrbit();
@@ -211,6 +217,9 @@ private void alignPlanesWithTargetVessel() {
                     .toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
             ctrlManeuver.setTimeSample(25);
             while (currentInclination > 0.05) {
+                if (Thread.interrupted()) {
+                    throw new InterruptedException();
+                }
                 currentInclination = Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
                 double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
                 currentManeuver.setNormal(currentManeuver.getNormal() + (closestIsAN ? ctrlOutput : -ctrlOutput));
@@ -221,7 +230,7 @@ private void alignPlanesWithTargetVessel() {
         }
     }
 
-    private void rendezvousWithTargetVessel() {
+    private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
         try {
             boolean hasManeuverNodes = getActiveVessel().getControl().getNodes().size() > 0;
             List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
@@ -244,6 +253,9 @@ private void rendezvousWithTargetVessel() {
 
             double angularDiff = 10;
             while (angularDiff >= 0.005) {
+                if (Thread.interrupted()) {
+                    throw new InterruptedException();
+                }
                 double maneuverUT = lastManeuverNode.getUT();
                 double targetOrbitPosition = new Vector(targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame))
                         .magnitude();
@@ -254,6 +266,9 @@ private void rendezvousWithTargetVessel() {
 
                 if (targetOrbitPosition < maneuverPE) {
                     while (Math.floor(targetOrbitPosition) != Math.floor(maneuverPE)) {
+                        if (Thread.interrupted()) {
+                            throw new InterruptedException();
+                        }
                         lastManeuverNode.setPrograde(lastManeuverNode.getPrograde()
                                 + ctrlManeuver.calculate(maneuverPE / targetOrbitPosition * 1000, 1000));
                         maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
@@ -263,6 +278,9 @@ private void rendezvousWithTargetVessel() {
 
                 if (targetOrbitPosition > maneuverAP) {
                     while (Math.floor(targetOrbitPosition) != Math.floor(maneuverAP)) {
+                        if (Thread.interrupted()) {
+                            throw new InterruptedException();
+                        }
                         lastManeuverNode.setPrograde(lastManeuverNode.getPrograde()
                                 + ctrlManeuver.calculate(maneuverAP / targetOrbitPosition * 1000, 1000));
                         maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
@@ -278,55 +296,10 @@ private void rendezvousWithTargetVessel() {
                 System.out.println(angularDiff);
                 Thread.sleep(25);
             }
-            // double mu = currentBody.getGravitationalParameter();
-            // double time = 1000;
-            //
-            // double hohmannTransferDistance =
-            // lastManeuverNode.getOrbit().getSemiMajorAxis();
-            // double timeOfFlight = Math.PI * Math.sqrt(Math.pow(hohmannTransferDistance,
-            // 3) / mu);
-            // double angle = activeVesselOrbit.getMeanAnomalyAtEpoch();
-            // double omegaInterceptor = Math
-            // .sqrt(mu /
-            // Math.pow(activeVesselOrbit.radiusAt(getSpaceCenter().getUT()), 3));
-            // // rad/s
-            // double omegaTarget = Math.sqrt(mu /
-            // Math.pow(targetVesselOrbit.radiusAt(getSpaceCenter().getUT()), 3)); // rad/s
-            // // double leadAngle = omegaTarget * timeOfFlight; // rad
-            // double leadAngle = targetVesselOrbit.getMeanAnomalyAtEpoch(); // rad
-            // double phaseAngle = Math.PI - leadAngle; // rad
-            // double calcAngle = (phaseAngle - angle);
-            // calcAngle = calcAngle < 0 ? calcAngle + (Math.PI * 2) : calcAngle;
-            // double waitTime = calcAngle / (omegaTarget - omegaInterceptor);
-            // time = waitTime;
-            //
-            // lastManeuverNode.setUT(getSpaceCenter().getUT() + time);
-            // ctrlManeuver.setOutput(-100, 100);
-            // ctrlManeuver.setPIDValues(0.05, 0.1, 0.01);
-            // double closestApproach =
-            // lastManeuverNode.getOrbit().distanceAtClosestApproach(targetVesselOrbit);
-            // System.out.println(closestApproach);
-            // System.out.println("Ajustando tempo de Rendezvous...");
-            // while (Math.round(closestApproach) > 100) {
-            // if (closestApproach < 100000) {
-            // ctrlManeuver.setOutput(-10, 10);
-            // } else if (closestApproach < 10000) {
-            // ctrlManeuver.setOutput(-1, 1);
-            // } else {
-            // ctrlManeuver.setOutput(-100, 100);
-            // }
-            // maneuverUT = ctrlManeuver.calculate(-closestApproach, 0);
-            // lastManeuverNode.setUT(lastManeuverNode.getUT() + maneuverUT);
-            // System.out.println("Closest " + (closestApproach));
-            // closestApproach =
-            // targetVesselOrbit.distanceAtClosestApproach(lastManeuverNode.getOrbit());
-            // Thread.sleep(25);
-            // }
-            // lastManeuverNode.setUT(lastManeuverNode.getUT() -
-            // lastManeuverNode.getOrbit().getPeriod() / 2);
-        } catch (
-
-        Exception err) {
+        } catch (Exception err) {
+            if (err instanceof InterruptedException) {
+                throw (InterruptedException) err;
+            }
         }
     }
 
@@ -387,96 +360,147 @@ private Node createManeuver(double laterTime, double[] deltaV) {
         return maneuverNode;
     }
 
-    public void executeNextManeuver() {
+    public void executeNextManeuver() throws InterruptedException {
         try {
             Node maneuverNode = getActiveVessel().getControl().getNodes().get(0);
             double burnTime = calculateBurnTime(maneuverNode);
             orientToManeuverNode(maneuverNode);
             executeBurn(maneuverNode, burnTime);
         } catch (UnsupportedOperationException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_maneuver_not_unlocked"));
         } catch (IndexOutOfBoundsException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_maneuver_unavailable"));
-        } catch (RPCException e) {
+        } catch (RPCException | StreamException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_data_unavailable"));
         } catch (InterruptedException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_couldnt_orient"));
+            throw e;
         }
     }
 
-    public void orientToManeuverNode(Node maneuverNode) throws InterruptedException, RPCException {
+    public void orientToManeuverNode(Node maneuverNode) throws RPCException, StreamException, InterruptedException {
         setCurrentStatus(Bundle.getString("status_orienting_ship"));
         ap.engage();
-        while (ap.getHeadingError() > 3 || ap.getPitchError() > 3) {
+
+        // Create streams for heading and pitch errors
+        headingErrorStream = connection.addStream(ap, "getHeadingError");
+        pitchErrorStream = connection.addStream(ap, "getPitchError");
+
+        // A shared callback for both streams
+        Runnable checkOrientation = () -> {
+            try {
+                if (headingErrorStream.get() <= 3 && pitchErrorStream.get() <= 3) {
+                    isOriented = true;
+                    // Clean up the callbacks once orientation is complete
+                    headingErrorStream.removeCallback(headingErrorCallbackTag);
+                    pitchErrorStream.removeCallback(pitchErrorCallbackTag);
+                }
+            } catch (RPCException | StreamException e) {
+                // Handle exceptions
+            }
+        };
+
+        // Add the same callback to both streams
+        headingErrorCallbackTag = headingErrorStream.addCallback(v -> checkOrientation.run());
+        pitchErrorCallbackTag = pitchErrorStream.addCallback(v -> checkOrientation.run());
+
+        // Start the streams
+        headingErrorStream.start();
+        pitchErrorStream.start();
+
+        while (!isOriented) {
             if (Thread.interrupted()) {
                 throw new InterruptedException();
             }
             navigation.aimAtManeuver(maneuverNode);
-            Thread.sleep(100);
         }
-
     }
 
-    public double calculateBurnTime(Node maneuverNode) throws RPCException {
-
-        List<Engine> engines = getActiveVessel().getParts().getEngines();
-        for (Engine engine : engines) {
-            if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
-                    && !engine.getActive()) {
-                engine.setActive(true);
+    public double calculateBurnTime(Node maneuverNode) {
+        try {
+            List<Engine> engines = getActiveVessel().getParts().getEngines();
+            for (Engine engine : engines) {
+                if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
+                        && !engine.getActive()) {
+                    engine.setActive(true);
+                }
             }
+        } catch (RPCException e) {
+            System.err.println("Não foi possível ativar os motores." + e.getMessage());
         }
-        double thrust = getActiveVessel().getAvailableThrust();
-        double isp = getActiveVessel().getSpecificImpulse() * CONST_GRAV;
-        double totalMass = getActiveVessel().getMass();
-        double dryMass = totalMass / Math.exp(maneuverNode.getDeltaV() / isp);
-        double burnRatio = thrust / isp;
-        double burnDuration = (totalMass - dryMass) / burnRatio;
-
-        setCurrentStatus("Tempo de Queima da Manobra: " + burnDuration + " segundos");
+        double burnDuration = 0;
+        try {
+            double thrust = getActiveVessel().getAvailableThrust();
+            double isp = getActiveVessel().getSpecificImpulse() * CONST_GRAV;
+            double totalMass = getActiveVessel().getMass();
+            double dryMass = totalMass / Math.exp(maneuverNode.getDeltaV() / isp);
+            double burnRatio = thrust / isp;
+            burnDuration = (totalMass - dryMass) / burnRatio;
+        } catch (RPCException e) {
+            System.err.println("Não foi possível calcular o tempo de queima." + e.getMessage());
+        }
+        setCurrentStatus("Tempo de Queima da Manobra: " + burnDuration + " segundos.");
         return burnDuration;
     }
 
-    public void executeBurn(Node maneuverNode, double burnDuration) {
+    public void executeBurn(Node maneuverNode, double burnDuration) throws InterruptedException {
         try {
+            // Countdown Stream
+            timeToNodeStream = connection.addStream(maneuverNode, "getTimeTo");
+            timeToBurnCallbackTag = timeToNodeStream.addCallback((time) -> {
+                if (time <= (burnDuration / 2.0)) {
+                    isTimeToBurn = true;
+                    timeToNodeStream.removeCallback(timeToBurnCallbackTag);
+                }
+            });
+            timeToNodeStream.start();
+
             double burnStartTime = maneuverNode.getTimeTo() - (burnDuration / 2.0) - (fineAdjustment ? 5 : 0);
             setCurrentStatus(Bundle.getString("status_maneuver_warp"));
             if (burnStartTime > 30) {
                 getConnectionManager().getSpaceCenter()
                         .warpTo((getConnectionManager().getSpaceCenter().getUT() + burnStartTime - 10), 100000, 4);
             }
-            // Mostrar tempo de ignição:
+
             setCurrentStatus(String.format(Bundle.getString("status_maneuver_duration"), burnDuration));
-            while (burnStartTime > 0) {
+            while (!isTimeToBurn) {
                 if (Thread.interrupted()) {
                     throw new InterruptedException();
                 }
-                burnStartTime = Math.max(maneuverNode.getTimeTo() - (burnDuration / 2.0), 0.0);
                 navigation.aimAtManeuver(maneuverNode);
-                setCurrentStatus(String.format(Bundle.getString("status_maneuver_ignition_in"), burnStartTime));
-                Thread.sleep(100);
+                setCurrentStatus(String.format(Bundle.getString("status_maneuver_ignition_in"),
+                        maneuverNode.getTimeTo() - (burnDuration / 2.0)));
             }
-            // Executar a manobra:
-            Stream<Triplet<Double,Double,Double>> remainingBurn = getConnectionManager().getConnection().addStream(
+
+            // Main Burn Stream
+            remainingBurn = getConnectionManager().getConnection().addStream(
                     maneuverNode,
                     "remainingBurnVector", maneuverNode.getReferenceFrame());
+            burnCompleteCallbackTag = remainingBurn.addCallback((burn) -> {
+                if (burn.getValue1() < (fineAdjustment ? 2 : 0.5)) {
+                    isBurnComplete = true;
+                    remainingBurn.removeCallback(burnCompleteCallbackTag);
+                }
+            });
+            remainingBurn.start();
+
             setCurrentStatus(Bundle.getString("status_maneuver_executing"));
-            while (maneuverNode != null) {
-                double burnDvLeft = remainingBurn.get().getValue1();
+            while (!isBurnComplete && maneuverNode != null) {
                 if (Thread.interrupted()) {
                     throw new InterruptedException();
                 }
-                if (burnDvLeft < (fineAdjustment ? 2 : 0.5)) {
-                    throttle(0.0f);
-                    break;
-                }
                 navigation.aimAtManeuver(maneuverNode);
+                double burnDvLeft = remainingBurn.get().getValue1();
                 float limitValue = burnDvLeft > 100 ? 1000 : 100;
                 throttle(ctrlManeuver.calculate(
                         (maneuverNode.getDeltaV() - Math.floor(burnDvLeft)) / maneuverNode.getDeltaV() * limitValue,
                         limitValue));
-                Thread.sleep(25);
             }
+
             throttle(0.0f);
             if (fineAdjustment) {
                 adjustManeuverWithRCS(remainingBurn);
@@ -489,9 +513,37 @@ public void executeBurn(Node maneuverNode, double burnDuration) {
             maneuverNode.remove();
             setCurrentStatus(Bundle.getString("status_ready"));
         } catch (StreamException | RPCException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_data_unavailable"));
         } catch (InterruptedException e) {
+            System.err.println("Erro: " + e.getMessage());
             setCurrentStatus(Bundle.getString("status_maneuver_cancelled"));
+            throw e;
+        }
+    }
+
+    private void cleanup() {
+        try {
+            if (headingErrorStream != null) {
+                headingErrorStream.removeCallback(headingErrorCallbackTag);
+                headingErrorStream.remove();
+            }
+            if (pitchErrorStream != null) {
+                pitchErrorStream.removeCallback(pitchErrorCallbackTag);
+                pitchErrorStream.remove();
+            }
+            if (timeToNodeStream != null) {
+                timeToNodeStream.removeCallback(timeToBurnCallbackTag);
+                timeToNodeStream.remove();
+            }
+            if (remainingBurn != null) {
+                remainingBurn.removeCallback(burnCompleteCallbackTag);
+                remainingBurn.remove();
+            }
+            ap.disengage();
+            throttle(0);
+        } catch (RPCException e) {
+            // ignore
         }
     }
 
@@ -504,7 +556,6 @@ private void adjustManeuverWithRCS(Stream<Triplet<Double,Double,Double>> remaini
             }
             getActiveVessel().getControl()
                     .setForward((float) ctrlRCS.calculate(-remainingDeltaV.get().getValue1() * 10, 0));
-            Thread.sleep(25);
         }
         getActiveVessel().getControl().setForward(0);
     }
@@ -528,7 +579,7 @@ private boolean canFineAdjust(String string) {
     }
 
     private double calculatePhaseAngle(Triplet<Double,Double,Double> startPos, Triplet<Double,Double,Double> endPos)
-            throws RPCException, InterruptedException {
+            throws RPCException {
         double targetPhaseAngle = 10;
         double angularDifference = 15;
         Vector startPosition = new Vector(startPos);

From 1b450868747614f597e01819e366982b9fbf63fd Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 9 Sep 2025 10:21:51 -0300
Subject: [PATCH 05/25] [MP-8]: Enforcing new formatting style

---
 .settings/eclipse-java-google-style.xml       | 337 ++++++++++++++++++
 .settings/org.eclipse.core.resources.prefs    |   2 -
 .settings/org.eclipse.jdt.apt.core.prefs      |   2 -
 .settings/org.eclipse.jdt.core.prefs          |  19 -
 .settings/org.eclipse.jdt.ui.prefs            |   3 -
 ....eclipse.wst.common.project.facet.core.xml |   4 -
 pom.xml                                       |   7 +-
 7 files changed, 340 insertions(+), 34 deletions(-)
 create mode 100644 .settings/eclipse-java-google-style.xml
 delete mode 100644 .settings/org.eclipse.core.resources.prefs
 delete mode 100644 .settings/org.eclipse.jdt.apt.core.prefs
 delete mode 100644 .settings/org.eclipse.jdt.core.prefs
 delete mode 100644 .settings/org.eclipse.jdt.ui.prefs
 delete mode 100644 .settings/org.eclipse.wst.common.project.facet.core.xml

diff --git a/.settings/eclipse-java-google-style.xml b/.settings/eclipse-java-google-style.xml
new file mode 100644
index 0000000..7bb6804
--- /dev/null
+++ b/.settings/eclipse-java-google-style.xml
@@ -0,0 +1,337 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<profiles version="13">
+<profile kind="CodeFormatterProfile" name="GoogleStyle" version="13">
+<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_before_root_tags" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.disabling_tag" value="@formatter:off"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_annotation" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_type_parameters" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_type_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_arguments" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_anonymous_type_declaration" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.new_lines_at_block_boundaries" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_cascading_method_invocation_with_arguments.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_annotation_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_field" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.use_on_off_tags" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_prefer_two_fragments" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_annotation_type_member_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_else_in_if_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_ellipsis" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_for_parameter" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_comment_inline_tags" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_annotation_type_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_at_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_local_variable_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_multiple_fields" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_parameter" value="1040"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_expressions_in_array_initializer" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_type.count_dependent" value="1585|-1|1585"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_conditional_expression" value="80"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_for" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_multiple_fields.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_binary_operator" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_question_in_wildcard" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_enum_constant" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_finally_in_try_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_local_variable" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_after_package" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_qualified_allocation_expression.count_dependent" value="16|4|80"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_method_declaration.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_parameters" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.continuation_indentation" value="2"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_superinterfaces_in_enum_declaration.count_dependent" value="16|4|49"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_method_invocation" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_superinterfaces" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_new_chunk" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_package" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_cascading_method_invocation_with_arguments" value="16"/>
+<setting id="org.eclipse.jdt.core.compiler.source" value="1.7"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_constructor_declaration.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_enum_constant_arguments" value="insert"/>
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+<setting id="org.eclipse.jdt.core.formatter.alignment_for_parameters_in_method_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.compiler.codegen.targetPlatform" value="1.7"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_resources_in_try" value="80"/>
+<setting id="org.eclipse.jdt.core.formatter.use_tabs_only_for_leading_indentations" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_annotation" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.format_header" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.format_block_comments" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_enum_constant" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_enum_constants" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_annotation_declaration_header" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_block" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_catch" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_multiple_local_declarations" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_superinterfaces_in_type_declaration.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_switch" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_for_increments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_method.count_dependent" value="1585|-1|1585"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_assert" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_type_declaration" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_braces_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_binary_expression.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_non_simple_member_annotation" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_local_variable" value="1585"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_semicolon_in_for" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_explicit_constructor_call.count_dependent" value="16|5|80"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_catch" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_parameterized_type_reference" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_multiple_field_declarations" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_generic_type_arguments.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_parameterized_type_reference" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_allocation_expression.count_dependent" value="16|5|80"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_parameters_in_method_declaration.count_dependent" value="16|5|80"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.new_lines_at_javadoc_boundaries" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_after_imports" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_multiple_local_declarations" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_enum_constant_header" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_semicolon_in_for" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.never_indent_line_comments_on_first_column" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_semicolon_in_try_resources" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_for_statement" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.never_indent_block_comments_on_first_column" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
+</profile>
+</profiles>
diff --git a/.settings/org.eclipse.core.resources.prefs b/.settings/org.eclipse.core.resources.prefs
deleted file mode 100644
index 2b76340..0000000
--- a/.settings/org.eclipse.core.resources.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-encoding//src/main/java=UTF-8
diff --git a/.settings/org.eclipse.jdt.apt.core.prefs b/.settings/org.eclipse.jdt.apt.core.prefs
deleted file mode 100644
index d4313d4..0000000
--- a/.settings/org.eclipse.jdt.apt.core.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.jdt.apt.aptEnabled=false
diff --git a/.settings/org.eclipse.jdt.core.prefs b/.settings/org.eclipse.jdt.core.prefs
deleted file mode 100644
index 3d58a74..0000000
--- a/.settings/org.eclipse.jdt.core.prefs
+++ /dev/null
@@ -1,19 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
-org.eclipse.jdt.core.compiler.compliance=1.8
-org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
-org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
-org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=ignore
-org.eclipse.jdt.core.compiler.processAnnotations=disabled
-org.eclipse.jdt.core.compiler.release=disabled
-org.eclipse.jdt.core.compiler.source=1.8
-org.eclipse.jdt.core.formatter.align_type_members_on_columns=false
-org.eclipse.jdt.core.formatter.brace_position_for_block=end_of_line
-org.eclipse.jdt.core.formatter.brace_position_for_method_declaration=end_of_line
-org.eclipse.jdt.core.formatter.brace_position_for_type_declaration=end_of_line
-org.eclipse.jdt.core.formatter.indentation.size=4
-org.eclipse.jdt.core.formatter.insert_space_after_comma_in_parameterized_type_reference=true
-org.eclipse.jdt.core.formatter.join_wrapped_lines=false
-org.eclipse.jdt.core.formatter.lineSplit=120
-org.eclipse.jdt.core.formatter.tabulation.char=space
-org.eclipse.jdt.core.formatter.tabulation.size=4
diff --git a/.settings/org.eclipse.jdt.ui.prefs b/.settings/org.eclipse.jdt.ui.prefs
deleted file mode 100644
index 91a46d2..0000000
--- a/.settings/org.eclipse.jdt.ui.prefs
+++ /dev/null
@@ -1,3 +0,0 @@
-eclipse.preferences.version=1
-formatter_profile=_custom
-formatter_settings_version=12
diff --git a/.settings/org.eclipse.wst.common.project.facet.core.xml b/.settings/org.eclipse.wst.common.project.facet.core.xml
deleted file mode 100644
index f4ef8aa..0000000
--- a/.settings/org.eclipse.wst.common.project.facet.core.xml
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<faceted-project>
-  <installed facet="java" version="1.8"/>
-</faceted-project>
diff --git a/pom.xml b/pom.xml
index 46f310f..4ed1c25 100644
--- a/pom.xml
+++ b/pom.xml
@@ -61,10 +61,9 @@
         <version>2.37.0</version>
         <configuration>
           <java>
-            <eclipse>
-              <version>4.19</version>
-              <file>${project.basedir}/.settings/org.eclipse.jdt.core.prefs</file>
-            </eclipse>
+            <googleJavaFormat>
+              <version>1.22.0</version>
+            </googleJavaFormat>
           </java>
         </configuration>
       </plugin>

From 38d525bd2e1a9fd5f98110bca37b8b957fd7965d Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 9 Sep 2025 10:41:07 -0300
Subject: [PATCH 06/25] [MP-8]: Applying new code style format

---
 .settings/org.eclipse.core.resources.prefs    |    2 +
 .settings/org.eclipse.jdt.apt.core.prefs      |    2 +
 .settings/org.eclipse.jdt.core.prefs          |    9 +
 .settings/org.eclipse.m2e.core.prefs          |    4 +
 src/main/java/com/pesterenan/Main.java        |  427 ++++---
 src/main/java/com/pesterenan/MechPeste.java   |   66 +-
 .../pesterenan/controllers/Controller.java    |   21 +-
 .../controllers/DockingController.java        |  583 +++++----
 .../controllers/LandingController.java        |  554 ++++----
 .../controllers/LiftoffController.java        |  431 ++++---
 .../controllers/ManeuverController.java       | 1133 +++++++++--------
 .../controllers/RoverController.java          |  633 +++++----
 .../com/pesterenan/model/ActiveVessel.java    |  430 ++++---
 .../pesterenan/model/ConnectionManager.java   |  154 +--
 .../com/pesterenan/model/VesselManager.java   |  364 +++---
 .../java/com/pesterenan/resources/Bundle.java |   19 +-
 .../com/pesterenan/updater/KrpcInstaller.java |  130 +-
 .../java/com/pesterenan/utils/Attributes.java |   47 +-
 .../com/pesterenan/utils/ControlePID.java     |  214 ++--
 .../java/com/pesterenan/utils/Module.java     |   94 +-
 .../java/com/pesterenan/utils/Navigation.java |  299 +++--
 .../com/pesterenan/utils/PathFinding.java     |  432 ++++---
 .../java/com/pesterenan/utils/Telemetry.java  |    7 +-
 .../java/com/pesterenan/utils/Utilities.java  |  135 +-
 .../java/com/pesterenan/utils/Vector.java     |  438 +++----
 .../com/pesterenan/utils/VersionUtil.java     |   39 +-
 .../com/pesterenan/views/AboutJFrame.java     |  123 +-
 .../pesterenan/views/ChangeVesselDialog.java  |  283 ++--
 .../views/CreateManeuverJPanel.java           |  819 ++++++------
 .../com/pesterenan/views/DockingJPanel.java   |  295 +++--
 .../views/FunctionsAndTelemetryJPanel.java    |  400 +++---
 .../pesterenan/views/InstallKrpcDialog.java   |  326 +++--
 .../com/pesterenan/views/LandingJPanel.java   |  334 ++---
 .../com/pesterenan/views/LiftoffJPanel.java   |  429 ++++---
 .../java/com/pesterenan/views/MainGui.java    |  439 ++++---
 .../com/pesterenan/views/RoverJPanel.java     |  324 ++---
 .../pesterenan/views/RunManeuverJPanel.java   |  441 +++----
 .../com/pesterenan/views/StatusDisplay.java   |    4 +-
 .../com/pesterenan/views/StatusJPanel.java    |  134 +-
 .../java/com/pesterenan/views/UIMethods.java  |    6 +-
 40 files changed, 5757 insertions(+), 5267 deletions(-)
 create mode 100644 .settings/org.eclipse.core.resources.prefs
 create mode 100644 .settings/org.eclipse.jdt.apt.core.prefs
 create mode 100644 .settings/org.eclipse.jdt.core.prefs
 create mode 100644 .settings/org.eclipse.m2e.core.prefs

diff --git a/.settings/org.eclipse.core.resources.prefs b/.settings/org.eclipse.core.resources.prefs
new file mode 100644
index 0000000..2b76340
--- /dev/null
+++ b/.settings/org.eclipse.core.resources.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+encoding//src/main/java=UTF-8
diff --git a/.settings/org.eclipse.jdt.apt.core.prefs b/.settings/org.eclipse.jdt.apt.core.prefs
new file mode 100644
index 0000000..d4313d4
--- /dev/null
+++ b/.settings/org.eclipse.jdt.apt.core.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.apt.aptEnabled=false
diff --git a/.settings/org.eclipse.jdt.core.prefs b/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 0000000..1b6e1ef
--- /dev/null
+++ b/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,9 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
+org.eclipse.jdt.core.compiler.compliance=1.8
+org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
+org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
+org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=ignore
+org.eclipse.jdt.core.compiler.processAnnotations=disabled
+org.eclipse.jdt.core.compiler.release=disabled
+org.eclipse.jdt.core.compiler.source=1.8
diff --git a/.settings/org.eclipse.m2e.core.prefs b/.settings/org.eclipse.m2e.core.prefs
new file mode 100644
index 0000000..f897a7f
--- /dev/null
+++ b/.settings/org.eclipse.m2e.core.prefs
@@ -0,0 +1,4 @@
+activeProfiles=
+eclipse.preferences.version=1
+resolveWorkspaceProjects=true
+version=1
diff --git a/src/main/java/com/pesterenan/Main.java b/src/main/java/com/pesterenan/Main.java
index ac0b287..1a6d8bb 100644
--- a/src/main/java/com/pesterenan/Main.java
+++ b/src/main/java/com/pesterenan/Main.java
@@ -1,10 +1,8 @@
 package com.pesterenan;
 
-import java.io.IOException;
-
 import com.pesterenan.utils.Utilities;
 import com.pesterenan.utils.Vector;
-
+import java.io.IOException;
 import krpc.client.Connection;
 import krpc.client.RPCException;
 import krpc.client.services.Drawing;
@@ -17,207 +15,232 @@
 import krpc.client.services.SpaceCenter.Vessel;
 
 public class Main {
-    private static Connection connection;
-    private static SpaceCenter spaceCenter;
-    private static Drawing drawing;
-    private static Control control;
-
-    private static Vessel activeVessel;
-    private static Vessel targetVessel;
-
-    private static ReferenceFrame orbitalRefVessel;
-    private static ReferenceFrame vesselRefFrame;
-    private static ReferenceFrame orbitalRefBody;
-    private static final double SPEED_LIMIT = 3.0;
-    private static final double DISTANCE_LIMIT = 25.0;
-    private static Line distanceLine;
-    private static Line distLineXAxis;
-    private static Line distLineYAxis;
-    private static Line distLineZAxis;
-    private static DockingPort myDockingPort;
-    private static DockingPort targetDockingPort;
-    private static Vector positionMyDockingPort;
-    private static Vector positionTargetDockingPort;
-
-    private static void initializeParameters() {
-        try {
-            connection = Connection.newInstance();
-            spaceCenter = SpaceCenter.newInstance(connection);
-            drawing = Drawing.newInstance(connection);
-            activeVessel = spaceCenter.getActiveVessel();
-            targetVessel = spaceCenter.getTargetVessel();
-            vesselRefFrame = activeVessel.getReferenceFrame();
-            orbitalRefVessel = activeVessel.getOrbitalReferenceFrame();
-            orbitalRefBody = activeVessel.getOrbit().getBody().getReferenceFrame();
-
-            myDockingPort = activeVessel.getParts().getDockingPorts().get(0);
-            targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
-
-            positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
-            positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
-
-            createLines(positionMyDockingPort, positionTargetDockingPort);
-
-        } catch (IOException | RPCException e) {
-            e.printStackTrace();
-        }
+  private static Connection connection;
+  private static SpaceCenter spaceCenter;
+  private static Drawing drawing;
+  private static Control control;
+
+  private static Vessel activeVessel;
+  private static Vessel targetVessel;
+
+  private static ReferenceFrame orbitalRefVessel;
+  private static ReferenceFrame vesselRefFrame;
+  private static ReferenceFrame orbitalRefBody;
+  private static final double SPEED_LIMIT = 3.0;
+  private static final double DISTANCE_LIMIT = 25.0;
+  private static Line distanceLine;
+  private static Line distLineXAxis;
+  private static Line distLineYAxis;
+  private static Line distLineZAxis;
+  private static DockingPort myDockingPort;
+  private static DockingPort targetDockingPort;
+  private static Vector positionMyDockingPort;
+  private static Vector positionTargetDockingPort;
+
+  private static void initializeParameters() {
+    try {
+      connection = Connection.newInstance();
+      spaceCenter = SpaceCenter.newInstance(connection);
+      drawing = Drawing.newInstance(connection);
+      activeVessel = spaceCenter.getActiveVessel();
+      targetVessel = spaceCenter.getTargetVessel();
+      vesselRefFrame = activeVessel.getReferenceFrame();
+      orbitalRefVessel = activeVessel.getOrbitalReferenceFrame();
+      orbitalRefBody = activeVessel.getOrbit().getBody().getReferenceFrame();
+
+      myDockingPort = activeVessel.getParts().getDockingPorts().get(0);
+      targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
+
+      positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
+      positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
+
+      createLines(positionMyDockingPort, positionTargetDockingPort);
+
+    } catch (IOException | RPCException e) {
+      e.printStackTrace();
     }
-
-    public static void main(String[] args) {
-        try {
-            // Initialize parameters for the script, connection and setup:
-            initializeParameters();
-
-            // Setting up the control
-            control = activeVessel.getControl();
-            control.setSAS(true);
-            control.setRCS(false);
-            control.setSASMode(SASMode.STABILITY_ASSIST);
-
-            Vector targetDirection = new Vector(activeVessel.position(orbitalRefVessel))
-                    .subtract(new Vector(targetVessel.position(orbitalRefVessel))).multiply(-1);
-            activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
-            activeVessel.getAutoPilot().setTargetDirection(targetDirection.toTriplet());
-            activeVessel.getAutoPilot().setTargetRoll(90);
-            activeVessel.getAutoPilot().engage();
-            // Fazer a nave apontar usando o piloto automático, na marra
-            while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
-                activeVessel.getAutoPilot().wait_();
-            }
-            control.setRCS(true);
-            activeVessel.getAutoPilot().disengage();
-            control.setSAS(true);
-            control.setSASMode(SASMode.STABILITY_ASSIST);
-
-            // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
-
-            Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-            double lastXTargetPos = targetPosition.x;
-            double lastYTargetPos = targetPosition.y;
-            double lastZTargetPos = targetPosition.z;
-            long sleepTime = 25;
-            double currentXAxisSpeed = 0;
-            double currentYAxisSpeed = 0;
-            double currentZAxisSpeed = 0;
-            while (Math.abs(lastYTargetPos) >= DISTANCE_LIMIT) {
-                targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-
-                // Atualizar posições para linhas
-                positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
-                positionTargetDockingPort = new Vector(targetDockingPort.position(vesselRefFrame));
-                updateLines(positionMyDockingPort, positionTargetDockingPort);
-
-                // Calcular velocidade de cada eixo:
-                currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
-                currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
-                currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
-
-                // Calcular a aceleração para cada eixo no RCS:
-                float forwardsError = calculateThrottle(DISTANCE_LIMIT, DISTANCE_LIMIT * 2, currentYAxisSpeed,
-                        targetPosition.y, SPEED_LIMIT);
-                float sidewaysError = calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-                float upwardsError = calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
-                control.setForward((float) forwardsError);
-                control.setRight((float) sidewaysError);
-                control.setUp((float) -upwardsError);
-
-                // Guardar últimas posições:
-                lastXTargetPos = targetPosition.x;
-                lastYTargetPos = targetPosition.y;
-                lastZTargetPos = targetPosition.z;
-                Thread.sleep(sleepTime);
-            }
-
-            // SEGUNDA PARTE APONTAR PRO LADO CONTRARIO:
-            Vector direcaoContrariaDockingPortAlvo = new Vector(targetDockingPort.direction(orbitalRefVessel))
-                    .multiply(-1);
-            control.setSAS(false);
-            control.setRCS(false);
-            activeVessel.getAutoPilot().engage();
-            activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
-            activeVessel.getAutoPilot().setTargetDirection(direcaoContrariaDockingPortAlvo.toTriplet());
-            activeVessel.getAutoPilot().setTargetRoll(90);
-            while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
-                activeVessel.getAutoPilot().wait_();
-            }
-            activeVessel.getAutoPilot().disengage();
-            control.setSAS(true);
-            control.setSASMode(SASMode.STABILITY_ASSIST);
-            Thread.sleep(1000);
-            control.setRCS(true);
-
-            while (targetVessel != null) {
-                targetPosition = new Vector(targetDockingPort.position(vesselRefFrame));
-
-                // Atualizar posições para linhas
-                positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
-                updateLines(positionMyDockingPort, targetPosition);
-
-                // Calcular velocidade de cada eixo:
-                currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
-                currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
-                currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
-
-                // Calcular a aceleração para cada eixo no RCS:
-                float forwardsError = calculateThrottle(5, 10, currentYAxisSpeed, targetPosition.y, SPEED_LIMIT);
-                float sidewaysError = calculateThrottle(-1, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-                float upwardsError = calculateThrottle(-1, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
-                control.setForward((float) forwardsError);
-                control.setRight((float) sidewaysError);
-                control.setUp((float) -upwardsError);
-
-                // Guardar últimas posições:
-                lastXTargetPos = targetPosition.x;
-                lastYTargetPos = targetPosition.y;
-                lastZTargetPos = targetPosition.z;
-                Thread.sleep(sleepTime);
-            }
-            // // Close the connection when finished
-            // connection.close();
-        } catch (RPCException | InterruptedException e) {
-            e.printStackTrace();
-        }
+  }
+
+  public static void main(String[] args) {
+    try {
+      // Initialize parameters for the script, connection and setup:
+      initializeParameters();
+
+      // Setting up the control
+      control = activeVessel.getControl();
+      control.setSAS(true);
+      control.setRCS(false);
+      control.setSASMode(SASMode.STABILITY_ASSIST);
+
+      Vector targetDirection =
+          new Vector(activeVessel.position(orbitalRefVessel))
+              .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
+              .multiply(-1);
+      activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
+      activeVessel.getAutoPilot().setTargetDirection(targetDirection.toTriplet());
+      activeVessel.getAutoPilot().setTargetRoll(90);
+      activeVessel.getAutoPilot().engage();
+      // Fazer a nave apontar usando o piloto automático, na marra
+      while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
+        activeVessel.getAutoPilot().wait_();
+      }
+      control.setRCS(true);
+      activeVessel.getAutoPilot().disengage();
+      control.setSAS(true);
+      control.setSASMode(SASMode.STABILITY_ASSIST);
+
+      // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
+
+      Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+      double lastXTargetPos = targetPosition.x;
+      double lastYTargetPos = targetPosition.y;
+      double lastZTargetPos = targetPosition.z;
+      long sleepTime = 25;
+      double currentXAxisSpeed = 0;
+      double currentYAxisSpeed = 0;
+      double currentZAxisSpeed = 0;
+      while (Math.abs(lastYTargetPos) >= DISTANCE_LIMIT) {
+        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+
+        // Atualizar posições para linhas
+        positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
+        positionTargetDockingPort = new Vector(targetDockingPort.position(vesselRefFrame));
+        updateLines(positionMyDockingPort, positionTargetDockingPort);
+
+        // Calcular velocidade de cada eixo:
+        currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
+        currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
+        currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
+
+        // Calcular a aceleração para cada eixo no RCS:
+        float forwardsError =
+            calculateThrottle(
+                DISTANCE_LIMIT,
+                DISTANCE_LIMIT * 2,
+                currentYAxisSpeed,
+                targetPosition.y,
+                SPEED_LIMIT);
+        float sidewaysError =
+            calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
+        float upwardsError =
+            calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
+        control.setForward((float) forwardsError);
+        control.setRight((float) sidewaysError);
+        control.setUp((float) -upwardsError);
+
+        // Guardar últimas posições:
+        lastXTargetPos = targetPosition.x;
+        lastYTargetPos = targetPosition.y;
+        lastZTargetPos = targetPosition.z;
+        Thread.sleep(sleepTime);
+      }
+
+      // SEGUNDA PARTE APONTAR PRO LADO CONTRARIO:
+      Vector direcaoContrariaDockingPortAlvo =
+          new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
+      control.setSAS(false);
+      control.setRCS(false);
+      activeVessel.getAutoPilot().engage();
+      activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
+      activeVessel.getAutoPilot().setTargetDirection(direcaoContrariaDockingPortAlvo.toTriplet());
+      activeVessel.getAutoPilot().setTargetRoll(90);
+      while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
+        activeVessel.getAutoPilot().wait_();
+      }
+      activeVessel.getAutoPilot().disengage();
+      control.setSAS(true);
+      control.setSASMode(SASMode.STABILITY_ASSIST);
+      Thread.sleep(1000);
+      control.setRCS(true);
+
+      while (targetVessel != null) {
+        targetPosition = new Vector(targetDockingPort.position(vesselRefFrame));
+
+        // Atualizar posições para linhas
+        positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
+        updateLines(positionMyDockingPort, targetPosition);
+
+        // Calcular velocidade de cada eixo:
+        currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
+        currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
+        currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
+
+        // Calcular a aceleração para cada eixo no RCS:
+        float forwardsError =
+            calculateThrottle(5, 10, currentYAxisSpeed, targetPosition.y, SPEED_LIMIT);
+        float sidewaysError =
+            calculateThrottle(-1, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
+        float upwardsError =
+            calculateThrottle(-1, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
+        control.setForward((float) forwardsError);
+        control.setRight((float) sidewaysError);
+        control.setUp((float) -upwardsError);
+
+        // Guardar últimas posições:
+        lastXTargetPos = targetPosition.x;
+        lastYTargetPos = targetPosition.y;
+        lastZTargetPos = targetPosition.z;
+        Thread.sleep(sleepTime);
+      }
+      // // Close the connection when finished
+      // connection.close();
+    } catch (RPCException | InterruptedException e) {
+      e.printStackTrace();
     }
-
-    private static float calculateThrottle(double minDistance, double maxDistance, double currentSpeed,
-            double currentPosition, double speedLimit) {
-        double limiter = Utilities.remap(minDistance, maxDistance, 0, 1, Math.abs(currentPosition), true);
-        double change = (Utilities.remap(-speedLimit, speedLimit, -1.0, 1.0,
-                currentSpeed + (Math.signum(currentPosition) * (limiter * speedLimit)), true));
-        return (float) change;
-    }
-
-    private static void createLines(Vector start, Vector end) {
-        try {
-            distanceLine = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-            distLineXAxis = drawing.addLine(start.toTriplet(), new Vector(end.x, 0.0, 0.0).toTriplet(), vesselRefFrame,
-                    true);
-            distLineYAxis = drawing.addLine(start.toTriplet(), new Vector(end.x, end.y, 0.0).toTriplet(),
-                    vesselRefFrame, true);
-            distLineZAxis = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-            distanceLine.setThickness(0.5f);
-            distLineXAxis.setThickness(0.25f);
-            distLineYAxis.setThickness(0.25f);
-            distLineZAxis.setThickness(0.25f);
-            distLineXAxis.setColor(new Vector(1.0, 0.0, 0.0).toTriplet());
-            distLineYAxis.setColor(new Vector(0.0, 1.0, 0.0).toTriplet());
-            distLineZAxis.setColor(new Vector(0.0, 0.0, 1.0).toTriplet());
-        } catch (RPCException e) {
-        }
+  }
+
+  private static float calculateThrottle(
+      double minDistance,
+      double maxDistance,
+      double currentSpeed,
+      double currentPosition,
+      double speedLimit) {
+    double limiter =
+        Utilities.remap(minDistance, maxDistance, 0, 1, Math.abs(currentPosition), true);
+    double change =
+        (Utilities.remap(
+            -speedLimit,
+            speedLimit,
+            -1.0,
+            1.0,
+            currentSpeed + (Math.signum(currentPosition) * (limiter * speedLimit)),
+            true));
+    return (float) change;
+  }
+
+  private static void createLines(Vector start, Vector end) {
+    try {
+      distanceLine = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
+      distLineXAxis =
+          drawing.addLine(
+              start.toTriplet(), new Vector(end.x, 0.0, 0.0).toTriplet(), vesselRefFrame, true);
+      distLineYAxis =
+          drawing.addLine(
+              start.toTriplet(), new Vector(end.x, end.y, 0.0).toTriplet(), vesselRefFrame, true);
+      distLineZAxis = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
+      distanceLine.setThickness(0.5f);
+      distLineXAxis.setThickness(0.25f);
+      distLineYAxis.setThickness(0.25f);
+      distLineZAxis.setThickness(0.25f);
+      distLineXAxis.setColor(new Vector(1.0, 0.0, 0.0).toTriplet());
+      distLineYAxis.setColor(new Vector(0.0, 1.0, 0.0).toTriplet());
+      distLineZAxis.setColor(new Vector(0.0, 0.0, 1.0).toTriplet());
+    } catch (RPCException e) {
     }
-
-    private static void updateLines(Vector start, Vector end) {
-        // Updating drawing lines:
-        try {
-            distanceLine.setStart(start.toTriplet());
-            distanceLine.setEnd(end.toTriplet());
-            distLineXAxis.setStart(start.toTriplet());
-            distLineXAxis.setEnd(new Vector(end.x, 0.0, 0.0).toTriplet());
-            distLineYAxis.setStart(distLineXAxis.getEnd());
-            distLineYAxis.setEnd(new Vector(end.x, end.y, 0.0).toTriplet());
-            distLineZAxis.setStart(distLineYAxis.getEnd());
-            distLineZAxis.setEnd(end.toTriplet());
-        } catch (RPCException e) {
-        }
+  }
+
+  private static void updateLines(Vector start, Vector end) {
+    // Updating drawing lines:
+    try {
+      distanceLine.setStart(start.toTriplet());
+      distanceLine.setEnd(end.toTriplet());
+      distLineXAxis.setStart(start.toTriplet());
+      distLineXAxis.setEnd(new Vector(end.x, 0.0, 0.0).toTriplet());
+      distLineYAxis.setStart(distLineXAxis.getEnd());
+      distLineYAxis.setEnd(new Vector(end.x, end.y, 0.0).toTriplet());
+      distLineZAxis.setStart(distLineYAxis.getEnd());
+      distLineZAxis.setEnd(end.toTriplet());
+    } catch (RPCException e) {
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/MechPeste.java b/src/main/java/com/pesterenan/MechPeste.java
index c40f9c9..4ee48f9 100644
--- a/src/main/java/com/pesterenan/MechPeste.java
+++ b/src/main/java/com/pesterenan/MechPeste.java
@@ -1,51 +1,47 @@
 package com.pesterenan;
 
-import java.lang.reflect.InvocationTargetException;
-
-import javax.swing.SwingUtilities;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.views.MainGui;
 import com.pesterenan.views.StatusDisplay;
+import java.lang.reflect.InvocationTargetException;
+import javax.swing.SwingUtilities;
 
 public class MechPeste {
-    private static MechPeste instance;
-    private ConnectionManager connectionManager = null;
-    private VesselManager vesselManager;
+  private static MechPeste instance;
+  private ConnectionManager connectionManager = null;
+  private VesselManager vesselManager;
 
-    public ConnectionManager getConnectionManager() {
-        return connectionManager;
-    }
+  public ConnectionManager getConnectionManager() {
+    return connectionManager;
+  }
 
-    public VesselManager getVesselManager() {
-        return vesselManager;
-    }
+  public VesselManager getVesselManager() {
+    return vesselManager;
+  }
 
-    private MechPeste() {
-    }
+  private MechPeste() {}
 
-    public static MechPeste newInstance() {
-        if (instance == null) {
-            instance = new MechPeste();
-        }
-        return instance;
+  public static MechPeste newInstance() {
+    if (instance == null) {
+      instance = new MechPeste();
     }
-
-    public static void main(String[] args) {
-        MechPeste app = MechPeste.newInstance();
-        try {
-            SwingUtilities.invokeAndWait(() -> MainGui.newInstance());
-        } catch (InvocationTargetException | InterruptedException e) {
-            System.err.println("Error while invoking GUI: " + e.getMessage());
-            e.printStackTrace();
-        }
-
-        StatusDisplay statusDisplay = MainGui.newInstance().getStatusPanel();
-        app.connectionManager = new ConnectionManager("MechPeste - Pesterenan", statusDisplay);
-        app.vesselManager = new VesselManager(app.connectionManager, statusDisplay);
-        app.vesselManager.setTelemetryPanel(MainGui.getInstance().getFunctionsAndTelemetryPanel());
-        app.vesselManager.startUpdateLoop();
+    return instance;
+  }
+
+  public static void main(String[] args) {
+    MechPeste app = MechPeste.newInstance();
+    try {
+      SwingUtilities.invokeAndWait(() -> MainGui.newInstance());
+    } catch (InvocationTargetException | InterruptedException e) {
+      System.err.println("Error while invoking GUI: " + e.getMessage());
+      e.printStackTrace();
     }
 
+    StatusDisplay statusDisplay = MainGui.newInstance().getStatusPanel();
+    app.connectionManager = new ConnectionManager("MechPeste - Pesterenan", statusDisplay);
+    app.vesselManager = new VesselManager(app.connectionManager, statusDisplay);
+    app.vesselManager.setTelemetryPanel(MainGui.getInstance().getFunctionsAndTelemetryPanel());
+    app.vesselManager.startUpdateLoop();
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/Controller.java b/src/main/java/com/pesterenan/controllers/Controller.java
index d6e81fd..57fd2bc 100644
--- a/src/main/java/com/pesterenan/controllers/Controller.java
+++ b/src/main/java/com/pesterenan/controllers/Controller.java
@@ -5,12 +5,21 @@
 import com.pesterenan.model.VesselManager;
 
 public class Controller extends ActiveVessel implements Runnable {
+  private String currentStatus = "";
 
-    public Controller(ConnectionManager connectionManager, VesselManager vesselManager) {
-        super(connectionManager, vesselManager);
-    }
+  public Controller(ConnectionManager connectionManager, VesselManager vesselManager) {
+    super(connectionManager, vesselManager);
+  }
 
-    public void run() {
-        // This method should be overridden by subclasses.
-    }
+  public void run() {
+    // This method should be overridden by subclasses.
+  }
+
+  public String getCurrentStatus() {
+    return currentStatus;
+  }
+
+  public void setCurrentStatus(String status) {
+    this.currentStatus = status;
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/DockingController.java b/src/main/java/com/pesterenan/controllers/DockingController.java
index 916250d..aac2165 100644
--- a/src/main/java/com/pesterenan/controllers/DockingController.java
+++ b/src/main/java/com/pesterenan/controllers/DockingController.java
@@ -1,7 +1,5 @@
 package com.pesterenan.controllers;
 
-import java.util.Map;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
@@ -9,7 +7,7 @@
 import com.pesterenan.utils.Utilities;
 import com.pesterenan.utils.Vector;
 import com.pesterenan.views.DockingJPanel;
-
+import java.util.Map;
 import krpc.client.RPCException;
 import krpc.client.services.Drawing;
 import krpc.client.services.Drawing.Line;
@@ -21,281 +19,330 @@
 
 public class DockingController extends Controller {
 
-    private Drawing drawing;
-    private Vessel targetVessel;
-    private Control control;
-
-    private ReferenceFrame orbitalRefVessel;
-    private ReferenceFrame vesselRefFrame;
-    private Line distanceLine;
-    private Line distLineXAxis;
-    private Line distLineYAxis;
-    private Line distLineZAxis;
-    private DockingPort myDockingPort;
-    private DockingPort targetDockingPort;
-    private Vector positionMyDockingPort;
-    private Vector positionTargetDockingPort;
-
-    private double DOCKING_MAX_SPEED = 3.0;
-    private double SAFE_DISTANCE = 25.0;
-    private double currentXAxisSpeed = 0.0;
-    private double currentYAxisSpeed = 0.0;
-    private double currentZAxisSpeed = 0.0;
-    private double lastXTargetPos = 0.0;
-    private double lastYTargetPos = 0.0;
-    private double lastZTargetPos = 0.0;
-    private long sleepTime = 25;
-    private DOCKING_STEPS dockingStep;
-    private ConnectionManager connectionManager;
-
-    public DockingController(ConnectionManager connectionManager, VesselManager vesselManager,
-            Map<String,String> commands) {
-        super(connectionManager, vesselManager);
-        this.connectionManager = connectionManager;
-        this.commands = commands;
-        initializeParameters();
+  private Drawing drawing;
+  private Vessel targetVessel;
+  private Control control;
+
+  private ReferenceFrame orbitalRefVessel;
+  private ReferenceFrame vesselRefFrame;
+  private Line distanceLine;
+  private Line distLineXAxis;
+  private Line distLineYAxis;
+  private Line distLineZAxis;
+  private DockingPort myDockingPort;
+  private DockingPort targetDockingPort;
+  private Vector positionMyDockingPort;
+  private Vector positionTargetDockingPort;
+
+  private double DOCKING_MAX_SPEED = 3.0;
+  private double SAFE_DISTANCE = 25.0;
+  private double currentXAxisSpeed = 0.0;
+  private double currentYAxisSpeed = 0.0;
+  private double currentZAxisSpeed = 0.0;
+  private double lastXTargetPos = 0.0;
+  private double lastYTargetPos = 0.0;
+  private double lastZTargetPos = 0.0;
+  private long sleepTime = 25;
+  private DOCKING_STEPS dockingStep;
+  private ConnectionManager connectionManager;
+
+  public DockingController(
+      ConnectionManager connectionManager,
+      VesselManager vesselManager,
+      Map<String, String> commands) {
+    super(connectionManager, vesselManager);
+    this.connectionManager = connectionManager;
+    this.commands = commands;
+    initializeParameters();
+  }
+
+  private void initializeParameters() {
+    try {
+      DOCKING_MAX_SPEED = Double.parseDouble(commands.get(Module.MAX_SPEED.get()));
+      SAFE_DISTANCE = Double.parseDouble(commands.get(Module.SAFE_DISTANCE.get()));
+      drawing = Drawing.newInstance(connectionManager.getConnection());
+      targetVessel = connectionManager.getSpaceCenter().getTargetVessel();
+      control = getActiveVessel().getControl();
+      vesselRefFrame = getActiveVessel().getReferenceFrame();
+      orbitalRefVessel = getActiveVessel().getOrbitalReferenceFrame();
+
+      myDockingPort = getActiveVessel().getParts().getDockingPorts().get(0);
+      targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
+      dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
+
+      positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
+      positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
+    } catch (RPCException ignored) {
     }
+  }
 
-    private void initializeParameters() {
-        try {
-            DOCKING_MAX_SPEED = Double.parseDouble(commands.get(Module.MAX_SPEED.get()));
-            SAFE_DISTANCE = Double.parseDouble(commands.get(Module.SAFE_DISTANCE.get()));
-            drawing = Drawing.newInstance(connectionManager.getConnection());
-            targetVessel = connectionManager.getSpaceCenter().getTargetVessel();
-            control = getActiveVessel().getControl();
-            vesselRefFrame = getActiveVessel().getReferenceFrame();
-            orbitalRefVessel = getActiveVessel().getOrbitalReferenceFrame();
-
-            myDockingPort = getActiveVessel().getParts().getDockingPorts().get(0);
-            targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
-            dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
-
-            positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
-            positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
-        } catch (RPCException ignored) {
-        }
+  @Override
+  public void run() {
+    if (commands.get(Module.MODULO.get()).equals(Module.DOCKING.get())) {
+      startDocking();
     }
-
-    @Override
-    public void run() {
-        if (commands.get(Module.MODULO.get()).equals(Module.DOCKING.get())) {
-            startDocking();
-        }
+  }
+
+  private void pointToTarget(Vector targetDirection) throws RPCException, InterruptedException {
+    getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
+    getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
+    getActiveVessel().getAutoPilot().setTargetRoll(90);
+    getActiveVessel().getAutoPilot().engage();
+    // Fazer a nave apontar usando o piloto automático, na marra
+    while (Math.abs(getActiveVessel().getAutoPilot().getError()) > 3) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      Thread.sleep(100);
+      System.out.println(getActiveVessel().getAutoPilot().getError());
     }
-
-    private void pointToTarget(Vector targetDirection) throws RPCException, InterruptedException {
-        getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
-        getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
-        getActiveVessel().getAutoPilot().setTargetRoll(90);
-        getActiveVessel().getAutoPilot().engage();
-        // Fazer a nave apontar usando o piloto automático, na marra
-        while (Math.abs(getActiveVessel().getAutoPilot().getError()) > 3) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-            Thread.sleep(100);
-            System.out.println(getActiveVessel().getAutoPilot().getError());
-        }
-        getActiveVessel().getAutoPilot().disengage();
-        control.setSAS(true);
-        control.setSASMode(SASMode.STABILITY_ASSIST);
+    getActiveVessel().getAutoPilot().disengage();
+    control.setSAS(true);
+    control.setSASMode(SASMode.STABILITY_ASSIST);
+  }
+
+  private void getCloserToTarget(Vector targetPosition) throws InterruptedException, RPCException {
+    lastXTargetPos = targetPosition.x;
+    lastYTargetPos = targetPosition.y;
+    lastZTargetPos = targetPosition.z;
+
+    while (Math.abs(lastYTargetPos) >= SAFE_DISTANCE) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+      controlShipRCS(targetPosition, SAFE_DISTANCE);
+      Thread.sleep(sleepTime);
     }
-
-    private void getCloserToTarget(Vector targetPosition) throws InterruptedException, RPCException {
-        lastXTargetPos = targetPosition.x;
-        lastYTargetPos = targetPosition.y;
-        lastZTargetPos = targetPosition.z;
-
-        while (Math.abs(lastYTargetPos) >= SAFE_DISTANCE) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-            targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-            controlShipRCS(targetPosition, SAFE_DISTANCE);
-            Thread.sleep(sleepTime);
+  }
+
+  public void startDocking() {
+    try {
+      // Setting up the control
+      control.setSAS(true);
+      control.setRCS(false);
+      control.setSASMode(SASMode.STABILITY_ASSIST);
+      createLines(positionMyDockingPort, positionTargetDockingPort);
+
+      // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
+      Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+      if (targetPosition.magnitude() > SAFE_DISTANCE) {
+        // Apontar para o alvo:
+        Vector targetDirection =
+            new Vector(getActiveVessel().position(orbitalRefVessel))
+                .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
+                .multiply(-1);
+        pointToTarget(targetDirection);
+
+        control.setRCS(true);
+
+        getCloserToTarget(targetPosition);
+      }
+
+      control.setSAS(false);
+      control.setRCS(false);
+
+      // SEGUNDA PARTE FICAR DE FRENTE COM A DOCKING PORT:
+      Vector targetDockingPortDirection =
+          new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
+      pointToTarget(targetDockingPortDirection);
+
+      Thread.sleep(1000);
+      control.setRCS(true);
+      double safeDistance = 10;
+      while (true) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
-
-    }
-
-    public void startDocking() {
-        try {
-            // Setting up the control
-            control.setSAS(true);
-            control.setRCS(false);
-            control.setSASMode(SASMode.STABILITY_ASSIST);
-            createLines(positionMyDockingPort, positionTargetDockingPort);
-
-            // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
-            Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-            if (targetPosition.magnitude() > SAFE_DISTANCE) {
-                // Apontar para o alvo:
-                Vector targetDirection = new Vector(getActiveVessel().position(orbitalRefVessel))
-                        .subtract(new Vector(targetVessel.position(orbitalRefVessel))).multiply(-1);
-                pointToTarget(targetDirection);
-
-                control.setRCS(true);
-
-                getCloserToTarget(targetPosition);
-            }
-
-            control.setSAS(false);
-            control.setRCS(false);
-
-            // SEGUNDA PARTE FICAR DE FRENTE COM A DOCKING PORT:
-            Vector targetDockingPortDirection = new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
-            pointToTarget(targetDockingPortDirection);
-
-            Thread.sleep(1000);
-            control.setRCS(true);
-            double safeDistance = 10;
-            while (true) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                targetPosition = new Vector(targetDockingPort.position(vesselRefFrame))
-                        .subtract(new Vector(myDockingPort.position(vesselRefFrame)));
-                if (targetPosition.magnitude() < safeDistance) {
-                    safeDistance = 1;
-                }
-                controlShipRCS(targetPosition, safeDistance);
-                Thread.sleep(sleepTime);
-            }
-        } catch (RPCException | InterruptedException | IllegalArgumentException e) {
-            setCurrentStatus("Docking interrupted.");
+        targetPosition =
+            new Vector(targetDockingPort.position(vesselRefFrame))
+                .subtract(new Vector(myDockingPort.position(vesselRefFrame)));
+        if (targetPosition.magnitude() < safeDistance) {
+          safeDistance = 1;
         }
+        controlShipRCS(targetPosition, safeDistance);
+        Thread.sleep(sleepTime);
+      }
+    } catch (RPCException | InterruptedException | IllegalArgumentException e) {
+      cleanup();
+      setCurrentStatus("Docking interrupted.");
     }
-
-    /*
-     * Possibilidades do docking: primeiro: a nave ta na orientação certa, e só
-     * precisa seguir em frente X e Z = 0, Y positivo segundo: a nave ta na
-     * orientação certa, mas precisa corrigir a posição X e Z, Y positivo terceiro:
-     * a nave está atrás da docking port, precisa corrigir Y primeiro, Y negativo
-     * quarto: a nave está atrás da docking port, precisa afastar X e Z longe da
-     * nave primeiro, Y negativo
-     */
-
-    private enum DOCKING_STEPS {
-        APPROACH, STOP_RELATIVE_SPEED, LINE_UP_WITH_TARGET, GO_IN_FRONT_OF_TARGET
-    }
-
-    private void controlShipRCS(Vector targetPosition, double forwardsDistanceLimit) {
-        try {
-            // Atualizar posições para linhas
-            positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
-            updateLines(positionMyDockingPort, targetPosition);
-
-            // Calcular velocidade de cada eixo:
-            currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
-            currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
-            currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
-
-            double sidewaysDistance = Math.abs(targetPosition.x);
-            double upwardsDistance = Math.abs(targetPosition.z);
-            boolean isInFrontOfTarget = Math.signum(targetPosition.y) == 1;
-            boolean isOnTheBackOfTarget = Math.signum(targetPosition.y) == -1
-                    && targetPosition.y < forwardsDistanceLimit;
-            float forwardsError, upwardsError, sidewaysError = 0;
-
-            switch (dockingStep) {
-                case APPROACH :
-                    // Calcular a aceleração para cada eixo no RCS:
-                    forwardsError = calculateThrottle(forwardsDistanceLimit, forwardsDistanceLimit * 3,
-                            currentYAxisSpeed, targetPosition.y, DOCKING_MAX_SPEED);
-                    sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
-                    upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
-                    control.setForward(forwardsError);
-                    control.setRight(sidewaysError);
-                    control.setUp(-upwardsError);
-                    DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_approach"));
-                    break;
-                case LINE_UP_WITH_TARGET :
-                    forwardsError = calculateThrottle(forwardsDistanceLimit, forwardsDistanceLimit * 3,
-                            currentYAxisSpeed, targetPosition.y, 0);
-                    sidewaysError = calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
-                    upwardsError = calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
-                    control.setForward(forwardsError);
-                    control.setRight(sidewaysError);
-                    control.setUp(-upwardsError);
-                    DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_line_up_with_target"));
-                    break;
-                case GO_IN_FRONT_OF_TARGET :
-                    forwardsError = calculateThrottle(-20, -10, currentYAxisSpeed, targetPosition.y, DOCKING_MAX_SPEED);
-                    sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
-                    upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
-                    control.setForward(forwardsError);
-                    control.setRight(sidewaysError);
-                    control.setUp(-upwardsError);
-                    if (isInFrontOfTarget) {
-                        dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
-                        break;
-                    }
-                    DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_go_in_front_of_target"));
-                    break;
-                case STOP_RELATIVE_SPEED :
-                    forwardsError = calculateThrottle(0, 5, currentYAxisSpeed, targetPosition.y, 0);
-                    sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
-                    upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
-                    control.setForward(forwardsError);
-                    control.setRight(sidewaysError);
-                    control.setUp(-upwardsError);
-                    if ((Math.abs(currentXAxisSpeed) < 1) && (Math.abs(currentYAxisSpeed) < 1)
-                            && (Math.abs(currentZAxisSpeed) < 1)) {
-                        dockingStep = DOCKING_STEPS.APPROACH;
-                        break;
-                    }
-                    DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_stop_relative_speed"));
-                    break;
-            }
-            System.out.println(dockingStep);
-
-            // Guardar últimas posições:
-            lastXTargetPos = targetPosition.x;
-            lastYTargetPos = targetPosition.y;
-            lastZTargetPos = targetPosition.z;
-        } catch (RPCException ignored) {
-        }
+  }
+
+  /*
+   * Possibilidades do docking: primeiro: a nave ta na orientação certa, e só precisa seguir em
+   * frente X e Z = 0, Y positivo segundo: a nave ta na orientação certa, mas precisa corrigir a
+   * posição X e Z, Y positivo terceiro: a nave está atrás da docking port, precisa corrigir Y
+   * primeiro, Y negativo quarto: a nave está atrás da docking port, precisa afastar X e Z longe da
+   * nave primeiro, Y negativo
+   */
+
+  private enum DOCKING_STEPS {
+    APPROACH,
+    STOP_RELATIVE_SPEED,
+    LINE_UP_WITH_TARGET,
+    GO_IN_FRONT_OF_TARGET
+  }
+
+  private void controlShipRCS(Vector targetPosition, double forwardsDistanceLimit) {
+    try {
+      // Atualizar posições para linhas
+      positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
+      updateLines(positionMyDockingPort, targetPosition);
+
+      // Calcular velocidade de cada eixo:
+      currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
+      currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
+      currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
+
+      double sidewaysDistance = Math.abs(targetPosition.x);
+      double upwardsDistance = Math.abs(targetPosition.z);
+      boolean isInFrontOfTarget = Math.signum(targetPosition.y) == 1;
+      boolean isOnTheBackOfTarget =
+          Math.signum(targetPosition.y) == -1 && targetPosition.y < forwardsDistanceLimit;
+      float forwardsError, upwardsError, sidewaysError = 0;
+
+      switch (dockingStep) {
+        case APPROACH:
+          // Calcular a aceleração para cada eixo no RCS:
+          forwardsError =
+              calculateThrottle(
+                  forwardsDistanceLimit,
+                  forwardsDistanceLimit * 3,
+                  currentYAxisSpeed,
+                  targetPosition.y,
+                  DOCKING_MAX_SPEED);
+          sidewaysError =
+              calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
+          upwardsError =
+              calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
+          control.setForward(forwardsError);
+          control.setRight(sidewaysError);
+          control.setUp(-upwardsError);
+          DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_approach"));
+          break;
+        case LINE_UP_WITH_TARGET:
+          forwardsError =
+              calculateThrottle(
+                  forwardsDistanceLimit,
+                  forwardsDistanceLimit * 3,
+                  currentYAxisSpeed,
+                  targetPosition.y,
+                  0);
+          sidewaysError =
+              calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
+          upwardsError =
+              calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
+          control.setForward(forwardsError);
+          control.setRight(sidewaysError);
+          control.setUp(-upwardsError);
+          DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_line_up_with_target"));
+          break;
+        case GO_IN_FRONT_OF_TARGET:
+          forwardsError =
+              calculateThrottle(-20, -10, currentYAxisSpeed, targetPosition.y, DOCKING_MAX_SPEED);
+          sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
+          upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
+          control.setForward(forwardsError);
+          control.setRight(sidewaysError);
+          control.setUp(-upwardsError);
+          if (isInFrontOfTarget) {
+            dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
+            break;
+          }
+          DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_go_in_front_of_target"));
+          break;
+        case STOP_RELATIVE_SPEED:
+          forwardsError = calculateThrottle(0, 5, currentYAxisSpeed, targetPosition.y, 0);
+          sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
+          upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
+          control.setForward(forwardsError);
+          control.setRight(sidewaysError);
+          control.setUp(-upwardsError);
+          if ((Math.abs(currentXAxisSpeed) < 1)
+              && (Math.abs(currentYAxisSpeed) < 1)
+              && (Math.abs(currentZAxisSpeed) < 1)) {
+            dockingStep = DOCKING_STEPS.APPROACH;
+            break;
+          }
+          DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_stop_relative_speed"));
+          break;
+      }
+      System.out.println(dockingStep);
+
+      // Guardar últimas posições:
+      lastXTargetPos = targetPosition.x;
+      lastYTargetPos = targetPosition.y;
+      lastZTargetPos = targetPosition.z;
+    } catch (RPCException ignored) {
     }
-
-    private float calculateThrottle(double minDistance, double maxDistance, double currentSpeed, double currentPosition,
-            double speedLimit) {
-        double limiter = Utilities.remap(minDistance, maxDistance, 0, 1, Math.abs(currentPosition), true);
-        double change = (Utilities.remap(-speedLimit, speedLimit, -1.0, 1.0,
-                currentSpeed + (Math.signum(currentPosition) * (limiter * speedLimit)), true));
-        return (float) change;
+  }
+
+  private float calculateThrottle(
+      double minDistance,
+      double maxDistance,
+      double currentSpeed,
+      double currentPosition,
+      double speedLimit) {
+    double limiter =
+        Utilities.remap(minDistance, maxDistance, 0, 1, Math.abs(currentPosition), true);
+    double change =
+        (Utilities.remap(
+            -speedLimit,
+            speedLimit,
+            -1.0,
+            1.0,
+            currentSpeed + (Math.signum(currentPosition) * (limiter * speedLimit)),
+            true));
+    return (float) change;
+  }
+
+  private void createLines(Vector start, Vector end) {
+    try {
+      distanceLine = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
+      distLineXAxis =
+          drawing.addLine(
+              start.toTriplet(), new Vector(end.x, 0.0, 0.0).toTriplet(), vesselRefFrame, true);
+      distLineYAxis =
+          drawing.addLine(
+              start.toTriplet(), new Vector(end.x, end.y, 0.0).toTriplet(), vesselRefFrame, true);
+      distLineZAxis = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
+      distanceLine.setThickness(0.5f);
+      distLineXAxis.setThickness(0.25f);
+      distLineYAxis.setThickness(0.25f);
+      distLineZAxis.setThickness(0.25f);
+      distLineXAxis.setColor(new Vector(1.0, 0.0, 0.0).toTriplet());
+      distLineYAxis.setColor(new Vector(0.0, 1.0, 0.0).toTriplet());
+      distLineZAxis.setColor(new Vector(0.0, 0.0, 1.0).toTriplet());
+    } catch (RPCException e) {
     }
-
-    private void createLines(Vector start, Vector end) {
-        try {
-            distanceLine = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-            distLineXAxis = drawing.addLine(start.toTriplet(), new Vector(end.x, 0.0, 0.0).toTriplet(), vesselRefFrame,
-                    true);
-            distLineYAxis = drawing.addLine(start.toTriplet(), new Vector(end.x, end.y, 0.0).toTriplet(),
-                    vesselRefFrame, true);
-            distLineZAxis = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-            distanceLine.setThickness(0.5f);
-            distLineXAxis.setThickness(0.25f);
-            distLineYAxis.setThickness(0.25f);
-            distLineZAxis.setThickness(0.25f);
-            distLineXAxis.setColor(new Vector(1.0, 0.0, 0.0).toTriplet());
-            distLineYAxis.setColor(new Vector(0.0, 1.0, 0.0).toTriplet());
-            distLineZAxis.setColor(new Vector(0.0, 0.0, 1.0).toTriplet());
-        } catch (RPCException e) {
-        }
+  }
+
+  private void updateLines(Vector start, Vector end) {
+    // Updating drawing lines:
+    try {
+      distanceLine.setStart(start.toTriplet());
+      distanceLine.setEnd(end.toTriplet());
+      distLineXAxis.setStart(start.toTriplet());
+      distLineXAxis.setEnd(new Vector(end.x, 0.0, 0.0).toTriplet());
+      distLineYAxis.setStart(distLineXAxis.getEnd());
+      distLineYAxis.setEnd(new Vector(end.x, end.y, 0.0).toTriplet());
+      distLineZAxis.setStart(distLineYAxis.getEnd());
+      distLineZAxis.setEnd(end.toTriplet());
+    } catch (RPCException e) {
     }
-
-    private void updateLines(Vector start, Vector end) {
-        // Updating drawing lines:
-        try {
-            distanceLine.setStart(start.toTriplet());
-            distanceLine.setEnd(end.toTriplet());
-            distLineXAxis.setStart(start.toTriplet());
-            distLineXAxis.setEnd(new Vector(end.x, 0.0, 0.0).toTriplet());
-            distLineYAxis.setStart(distLineXAxis.getEnd());
-            distLineYAxis.setEnd(new Vector(end.x, end.y, 0.0).toTriplet());
-            distLineZAxis.setStart(distLineYAxis.getEnd());
-            distLineZAxis.setEnd(end.toTriplet());
-        } catch (RPCException e) {
-        }
+  }
+
+  private void cleanup() {
+    try {
+      distanceLine.remove();
+      distLineXAxis.remove();
+      distLineYAxis.remove();
+      distLineZAxis.remove();
+      ap.disengage();
+      throttle(0);
+    } catch (RPCException e) {
+      // ignore
     }
-
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index 0841f38..c467a7b 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -1,7 +1,5 @@
 package com.pesterenan.controllers;
 
-import java.util.Map;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
@@ -9,276 +7,350 @@
 import com.pesterenan.utils.Module;
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Utilities;
-
+import java.io.IOException;
+import java.util.Map;
 import krpc.client.RPCException;
+import krpc.client.Stream;
 import krpc.client.StreamException;
 import krpc.client.services.SpaceCenter.VesselSituation;
 
 public class LandingController extends Controller {
 
-    private enum MODE {
-        DEORBITING, APPROACHING, GOING_UP, HOVERING, GOING_DOWN, LANDING, WAITING
+  private enum MODE {
+    DEORBITING,
+    APPROACHING,
+    GOING_UP,
+    HOVERING,
+    GOING_DOWN,
+    LANDING,
+    WAITING
+  }
+
+  public static final double MAX_VELOCITY = 5;
+  private static final long sleepTime = 50;
+  private static final double velP = 0.05;
+  private static final double velI = 0.005;
+  private static final double velD = 0.001;
+  private ControlePID altitudeCtrl;
+  private ControlePID velocityCtrl;
+  private Navigation navigation;
+  private final int HUNDRED_PERCENT = 100;
+  private double altitudeErrorPercentage, hoverAltitude;
+  private boolean hoveringMode, hoverAfterApproximation, landingMode;
+  private MODE currentMode;
+  private float maxTWR;
+
+  private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling = false;
+  private int isOrientedCallbackTag, isDeorbitBurnDoneCallbackTag, isFallingCallbackTag;
+  private Stream<Float> apErrorStream;
+
+  public LandingController(
+      ConnectionManager connectionManager,
+      VesselManager vesselManager,
+      Map<String, String> commands) {
+    super(connectionManager, vesselManager);
+    this.commands = commands;
+    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    this.initializeParameters();
+  }
+
+  @Override
+  public void run() {
+    if (commands.get(Module.MODULO.get()).equals(Module.HOVERING.get())) {
+      hoverArea();
     }
-    public static final double MAX_VELOCITY = 5;
-    private static final long sleepTime = 50;
-    private static final double velP = 0.05;
-    private static final double velI = 0.005;
-    private static final double velD = 0.001;
-    private ControlePID altitudeCtrl;
-    private ControlePID velocityCtrl;
-    private Navigation navigation;
-    private final int HUNDRED_PERCENT = 100;
-    private double hoverAltitude;
-    private boolean hoveringMode;
-    private boolean hoverAfterApproximation;
-    private boolean landingMode;
-    private MODE currentMode;
-    private double altitudeErrorPercentage;
-    private float maxTWR;
-
-    public LandingController(ConnectionManager connectionManager, VesselManager vesselManager,
-            Map<String,String> commands) {
-        super(connectionManager, vesselManager);
-        this.commands = commands;
-        this.navigation = new Navigation(connectionManager, getActiveVessel());
-        this.initializeParameters();
+    if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
+      autoLanding();
     }
+  }
 
-    @Override
-    public void run() {
-        if (commands.get(Module.MODULO.get()).equals(Module.HOVERING.get())) {
-            hoverArea();
+  private void initializeParameters() {
+    altitudeCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
+    velocityCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
+    altitudeCtrl.setOutput(0, 1);
+    velocityCtrl.setOutput(0, 1);
+  }
+
+  private void hoverArea() {
+    try {
+      hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
+      hoveringMode = true;
+      ap.engage();
+      tuneAutoPilot();
+      while (hoveringMode) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
-        if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
-            autoLanding();
+        altitudeErrorPercentage = surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
+        if (altitudeErrorPercentage > HUNDRED_PERCENT) {
+          currentMode = MODE.GOING_DOWN;
+        } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
+          currentMode = MODE.GOING_UP;
+        } else {
+          currentMode = MODE.HOVERING;
         }
+        changeControlMode();
+      }
+    } catch (InterruptedException | RPCException | StreamException | IOException e) {
+      cleanup();
+      setCurrentStatus(Bundle.getString("status_ready"));
     }
+  }
 
-    private void initializeParameters() {
-        altitudeCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
-        velocityCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
-        altitudeCtrl.setOutput(0, 1);
-        velocityCtrl.setOutput(0, 1);
-    }
-
-    private void hoverArea() {
-        try {
-            hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-            hoveringMode = true;
-            ap.engage();
-            tuneAutoPilot();
-            while (hoveringMode) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                try {
-                    altitudeErrorPercentage = surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
-                    // Select which mode depending on altitude error:
-                    if (altitudeErrorPercentage > HUNDRED_PERCENT) {
-                        currentMode = MODE.GOING_DOWN;
-                    } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
-                        currentMode = MODE.GOING_UP;
-                    } else {
-                        currentMode = MODE.HOVERING;
-                    }
-                    changeControlMode();
-                } catch (RPCException | StreamException ignored) {
-                }
-                Thread.sleep(sleepTime);
-            }
-        } catch (InterruptedException | RPCException ignored) {
-            // disengageAfterException(Bundle.getString("status_liftoff_abort"));
+  private void autoLanding() {
+    try {
+      setupCallbacks();
+      landingMode = true;
+      maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
+      hoverAfterApproximation =
+          Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
+      hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
+      if (!hoverAfterApproximation) {
+        hoverAltitude = 100;
+      }
+      setCurrentStatus(
+          Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
+      currentMode = MODE.DEORBITING;
+      ap.engage();
+      changeControlMode();
+      tuneAutoPilot();
+      setCurrentStatus(Bundle.getString("status_starting_landing"));
+      while (landingMode) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
+        getActiveVessel().getControl().setBrakes(true);
+        changeControlMode();
+      }
+    } catch (RPCException | StreamException | InterruptedException | IOException e) {
+      cleanup();
+      System.err.println("landing: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_ready"));
     }
+  }
+
+  private void setupCallbacks() throws IOException, RPCException, StreamException {
+    // Callback for ship orientation
+    apErrorStream = connection.addStream(ap, "getError");
+    isOrientedCallbackTag =
+        apErrorStream.addCallback(
+            (error) -> {
+              if (error <= 5.0) {
+                isOrientedForDeorbit = true;
+                apErrorStream.removeCallback(isOrientedCallbackTag);
+              }
+            });
 
-    private void autoLanding() {
-        try {
-            landingMode = true;
-            maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
-            hoverAfterApproximation = Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
-            hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-            if (!hoverAfterApproximation) {
-                hoverAltitude = 100;
-            }
-            setCurrentStatus(Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
-            currentMode = MODE.DEORBITING;
-            ap.engage();
-            changeControlMode();
-            tuneAutoPilot();
-            setCurrentStatus(Bundle.getString("status_starting_landing"));
-            while (landingMode) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
+    // Callback for de-orbit burn completion
+    isDeorbitBurnDoneCallbackTag =
+        periapsis.addCallback(
+            p -> {
+              try {
+                if (p <= -apoapsis.get()) {
+                  isDeorbitBurnDone = true;
+                  periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
                 }
-                getActiveVessel().getControl().setBrakes(true);
-                changeControlMode();
-                Thread.sleep(sleepTime);
-            }
-        } catch (RPCException | StreamException | InterruptedException e) {
-            setCurrentStatus(Bundle.getString("status_ready"));
+              } catch (RPCException | StreamException e) {
+                System.err.println("isDeorbitBurnDoneCallbackTag error: " + e.getMessage());
+              }
+            });
+
+    // Callback for when the ship starts falling back to the ground
+    isFallingCallbackTag =
+        verticalVelocity.addCallback(
+            (vv) -> {
+              if (vv <= 0) {
+                isFalling = true;
+                verticalVelocity.removeCallback(isFallingCallbackTag);
+              }
+            });
+
+    // Start all streams
+    apErrorStream.start();
+    apoapsis.start();
+    periapsis.start();
+    verticalVelocity.start();
+  }
+
+  private void changeControlMode()
+      throws RPCException, StreamException, InterruptedException, IOException {
+    adjustPIDbyTWR();
+    // Change vessel behavior depending on which mode is active
+    switch (currentMode) {
+      case DEORBITING:
+        deOrbitShip();
+        currentMode = MODE.WAITING;
+        break;
+      case WAITING:
+        if (isFalling) {
+          currentMode = MODE.APPROACHING;
+        } else {
+          setCurrentStatus(Bundle.getString("status_waiting_for_landing"));
+          throttle(0.0f);
         }
-    }
+        break;
+      case APPROACHING:
+        altitudeCtrl.setOutput(0, 1);
+        velocityCtrl.setOutput(0, 1);
 
-    private void changeControlMode() throws RPCException, StreamException, InterruptedException {
-        adjustPIDbyTWR();
-        double velPID, altPID = 0;
-        // Change vessel behavior depending on which mode is active
-        switch (currentMode) {
-            case DEORBITING :
-                deOrbitShip();
-                currentMode = MODE.WAITING;
-                break;
-            case WAITING :
-                if (verticalVelocity.get() > 0) {
-                    setCurrentStatus(Bundle.getString("status_waiting_for_landing"));
-                    throttle(0.0f);
-                } else {
-                    currentMode = MODE.APPROACHING;
-                }
-                break;
-            case APPROACHING :
-                altitudeCtrl.reset();
-                velocityCtrl.reset();
-                altitudeCtrl.setOutput(0, 1);
-                velocityCtrl.setOutput(0, 1);
-                double currentVelocity = calculateCurrentVelocityMagnitude();
-                double zeroVelocity = calculateZeroVelocityMagnitude();
-                double landingDistanceThreshold = Math.max(hoverAltitude, getMaxAcel(maxTWR) * 3);
-                double threshold = Utilities.clamp(
-                        ((currentVelocity + zeroVelocity) - landingDistanceThreshold) / landingDistanceThreshold, 0, 1);
-                altPID = altitudeCtrl.calculate(currentVelocity / sleepTime, zeroVelocity / sleepTime);
-                velPID = velocityCtrl.calculate(verticalVelocity.get() / sleepTime,
-                        (-Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20) / sleepTime));
-                throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
-                navigation.aimForLanding();
-                if (threshold < 0.15 || surfaceAltitude.get() < landingDistanceThreshold) {
-                    hoverAltitude = landingDistanceThreshold;
-                    getActiveVessel().getControl().setGear(true);
-                    if (hoverAfterApproximation) {
-                        landingMode = false;
-                        hoverArea();
-                        break;
-                    }
-                    currentMode = MODE.LANDING;
-                }
-                setCurrentStatus("Se aproximando do momento do pouso...");
-                break;
-            case GOING_UP :
-                altitudeCtrl.reset();
-                velocityCtrl.reset();
-                altitudeCtrl.setOutput(-0.5, 0.5);
-                velocityCtrl.setOutput(-0.5, 0.5);
-                altPID = altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT);
-                velPID = velocityCtrl.calculate(verticalVelocity.get(), MAX_VELOCITY);
-                throttle(altPID + velPID);
-                navigation.aimAtRadialOut();
-                setCurrentStatus("Subindo altitude...");
-                break;
-            case GOING_DOWN :
-                altitudeCtrl.reset();
-                velocityCtrl.reset();
-                controlThrottleByMatchingVerticalVelocity(-MAX_VELOCITY);
-                navigation.aimAtRadialOut();
-                setCurrentStatus("Baixando altitude...");
-                break;
-            case LANDING :
-                altitudeCtrl.reset();
-                velocityCtrl.reset();
-                controlThrottleByMatchingVerticalVelocity(
-                        horizontalVelocity.get() > 4 ? 0 : -Utilities.clamp(surfaceAltitude.get() * 0.1, 1, 10));
-                navigation.aimForLanding();
-                setCurrentStatus("Pousando...");
-                hasTheVesselLanded();
-                break;
-            case HOVERING :
-                altitudeCtrl.reset();
-                velocityCtrl.reset();
-                altitudeCtrl.setOutput(-0.5, 0.5);
-                velocityCtrl.setOutput(-0.5, 0.5);
-                altPID = altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT);
-                velPID = velocityCtrl.calculate(verticalVelocity.get(), 0);
-                throttle(altPID + velPID);
-                navigation.aimAtRadialOut();
-                setCurrentStatus("Sobrevoando area...");
-                break;
+        double[] currentDistanceToGround = calculateCurrentDistanceToGround();
+        double[] currentVelocities = calculateZeroVelocityMagnitude();
+        double aMax = getMaxAcel(maxTWR);
+        double landingDistanceThreshold = Math.max(hoverAltitude, aMax * 3);
+
+        double stoppingDistance = (currentVelocities[0] * currentVelocities[0]) / (2 * aMax);
+
+        double threshold = Utilities.clamp(stoppingDistance / landingDistanceThreshold, 0, 1);
+
+        double altPID =
+            altitudeCtrl.calculate(
+                (currentDistanceToGround[0]), (stoppingDistance + landingDistanceThreshold));
+        double velPID =
+            velocityCtrl.calculate(
+                verticalVelocity.get(), (-Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20)));
+
+        double interpolation = Utilities.linearInterpolation(velPID, altPID, threshold);
+
+        throttle(interpolation);
+        navigation.aimForLanding();
+
+        if (threshold < 0.15 && surfaceAltitude.get() < landingDistanceThreshold * 2) {
+          hoverAltitude = landingDistanceThreshold;
+          getActiveVessel().getControl().setGear(true);
+          if (hoverAfterApproximation) {
+            landingMode = false;
+            hoverArea();
+            break;
+          }
+          currentMode = MODE.LANDING;
         }
+        setCurrentStatus("Se aproximando do momento do pouso...");
+        break;
+      case GOING_UP:
+        altitudeCtrl.setOutput(-0.5, 0.5);
+        velocityCtrl.setOutput(-0.5, 0.5);
+        throttle(
+            altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
+                + velocityCtrl.calculate(verticalVelocity.get(), MAX_VELOCITY));
+        navigation.aimAtRadialOut();
+        setCurrentStatus("Subindo altitude...");
+        break;
+      case GOING_DOWN:
+        controlThrottleByMatchingVerticalVelocity(-MAX_VELOCITY);
+        navigation.aimAtRadialOut();
+        setCurrentStatus("Baixando altitude...");
+        break;
+      case LANDING:
+        if (hasTheVesselLanded()) break;
+        controlThrottleByMatchingVerticalVelocity(
+            horizontalVelocity.get() > 4
+                ? 0
+                : -Utilities.clamp(surfaceAltitude.get() * 0.1, 1, 10));
+        navigation.aimForLanding();
+        setCurrentStatus("Pousando...");
+        break;
+      case HOVERING:
+        altitudeCtrl.setOutput(-0.5, 0.5);
+        velocityCtrl.setOutput(-0.5, 0.5);
+        throttle(
+            altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
+                + velocityCtrl.calculate(verticalVelocity.get(), 0));
+        navigation.aimAtRadialOut();
+        setCurrentStatus("Sobrevoando area...");
+        break;
     }
+  }
 
-    private void controlThrottleByMatchingVerticalVelocity(double velocityToMatch)
-            throws RPCException, StreamException {
-        velocityCtrl.setOutput(0, 1);
-        throttle(velocityCtrl.calculate(verticalVelocity.get(), velocityToMatch + horizontalVelocity.get()));
-    }
+  private void adjustPIDbyTWR() throws RPCException, StreamException {
+    double currentTWR = getMaxAcel(maxTWR);
+    double pGain = Math.min(getTWR(), maxTWR);
+    altitudeCtrl.setPIDValues(currentTWR * velP * velP, 0.1, velD);
+    velocityCtrl.setPIDValues(pGain * velP, 0.1, velD);
+  }
+
+  private void controlThrottleByMatchingVerticalVelocity(double velocityToMatch)
+      throws RPCException, StreamException {
+    velocityCtrl.setOutput(0, 1);
+    throttle(
+        velocityCtrl.calculate(verticalVelocity.get(), velocityToMatch + horizontalVelocity.get()));
+  }
+
+  private void deOrbitShip() throws RPCException, InterruptedException, StreamException {
+    throttle(0.0f);
+    if (getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
+        || getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
+
+      setCurrentStatus(Bundle.getString("status_going_suborbital"));
+      ap.engage();
+      getActiveVessel().getControl().setRCS(true);
 
-    private void deOrbitShip() throws RPCException, StreamException, InterruptedException {
-        throttle(0.0f);
-        if (getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
-                || getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
-            setCurrentStatus(Bundle.getString("status_going_suborbital"));
-            ap.engage();
-            getActiveVessel().getControl().setRCS(true);
-            while (ap.getError() > 5) {
-                navigation.aimForLanding();
-                setCurrentStatus(Bundle.getString("status_orienting_ship"));
-                ap.wait_();
-                Thread.sleep(sleepTime);
-            }
-            double targetPeriapsis = currentBody.getAtmosphereDepth();
-            targetPeriapsis = targetPeriapsis > 0 ? targetPeriapsis / 2 : -currentBody.getEquatorialRadius() / 2;
-            while (periapsis.get() > -apoapsis.get()) {
-                navigation.aimForLanding();
-                throttle(altitudeCtrl.calculate(targetPeriapsis, periapsis.get()));
-                setCurrentStatus(Bundle.getString("status_lowering_periapsis"));
-                Thread.sleep(sleepTime);
-            }
-            getActiveVessel().getControl().setRCS(false);
-            throttle(0.0f);
+      while (!isOrientedForDeorbit) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
-    }
+        navigation.aimForLanding();
+        setCurrentStatus(Bundle.getString("status_orienting_ship"));
+        Thread.sleep(100); // Prevent tight loop while waiting for event
+      }
 
-    /**
-     * Adjust altitude and velocity PID gains according to current ship TWR:
-     */
-    private void adjustPIDbyTWR() throws RPCException, StreamException {
-        double currentTWR = Math.min(getTWR(), maxTWR);
-        // double currentTWR = getMaxAcel(maxTWR);
-        double pGain = currentTWR / (sleepTime);
-        System.out.println(pGain);
-        altitudeCtrl.setPIDValues(pGain * 0.1, 0.0002, pGain * 0.1 * 2);
-        velocityCtrl.setPIDValues(pGain * 0.1, 0.1, 0.001);
-    }
+      double targetPeriapsis = currentBody.getAtmosphereDepth();
+      targetPeriapsis =
+          targetPeriapsis > 0 ? targetPeriapsis / 2 : -currentBody.getEquatorialRadius() / 2;
 
-    private boolean hasTheVesselLanded() throws RPCException {
-        if (getActiveVessel().getSituation().equals(VesselSituation.LANDED)
-                || getActiveVessel().getSituation().equals(VesselSituation.SPLASHED)) {
-            setCurrentStatus(Bundle.getString("status_landed"));
-            hoveringMode = false;
-            landingMode = false;
-            throttle(0.0f);
-            getActiveVessel().getControl().setSAS(true);
-            getActiveVessel().getControl().setRCS(true);
-            getActiveVessel().getControl().setBrakes(false);
-            ap.disengage();
-            return true;
+      while (!isDeorbitBurnDone) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
-        return false;
+        navigation.aimForLanding();
+        throttle(altitudeCtrl.calculate(targetPeriapsis, periapsis.get()));
+        setCurrentStatus(Bundle.getString("status_lowering_periapsis"));
+      }
+      getActiveVessel().getControl().setRCS(false);
+      throttle(0.0f);
     }
+  }
 
-    private double calculateCurrentVelocityMagnitude() throws RPCException, StreamException {
-        double timeToGround = surfaceAltitude.get() / verticalVelocity.get();
-        double horizontalDistance = horizontalVelocity.get() * timeToGround;
-        return calculateEllipticTrajectory(horizontalDistance, surfaceAltitude.get());
+  private boolean hasTheVesselLanded() throws RPCException {
+    if (getActiveVessel().getSituation().equals(VesselSituation.LANDED)
+        || getActiveVessel().getSituation().equals(VesselSituation.SPLASHED)) {
+      setCurrentStatus(Bundle.getString("status_landed"));
+      hoveringMode = false;
+      landingMode = false;
+      throttle(0.0f);
+      getActiveVessel().getControl().setSAS(true);
+      getActiveVessel().getControl().setRCS(true);
+      getActiveVessel().getControl().setBrakes(false);
+      ap.disengage();
+      return true;
     }
+    return false;
+  }
 
-    private double calculateZeroVelocityMagnitude() throws RPCException, StreamException {
-        double zeroVelocityDistance = calculateEllipticTrajectory(horizontalVelocity.get(), verticalVelocity.get());
-        double zeroVelocityBurnTime = zeroVelocityDistance / getMaxAcel(maxTWR);
-        return zeroVelocityDistance * zeroVelocityBurnTime;
-    }
+  private double[] calculateCurrentDistanceToGround() throws RPCException, StreamException {
+    double vertVel = verticalVelocity.get();
+    double horzVel = horizontalVelocity.get();
+    double vertAlt = surfaceAltitude.get();
+    double horzDist = horzVel * (vertAlt / Math.abs(vertVel));
+    double euclidianDistance = Math.sqrt(vertAlt * vertAlt + horzDist * horzDist);
+    return new double[] {euclidianDistance, 0};
+  }
+
+  private double[] calculateZeroVelocityMagnitude() throws RPCException, StreamException {
+    double vertVel = verticalVelocity.get();
+    double horzVel = horizontalVelocity.get();
+    return new double[] {Math.sqrt(horzVel * horzVel + vertVel * vertVel), 0};
+  }
 
-    private double calculateEllipticTrajectory(double a, double b) {
-        double semiMajor = Math.max(a * 2, b * 2);
-        double semiMinor = Math.min(a * 2, b * 2);
-        return Math.PI * Math.sqrt((semiMajor * semiMajor + semiMinor * semiMinor)) / 4;
+  private void cleanup() {
+    try {
+      apErrorStream.removeCallback(isOrientedCallbackTag);
+      periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
+      verticalVelocity.removeCallback(isFallingCallbackTag);
+      apErrorStream.remove();
+      ap.disengage();
+      throttle(0);
+    } catch (RPCException e) {
+      // ignore
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index 5b6a691..26f6d1b 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -1,9 +1,5 @@
 package com.pesterenan.controllers;
 
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
@@ -11,7 +7,9 @@
 import com.pesterenan.utils.Module;
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Utilities;
-
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -20,205 +18,236 @@
 
 public class LiftoffController extends Controller {
 
-    private static final float PITCH_UP = 90;
-    private ControlePID thrControl;
-    private float currentPitch, finalApoapsisAlt, heading, roll, maxTWR;
-    private volatile boolean targetApoapsisReached, dynamicPressureLowEnough = false;
-    private int apoapsisCallbackTag, pressureCallbackTag;
-    private boolean willDecoupleStages, willOpenPanelsAndAntenna;
-    private String gravityCurveModel = Module.CIRCULAR.get();
-    private Navigation navigation;
-
-    public LiftoffController(ConnectionManager connectionManager, VesselManager vesselManager,
-            Map<String,String> commands) {
-        super(connectionManager, vesselManager);
-        this.commands = commands;
-        this.navigation = new Navigation(connectionManager, getActiveVessel());
-        initializeParameters();
-    }
-
-    private void initializeParameters() {
-        currentPitch = PITCH_UP;
-        setFinalApoapsisAlt(Float.parseFloat(commands.get(Module.APOAPSIS.get())));
-        setHeading(Float.parseFloat(commands.get(Module.DIRECTION.get())));
-        setRoll(Float.parseFloat(commands.get(Module.ROLL.get())));
-        maxTWR = (float) Utilities.clamp(Float.parseFloat(commands.get(Module.MAX_TWR.get())), 1.2, 5.0);
-        setGravityCurveModel(commands.get(Module.INCLINATION.get()));
-        willOpenPanelsAndAntenna = Boolean.parseBoolean(commands.get(Module.OPEN_PANELS.get()));
-        willDecoupleStages = Boolean.parseBoolean(commands.get(Module.STAGE.get()));
-        thrControl = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-        thrControl.setOutput(0.0, 1.0);
-    }
-
-    @Override
-    public void run() {
-        try {
-            // Apoapsis Check using Stream Callback
-            apoapsisCallbackTag = apoapsis.addCallback((apo) -> {
+  private static final float PITCH_UP = 90;
+  private ControlePID thrControl;
+  private float currentPitch, finalApoapsisAlt, heading, roll, maxTWR;
+  private volatile boolean targetApoapsisReached, dynamicPressureLowEnough = false;
+  private int apoapsisCallbackTag, pressureCallbackTag;
+  private Stream<Float> pressureStream;
+  private boolean willDecoupleStages, willOpenPanelsAndAntenna;
+  private String gravityCurveModel = Module.CIRCULAR.get();
+  private Navigation navigation;
+
+  public LiftoffController(
+      ConnectionManager connectionManager,
+      VesselManager vesselManager,
+      Map<String, String> commands) {
+    super(connectionManager, vesselManager);
+    this.commands = commands;
+    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    initializeParameters();
+  }
+
+  private void initializeParameters() {
+    currentPitch = PITCH_UP;
+    setFinalApoapsisAlt(Float.parseFloat(commands.get(Module.APOAPSIS.get())));
+    setHeading(Float.parseFloat(commands.get(Module.DIRECTION.get())));
+    setRoll(Float.parseFloat(commands.get(Module.ROLL.get())));
+    maxTWR =
+        (float) Utilities.clamp(Float.parseFloat(commands.get(Module.MAX_TWR.get())), 1.2, 5.0);
+    setGravityCurveModel(commands.get(Module.INCLINATION.get()));
+    willOpenPanelsAndAntenna = Boolean.parseBoolean(commands.get(Module.OPEN_PANELS.get()));
+    willDecoupleStages = Boolean.parseBoolean(commands.get(Module.STAGE.get()));
+    thrControl = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    thrControl.setOutput(0.0, 1.0);
+  }
+
+  @Override
+  public void run() {
+    try {
+      // Apoapsis Check using Stream Callback
+      apoapsisCallbackTag =
+          apoapsis.addCallback(
+              (apo) -> {
                 if (apo >= getFinalApoapsis()) {
-                    targetApoapsisReached = true;
-                    apoapsis.removeCallback(apoapsisCallbackTag);
+                  targetApoapsisReached = true;
+                  apoapsis.removeCallback(apoapsisCallbackTag);
                 }
-            });
-            apoapsis.start();
-
-            // Dynamic Pressure Check using Stream Callback
-            Stream<Float> pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
-            pressureCallbackTag = pressureStream.addCallback((pressure) -> {
+              });
+      apoapsis.start();
+
+      // Dynamic Pressure Check using Stream Callback
+      pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
+      pressureCallbackTag =
+          pressureStream.addCallback(
+              (pressure) -> {
                 if (pressure <= 10) {
-                    dynamicPressureLowEnough = true;
-                    pressureStream.removeCallback(pressureCallbackTag);
+                  dynamicPressureLowEnough = true;
+                  pressureStream.removeCallback(pressureCallbackTag);
                 }
-            });
-            pressureStream.start();
-
-            tuneAutoPilot();
-            liftoff();
-            gravityCurve();
-            finalizeCurve();
-            circularizeOrbitOnApoapsis();
-        } catch (RPCException | InterruptedException | StreamException ignored) {
-            setCurrentStatus(Bundle.getString("status_ready"));
+              });
+      pressureStream.start();
+
+      tuneAutoPilot();
+      liftoff();
+      gravityCurve();
+      finalizeCurve();
+      circularizeOrbitOnApoapsis();
+    } catch (RPCException | InterruptedException | StreamException e) {
+      cleanup();
+      setCurrentStatus(Bundle.getString("status_ready"));
+    }
+  }
+
+  private void cleanup() {
+    try {
+      apoapsis.removeCallback(apoapsisCallbackTag);
+      pressureStream.removeCallback(pressureCallbackTag);
+      pressureStream.remove();
+      ap.disengage();
+      throttle(0);
+    } catch (RPCException e) {
+      // ignore
+    }
+  }
+
+  private void gravityCurve() throws RPCException, StreamException, InterruptedException {
+    ap.setReferenceFrame(surfaceReferenceFrame);
+    ap.targetPitchAndHeading(currentPitch, getHeading());
+    ap.setTargetRoll(getRoll());
+    ap.engage();
+    throttle(getMaxThrottleForTWR(maxTWR));
+    double startCurveAlt = altitude.get();
+
+    while (currentPitch > 1 && !targetApoapsisReached) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      double altitudeProgress =
+          Utilities.remap(startCurveAlt, getFinalApoapsis(), 1, 0.01, altitude.get(), false);
+      currentPitch = (float) (calculateCurrentPitch(altitudeProgress));
+      double currentMaxTWR = calculateTWRBasedOnPressure(currentPitch);
+      ap.setTargetPitch(currentPitch);
+      double throttleValue =
+          Math.min(
+              thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000),
+              getMaxThrottleForTWR(currentMaxTWR));
+      throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
+
+      if (willDecoupleStages && isCurrentStageWithoutFuel()) {
+        decoupleStage();
+      }
+      setCurrentStatus(
+          String.format(Bundle.getString("status_liftoff_inclination") + " %.1f", currentPitch));
+    }
+    throttle(0);
+  }
+
+  private double calculateTWRBasedOnPressure(float currentPitch) throws RPCException {
+    float currentPressure = flightParameters.getDynamicPressure();
+    if (currentPressure <= 10) {
+      return Utilities.remap(90.0, 0.0, maxTWR, 5.0, currentPitch, true);
+    }
+    return Utilities.remap(22000.0, 10.0, maxTWR, 5.0, currentPressure, true);
+  }
+
+  private void finalizeCurve() throws RPCException, StreamException, InterruptedException {
+    setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
+    getActiveVessel().getControl().setRCS(true);
+
+    while (!dynamicPressureLowEnough) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      navigation.aimAtPrograde();
+      throttle(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000));
+    }
+    throttle(0.0f);
+    if (willDecoupleStages) {
+      jettisonFairings();
+    }
+    if (willOpenPanelsAndAntenna) {
+      openPanelsAndAntenna();
+    }
+  }
+
+  private void circularizeOrbitOnApoapsis() {
+    setCurrentStatus(Bundle.getString("status_planning_orbit"));
+    Map<String, String> commands = new HashMap<>();
+    commands.put(Module.MODULO.get(), Module.MANEUVER.get());
+    commands.put(Module.FUNCTION.get(), Module.APOAPSIS.get());
+    commands.put(Module.FINE_ADJUST.get(), String.valueOf(false));
+    getVesselManager().startModule(commands);
+  }
+
+  private void jettisonFairings() throws RPCException, InterruptedException {
+    List<Fairing> fairings = getActiveVessel().getParts().getFairings();
+    if (fairings.size() > 0) {
+      setCurrentStatus(Bundle.getString("status_jettisoning_shields"));
+      for (Fairing f : fairings) {
+        if (f.getJettisoned()) {
+          String eventName = f.getPart().getModules().get(0).getEvents().get(0);
+          f.getPart().getModules().get(0).triggerEvent(eventName);
+          Thread.sleep(10000);
         }
-    }
-
-    private void gravityCurve() throws RPCException, StreamException, InterruptedException {
-        ap.setReferenceFrame(surfaceReferenceFrame);
-        ap.targetPitchAndHeading(currentPitch, getHeading());
-        ap.setTargetRoll(getRoll());
-        ap.engage();
-        throttle(getMaxThrottleForTWR(maxTWR));
-        double startCurveAlt = altitude.get();
-
-        while (currentPitch > 1 && !targetApoapsisReached) {
-            double altitudeProgress = Utilities.remap(startCurveAlt, getFinalApoapsis(), 1, 0.01, altitude.get(),
-                    false);
-            currentPitch = (float) (calculateCurrentPitch(altitudeProgress));
-            double currentMaxTWR = calculateTWRBasedOnPressure(currentPitch);
-            ap.setTargetPitch(currentPitch);
-            double throttleValue = Math.min(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000),
-                    getMaxThrottleForTWR(currentMaxTWR));
-            throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
-
-            if (willDecoupleStages && isCurrentStageWithoutFuel()) {
-                decoupleStage();
-            }
-            setCurrentStatus(String.format(Bundle.getString("status_liftoff_inclination") + " %.1f", currentPitch));
-        }
-        throttle(0);
-    }
-
-    private double calculateTWRBasedOnPressure(float currentPitch) throws RPCException {
-        float currentPressure = flightParameters.getDynamicPressure();
-        if (currentPressure <= 10) {
-            return Utilities.remap(90.0, 0.0, maxTWR, 5.0, currentPitch, true);
-        }
-        return Utilities.remap(22000.0, 10.0, maxTWR, 5.0, currentPressure, true);
-    }
-
-    private void finalizeCurve() throws RPCException, StreamException, InterruptedException {
-        setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
-        getActiveVessel().getControl().setRCS(true);
-
-        while (!dynamicPressureLowEnough) {
-            navigation.aimAtPrograde();
-            throttle(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000));
-        }
-        throttle(0.0f);
-        if (willDecoupleStages) {
-            jettisonFairings();
-        }
-        if (willOpenPanelsAndAntenna) {
-            openPanelsAndAntenna();
-        }
-    }
-
-    private void circularizeOrbitOnApoapsis() {
-        setCurrentStatus(Bundle.getString("status_planning_orbit"));
-        Map<String,String> commands = new HashMap<>();
-        commands.put(Module.MODULO.get(), Module.MANEUVER.get());
-        commands.put(Module.FUNCTION.get(), Module.APOAPSIS.get());
-        commands.put(Module.FINE_ADJUST.get(), String.valueOf(false));
-        getVesselManager().startModule(commands);
-    }
-
-    private void jettisonFairings() throws RPCException, InterruptedException {
-        List<Fairing> fairings = getActiveVessel().getParts().getFairings();
-        if (fairings.size() > 0) {
-            setCurrentStatus(Bundle.getString("status_jettisoning_shields"));
-            for (Fairing f : fairings) {
-                if (f.getJettisoned()) {
-                    String eventName = f.getPart().getModules().get(0).getEvents().get(0);
-                    f.getPart().getModules().get(0).triggerEvent(eventName);
-                    Thread.sleep(10000);
-                }
-            }
-        }
-    }
-
-    private void openPanelsAndAntenna() throws RPCException, InterruptedException {
-        getActiveVessel().getControl().setSolarPanels(true);
-        getActiveVessel().getControl().setRadiators(true);
-        getActiveVessel().getControl().setAntennas(true);
-    }
-
-    private double calculateCurrentPitch(double currentAltitude) {
-        if (gravityCurveModel.equals(Module.QUADRATIC.get())) {
-            return Utilities.easeInQuad(currentAltitude) * PITCH_UP;
-        }
-        if (gravityCurveModel.equals(Module.CUBIC.get())) {
-            return Utilities.easeInCubic(currentAltitude) * PITCH_UP;
-        }
-        if (gravityCurveModel.equals(Module.SINUSOIDAL.get())) {
-            return Utilities.easeInSine(currentAltitude) * PITCH_UP;
-        }
-        if (gravityCurveModel.equals(Module.EXPONENCIAL.get())) {
-            return Utilities.easeInExpo(currentAltitude) * PITCH_UP;
-        }
-        return Utilities.easeInCirc(currentAltitude) * PITCH_UP;
-    }
-
-    private boolean isCurrentStageWithoutFuel() throws RPCException {
-        for (Engine engine : getActiveVessel().getParts().getEngines()) {
-            if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
-                    && !engine.getHasFuel()) {
-                return true;
-            }
-        }
-        return false;
-    }
-
-    public float getHeading() {
-        return heading;
-    }
-
-    public void setHeading(float heading) {
-        final int MIN_HEADING = 0;
-        final int MAX_HEADING = 360;
-        this.heading = (float) Utilities.clamp(heading, MIN_HEADING, MAX_HEADING);
-    }
-
-    public float getFinalApoapsis() {
-        return finalApoapsisAlt;
-    }
-
-    public float getRoll() {
-        return this.roll;
-    }
-
-    public void setRoll(float roll) {
-        final int MIN_ROLL = 0;
-        final int MAX_ROLL = 360;
-        this.roll = (float) Utilities.clamp(roll, MIN_ROLL, MAX_ROLL);
-    }
-
-    private void setGravityCurveModel(String model) {
-        this.gravityCurveModel = model;
-    }
-
-    public void setFinalApoapsisAlt(float finalApoapsisAlt) {
-        final int MIN_FINAL_APOAPSIS = 10000;
-        final int MAX_FINAL_APOAPSIS = 2000000;
-        this.finalApoapsisAlt = (float) Utilities.clamp(finalApoapsisAlt, MIN_FINAL_APOAPSIS, MAX_FINAL_APOAPSIS);
-    }
+      }
+    }
+  }
+
+  private void openPanelsAndAntenna() throws RPCException, InterruptedException {
+    getActiveVessel().getControl().setSolarPanels(true);
+    getActiveVessel().getControl().setRadiators(true);
+    getActiveVessel().getControl().setAntennas(true);
+  }
+
+  private double calculateCurrentPitch(double currentAltitude) {
+    if (gravityCurveModel.equals(Module.QUADRATIC.get())) {
+      return Utilities.easeInQuad(currentAltitude) * PITCH_UP;
+    }
+    if (gravityCurveModel.equals(Module.CUBIC.get())) {
+      return Utilities.easeInCubic(currentAltitude) * PITCH_UP;
+    }
+    if (gravityCurveModel.equals(Module.SINUSOIDAL.get())) {
+      return Utilities.easeInSine(currentAltitude) * PITCH_UP;
+    }
+    if (gravityCurveModel.equals(Module.EXPONENCIAL.get())) {
+      return Utilities.easeInExpo(currentAltitude) * PITCH_UP;
+    }
+    return Utilities.easeInCirc(currentAltitude) * PITCH_UP;
+  }
+
+  private boolean isCurrentStageWithoutFuel() throws RPCException {
+    for (Engine engine : getActiveVessel().getParts().getEngines()) {
+      if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
+          && !engine.getHasFuel()) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+  public float getHeading() {
+    return heading;
+  }
+
+  public void setHeading(float heading) {
+    final int MIN_HEADING = 0;
+    final int MAX_HEADING = 360;
+    this.heading = (float) Utilities.clamp(heading, MIN_HEADING, MAX_HEADING);
+  }
+
+  public float getFinalApoapsis() {
+    return finalApoapsisAlt;
+  }
+
+  public float getRoll() {
+    return this.roll;
+  }
+
+  public void setRoll(float roll) {
+    final int MIN_ROLL = 0;
+    final int MAX_ROLL = 360;
+    this.roll = (float) Utilities.clamp(roll, MIN_ROLL, MAX_ROLL);
+  }
+
+  private void setGravityCurveModel(String model) {
+    this.gravityCurveModel = model;
+  }
+
+  public void setFinalApoapsisAlt(float finalApoapsisAlt) {
+    final int MIN_FINAL_APOAPSIS = 10000;
+    final int MAX_FINAL_APOAPSIS = 2000000;
+    this.finalApoapsisAlt =
+        (float) Utilities.clamp(finalApoapsisAlt, MIN_FINAL_APOAPSIS, MAX_FINAL_APOAPSIS);
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 78463c5..332122b 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -1,10 +1,5 @@
 package com.pesterenan.controllers;
 
-import java.util.List;
-import java.util.Map;
-
-import org.javatuples.Triplet;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
@@ -14,7 +9,8 @@
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Vector;
 import com.pesterenan.views.MainGui;
-
+import java.util.List;
+import java.util.Map;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -25,582 +21,639 @@
 import krpc.client.services.SpaceCenter.ReferenceFrame;
 import krpc.client.services.SpaceCenter.Vessel;
 import krpc.client.services.SpaceCenter.VesselSituation;
+import org.javatuples.Triplet;
 
 public class ManeuverController extends Controller {
 
-    public final static float CONST_GRAV = 9.81f;
-    private ControlePID ctrlManeuver, ctrlRCS;
-    private Navigation navigation;
-    private boolean fineAdjustment;
-    private double lowOrbitAltitude;
-
-    private volatile boolean isBurnComplete, isOriented, isTimeToBurn = false;
-    private int burnCompleteCallbackTag, headingErrorCallbackTag, pitchErrorCallbackTag, timeToBurnCallbackTag;
-    private Stream<Float> headingErrorStream;
-    private Stream<Float> pitchErrorStream;
-    private Stream<Double> timeToNodeStream;
-    private Stream<Triplet<Double,Double,Double>> remainingBurn;
-
-    public ManeuverController(ConnectionManager connectionManager, VesselManager vesselManager,
-            Map<String,String> commands) {
-        super(connectionManager, vesselManager);
-        this.commands = commands;
-        this.navigation = new Navigation(connectionManager, getActiveVessel());
-        initializeParameters();
+  public static final float CONST_GRAV = 9.81f;
+  private ControlePID ctrlManeuver, ctrlRCS;
+  private Navigation navigation;
+  private boolean fineAdjustment;
+  private double lowOrbitAltitude;
+
+  private volatile boolean isBurnComplete, isOriented, isTimeToBurn = false;
+  private int burnCompleteCallbackTag,
+      headingErrorCallbackTag,
+      pitchErrorCallbackTag,
+      timeToBurnCallbackTag;
+  private Stream<Float> headingErrorStream;
+  private Stream<Float> pitchErrorStream;
+  private Stream<Double> timeToNodeStream;
+  private Stream<Triplet<Double, Double, Double>> remainingBurn;
+
+  public ManeuverController(
+      ConnectionManager connectionManager,
+      VesselManager vesselManager,
+      Map<String, String> commands) {
+    super(connectionManager, vesselManager);
+    this.commands = commands;
+    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    initializeParameters();
+  }
+
+  private void initializeParameters() {
+    ctrlRCS = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    ctrlManeuver = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    ctrlManeuver.setPIDValues(1, 0.001, 0.1);
+    ctrlRCS.setOutput(0.5, 1.0);
+    fineAdjustment = canFineAdjust(commands.get(Module.FINE_ADJUST.get()));
+    try {
+      lowOrbitAltitude = new Attributes().getLowOrbitAltitude(currentBody.getName());
+      System.out.println("lowOrbitAltitude: " + lowOrbitAltitude);
+    } catch (RPCException e) {
     }
-
-    private void initializeParameters() {
-        ctrlRCS = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-        ctrlManeuver = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-        ctrlManeuver.setPIDValues(1, 0.001, 0.1);
-        ctrlRCS.setOutput(0.5, 1.0);
-        fineAdjustment = canFineAdjust(commands.get(Module.FINE_ADJUST.get()));
-        try {
-            lowOrbitAltitude = new Attributes().getLowOrbitAltitude(currentBody.getName());
-            System.out.println("lowOrbitAltitude: " + lowOrbitAltitude);
-        } catch (RPCException e) {
-        }
+  }
+
+  @Override
+  public void run() {
+    try {
+      calculateManeuver();
+      if (!(commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())
+          || commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())
+          || commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get()))) {
+        executeNextManeuver();
+      }
+    } catch (InterruptedException e) {
+      cleanup();
     }
-
-    @Override
-    public void run() {
-        try {
-            calculateManeuver();
-            if (!(commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())
-                    || commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())
-                    || commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get()))) {
-                executeNextManeuver();
-            }
-        } catch (InterruptedException e) {
-            cleanup();
-        }
+  }
+
+  private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart) {
+    double[] totalDv = {0, 0, 0};
+    try {
+      Orbit currentOrbit = getActiveVessel().getOrbit();
+      double startingRadius = currentOrbit.getApoapsis();
+      double gravParameter = currentBody.getGravitationalParameter();
+
+      // Delta-v required to leave the current orbit
+      double deltaV1 =
+          Math.sqrt(2 * gravParameter / startingRadius) - Math.sqrt(gravParameter / startingRadius);
+
+      // Calculate the intermediate radius for the intermediate orbit
+      double intermediateRadius = currentBody.getEquatorialRadius() + targetAltitude;
+
+      // Delta-v required to enter the intermediate orbit
+      double deltaV2 =
+          Math.sqrt(gravParameter / intermediateRadius)
+              - Math.sqrt(2 * gravParameter / intermediateRadius);
+
+      // Calculate the final radius for the target orbit
+      double targetRadius = currentBody.getEquatorialRadius() + targetAltitude;
+
+      // Delta-v required to leave the intermediate orbit and enter the target orbit
+      double deltaV3 =
+          Math.sqrt(2 * gravParameter / intermediateRadius)
+              - Math.sqrt(gravParameter / intermediateRadius);
+      double deltaV4 =
+          Math.sqrt(gravParameter / targetRadius) - Math.sqrt(2 * gravParameter / targetRadius);
+
+      // Total delta-v for the bi-elliptic transfer
+      totalDv[0] = deltaV1 + deltaV2 + deltaV3 + deltaV4;
+    } catch (RPCException e) {
+      // Handle the exception
     }
-
-    private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart) {
-        double[] totalDv = {0, 0, 0};
-        try {
-            Orbit currentOrbit = getActiveVessel().getOrbit();
-            double startingRadius = currentOrbit.getApoapsis();
-            double gravParameter = currentBody.getGravitationalParameter();
-
-            // Delta-v required to leave the current orbit
-            double deltaV1 = Math.sqrt(2 * gravParameter / startingRadius) - Math.sqrt(gravParameter / startingRadius);
-
-            // Calculate the intermediate radius for the intermediate orbit
-            double intermediateRadius = currentBody.getEquatorialRadius() + targetAltitude;
-
-            // Delta-v required to enter the intermediate orbit
-            double deltaV2 = Math.sqrt(gravParameter / intermediateRadius)
-                    - Math.sqrt(2 * gravParameter / intermediateRadius);
-
-            // Calculate the final radius for the target orbit
-            double targetRadius = currentBody.getEquatorialRadius() + targetAltitude;
-
-            // Delta-v required to leave the intermediate orbit and enter the target orbit
-            double deltaV3 = Math.sqrt(2 * gravParameter / intermediateRadius)
-                    - Math.sqrt(gravParameter / intermediateRadius);
-            double deltaV4 = Math.sqrt(gravParameter / targetRadius) - Math.sqrt(2 * gravParameter / targetRadius);
-
-            // Total delta-v for the bi-elliptic transfer
-            totalDv[0] = deltaV1 + deltaV2 + deltaV3 + deltaV4;
-        } catch (RPCException e) {
-            // Handle the exception
-        }
-        return createManeuver(timeToStart, totalDv);
+    return createManeuver(timeToStart, totalDv);
+  }
+
+  public void calculateManeuver() {
+    try {
+      tuneAutoPilot();
+      System.out.println(commands + " calculate maneuvers");
+      if (commands.get(Module.FUNCTION.get()).equals(Module.EXECUTE.get())) {
+        return;
+      }
+      if (getActiveVessel().getSituation() == VesselSituation.LANDED
+          || getActiveVessel().getSituation() == VesselSituation.SPLASHED) {
+        throw new InterruptedException();
+      }
+      if (commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get())) {
+        this.alignPlanesWithTargetVessel();
+        return;
+      }
+      if (commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())) {
+        this.rendezvousWithTargetVessel();
+        return;
+      }
+      if (commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())) {
+        biEllipticTransferToOrbit(
+            lowOrbitAltitude, getActiveVessel().getOrbit().getTimeToPeriapsis());
+        return;
+      }
+      double gravParameter = currentBody.getGravitationalParameter();
+      double startingAltitutde = 0, timeUntilAltitude = 0;
+      if (commands.get(Module.FUNCTION.get()).equals(Module.APOAPSIS.get())) {
+        startingAltitutde = getActiveVessel().getOrbit().getApoapsis();
+        timeUntilAltitude = getActiveVessel().getOrbit().getTimeToApoapsis();
+      }
+      if (commands.get(Module.FUNCTION.get()).equals(Module.PERIAPSIS.get())) {
+        startingAltitutde = getActiveVessel().getOrbit().getPeriapsis();
+        timeUntilAltitude = getActiveVessel().getOrbit().getTimeToPeriapsis();
+      }
+
+      double semiMajorAxis = getActiveVessel().getOrbit().getSemiMajorAxis();
+      double currentOrbitalVelocity =
+          Math.sqrt(gravParameter * ((2.0 / startingAltitutde) - (1.0 / semiMajorAxis)));
+      double targetOrbitalVelocity =
+          Math.sqrt(gravParameter * ((2.0 / startingAltitutde) - (1.0 / startingAltitutde)));
+      double maneuverDeltaV = targetOrbitalVelocity - currentOrbitalVelocity;
+      double[] deltaV = {maneuverDeltaV, 0, 0};
+      createManeuver(timeUntilAltitude, deltaV);
+    } catch (RPCException | InterruptedException e) {
+      setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
     }
-
-    public void calculateManeuver() {
-        try {
-            tuneAutoPilot();
-            System.out.println(commands + " calculate maneuvers");
-            if (commands.get(Module.FUNCTION.get()).equals(Module.EXECUTE.get())) {
-                return;
-            }
-            if (getActiveVessel().getSituation() == VesselSituation.LANDED
-                    || getActiveVessel().getSituation() == VesselSituation.SPLASHED) {
-                throw new InterruptedException();
-            }
-            if (commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get())) {
-                this.alignPlanesWithTargetVessel();
-                return;
-            }
-            if (commands.get(Module.FUNCTION.get()).equals(Module.RENDEZVOUS.get())) {
-                this.rendezvousWithTargetVessel();
-                return;
-            }
-            if (commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())) {
-                biEllipticTransferToOrbit(lowOrbitAltitude, getActiveVessel().getOrbit().getTimeToPeriapsis());
-                return;
-            }
-            double gravParameter = currentBody.getGravitationalParameter();
-            double startingAltitutde = 0, timeUntilAltitude = 0;
-            if (commands.get(Module.FUNCTION.get()).equals(Module.APOAPSIS.get())) {
-                startingAltitutde = getActiveVessel().getOrbit().getApoapsis();
-                timeUntilAltitude = getActiveVessel().getOrbit().getTimeToApoapsis();
-            }
-            if (commands.get(Module.FUNCTION.get()).equals(Module.PERIAPSIS.get())) {
-                startingAltitutde = getActiveVessel().getOrbit().getPeriapsis();
-                timeUntilAltitude = getActiveVessel().getOrbit().getTimeToPeriapsis();
-            }
-
-            double semiMajorAxis = getActiveVessel().getOrbit().getSemiMajorAxis();
-            double currentOrbitalVelocity = Math
-                    .sqrt(gravParameter * ((2.0 / startingAltitutde) - (1.0 / semiMajorAxis)));
-            double targetOrbitalVelocity = Math
-                    .sqrt(gravParameter * ((2.0 / startingAltitutde) - (1.0 / startingAltitutde)));
-            double maneuverDeltaV = targetOrbitalVelocity - currentOrbitalVelocity;
-            double[] deltaV = {maneuverDeltaV, 0, 0};
-            createManeuver(timeUntilAltitude, deltaV);
-        } catch (RPCException | InterruptedException e) {
-            setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
+  }
+
+  public void matchOrbitApoapsis() throws RPCException, StreamException, InterruptedException {
+    Orbit targetOrbit = getTargetOrbit();
+    System.out.println(targetOrbit.getApoapsis() + "-- APO");
+    Node maneuver =
+        biEllipticTransferToOrbit(
+            targetOrbit.getApoapsis(), getActiveVessel().getOrbit().getTimeToPeriapsis());
+    while (true) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      double currentDeltaApo = compareOrbitParameter(maneuver.getOrbit(), targetOrbit, Compare.AP);
+      String deltaApoFormatted = String.format("%.2f", currentDeltaApo);
+      System.out.println(deltaApoFormatted);
+      if (deltaApoFormatted.equals(String.format("%.2f", 0.00))) {
+        break;
+      }
+      double dvPrograde = maneuver.getPrograde();
+      double ctrlOutput = ctrlManeuver.calculate(currentDeltaApo, 0);
+
+      maneuver.setPrograde(dvPrograde - (ctrlOutput));
+      Thread.sleep(25);
+    }
+  }
+
+  private Node createManeuverAtClosestIncNode(Orbit targetOrbit) {
+    double uTatClosestNode = 1;
+    double[] dv = {0, 0, 0};
+    try {
+      double[] incNodesUt = getTimeToIncNodes(targetOrbit);
+      uTatClosestNode =
+          Math.min(incNodesUt[0], incNodesUt[1]) - getConnectionManager().getSpaceCenter().getUT();
+    } catch (Exception ignored) {
+    }
+    return createManeuver(uTatClosestNode, dv);
+  }
+
+  private double[] getTimeToIncNodes(Orbit targetOrbit) throws RPCException {
+    Orbit vesselOrbit = getActiveVessel().getOrbit();
+    double ascendingNode = vesselOrbit.trueAnomalyAtAN(targetOrbit);
+    double descendingNode = vesselOrbit.trueAnomalyAtDN(targetOrbit);
+    return new double[] {
+      vesselOrbit.uTAtTrueAnomaly(ascendingNode), vesselOrbit.uTAtTrueAnomaly(descendingNode)
+    };
+  }
+
+  private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
+    try {
+      Vessel vessel = getActiveVessel();
+      Orbit vesselOrbit = getActiveVessel().getOrbit();
+      Orbit targetVesselOrbit =
+          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+      boolean hasManeuverNodes = vessel.getControl().getNodes().size() > 0;
+      System.out.println("hasManeuverNodes: " + hasManeuverNodes);
+      if (!hasManeuverNodes) {
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
+      }
+      java.util.List<Node> currentManeuvers = vessel.getControl().getNodes();
+      Node currentManeuver = currentManeuvers.get(0);
+      double[] incNodesUt = {
+        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtAN(targetVesselOrbit)),
+        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtDN(targetVesselOrbit))
+      };
+      boolean closestIsAN = incNodesUt[0] < incNodesUt[1];
+      MainGui.newInstance()
+          .getCreateManeuverPanel()
+          .positionManeuverAt(closestIsAN ? "ascending" : "descending");
+      double currentInclination =
+          Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
+      ctrlManeuver.setTimeSample(25);
+      while (currentInclination > 0.05) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
+        currentInclination =
+            Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
+        double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
+        currentManeuver.setNormal(
+            currentManeuver.getNormal() + (closestIsAN ? ctrlOutput : -ctrlOutput));
+        Thread.sleep(25);
+      }
+    } catch (Exception err) {
+      System.err.println(err);
     }
-
-    public void matchOrbitApoapsis() throws RPCException, StreamException, InterruptedException {
-        Orbit targetOrbit = getTargetOrbit();
-        System.out.println(targetOrbit.getApoapsis() + "-- APO");
-        Node maneuver = biEllipticTransferToOrbit(targetOrbit.getApoapsis(),
-                getActiveVessel().getOrbit().getTimeToPeriapsis());
-        while (true) {
+  }
+
+  private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
+    try {
+      boolean hasManeuverNodes = getActiveVessel().getControl().getNodes().size() > 0;
+      List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
+      Node lastManeuverNode;
+      double lastManeuverNodeUT = 60;
+      if (hasManeuverNodes) {
+        currentManeuvers = getActiveVessel().getControl().getNodes();
+        lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
+        lastManeuverNodeUT += lastManeuverNode.getUT();
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver(lastManeuverNodeUT);
+      } else {
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
+      }
+      currentManeuvers = getActiveVessel().getControl().getNodes();
+      lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
+
+      Orbit activeVesselOrbit = getActiveVessel().getOrbit();
+      Orbit targetVesselOrbit =
+          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+      ReferenceFrame currentBodyRefFrame =
+          activeVesselOrbit.getBody().getNonRotatingReferenceFrame();
+
+      double angularDiff = 10;
+      while (angularDiff >= 0.005) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
+        }
+        double maneuverUT = lastManeuverNode.getUT();
+        double targetOrbitPosition =
+            new Vector(targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame)).magnitude();
+        double maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
+        double maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
+        ctrlManeuver.setPIDValues(0.25, 0.0, 0.01);
+        ctrlManeuver.setOutput(-100, 100);
+
+        if (targetOrbitPosition < maneuverPE) {
+          while (Math.floor(targetOrbitPosition) != Math.floor(maneuverPE)) {
             if (Thread.interrupted()) {
-                throw new InterruptedException();
+              throw new InterruptedException();
             }
-            double currentDeltaApo = compareOrbitParameter(maneuver.getOrbit(), targetOrbit, Compare.AP);
-            String deltaApoFormatted = String.format("%.2f", currentDeltaApo);
-            System.out.println(deltaApoFormatted);
-            if (deltaApoFormatted.equals(String.format("%.2f", 0.00))) {
-                break;
-            }
-            double dvPrograde = maneuver.getPrograde();
-            double ctrlOutput = ctrlManeuver.calculate(currentDeltaApo, 0);
-
-            maneuver.setPrograde(dvPrograde - (ctrlOutput));
+            lastManeuverNode.setPrograde(
+                lastManeuverNode.getPrograde()
+                    + ctrlManeuver.calculate(maneuverPE / targetOrbitPosition * 1000, 1000));
+            maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
             Thread.sleep(25);
+          }
         }
-    }
 
-    private Node createManeuverAtClosestIncNode(Orbit targetOrbit) {
-        double uTatClosestNode = 1;
-        double[] dv = {0, 0, 0};
-        try {
-            double[] incNodesUt = getTimeToIncNodes(targetOrbit);
-            uTatClosestNode = Math.min(incNodesUt[0], incNodesUt[1]) - getConnectionManager().getSpaceCenter().getUT();
-        } catch (Exception ignored) {
-        }
-        return createManeuver(uTatClosestNode, dv);
-    }
-
-    private double[] getTimeToIncNodes(Orbit targetOrbit) throws RPCException {
-        Orbit vesselOrbit = getActiveVessel().getOrbit();
-        double ascendingNode = vesselOrbit.trueAnomalyAtAN(targetOrbit);
-        double descendingNode = vesselOrbit.trueAnomalyAtDN(targetOrbit);
-        return new double[]{vesselOrbit.uTAtTrueAnomaly(ascendingNode), vesselOrbit.uTAtTrueAnomaly(descendingNode)};
-    }
-
-    private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
-        try {
-            Vessel vessel = getActiveVessel();
-            Orbit vesselOrbit = getActiveVessel().getOrbit();
-            Orbit targetVesselOrbit = getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-            boolean hasManeuverNodes = vessel.getControl().getNodes().size() > 0;
-            System.out.println("hasManeuverNodes: " + hasManeuverNodes);
-            if (!hasManeuverNodes) {
-                MainGui.newInstance().getCreateManeuverPanel().createManeuver();
-            }
-            java.util.List<Node> currentManeuvers = vessel.getControl().getNodes();
-            Node currentManeuver = currentManeuvers.get(0);
-            double[] incNodesUt = {vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtAN(targetVesselOrbit)),
-                    vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtDN(targetVesselOrbit))};
-            boolean closestIsAN = incNodesUt[0] < incNodesUt[1];
-            MainGui.newInstance().getCreateManeuverPanel().positionManeuverAt(closestIsAN ? "ascending" : "descending");
-            double currentInclination = Math
-                    .toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
-            ctrlManeuver.setTimeSample(25);
-            while (currentInclination > 0.05) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                currentInclination = Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
-                double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
-                currentManeuver.setNormal(currentManeuver.getNormal() + (closestIsAN ? ctrlOutput : -ctrlOutput));
-                Thread.sleep(25);
+        if (targetOrbitPosition > maneuverAP) {
+          while (Math.floor(targetOrbitPosition) != Math.floor(maneuverAP)) {
+            if (Thread.interrupted()) {
+              throw new InterruptedException();
             }
-        } catch (Exception err) {
-            System.err.println(err);
+            lastManeuverNode.setPrograde(
+                lastManeuverNode.getPrograde()
+                    + ctrlManeuver.calculate(maneuverAP / targetOrbitPosition * 1000, 1000));
+            maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
+            Thread.sleep(25);
+          }
         }
+        angularDiff =
+            calculatePhaseAngle(
+                lastManeuverNode.getOrbit().positionAt(maneuverUT, currentBodyRefFrame),
+                getConnectionManager()
+                    .getSpaceCenter()
+                    .getTargetVessel()
+                    .getOrbit()
+                    .positionAt(maneuverUT, currentBodyRefFrame));
+        maneuverUT = lastManeuverNode.getUT();
+        lastManeuverNode.setUT(
+            lastManeuverNode.getUT() + ctrlManeuver.calculate(-angularDiff * 100, 0));
+        System.out.println(angularDiff);
+        Thread.sleep(25);
+      }
+    } catch (Exception err) {
+      if (err instanceof InterruptedException) {
+        throw (InterruptedException) err;
+      }
     }
-
-    private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
-        try {
-            boolean hasManeuverNodes = getActiveVessel().getControl().getNodes().size() > 0;
-            List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
-            Node lastManeuverNode;
-            double lastManeuverNodeUT = 60;
-            if (hasManeuverNodes) {
-                currentManeuvers = getActiveVessel().getControl().getNodes();
-                lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
-                lastManeuverNodeUT += lastManeuverNode.getUT();
-                MainGui.newInstance().getCreateManeuverPanel().createManeuver(lastManeuverNodeUT);
-            } else {
-                MainGui.newInstance().getCreateManeuverPanel().createManeuver();
-            }
-            currentManeuvers = getActiveVessel().getControl().getNodes();
-            lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
-
-            Orbit activeVesselOrbit = getActiveVessel().getOrbit();
-            Orbit targetVesselOrbit = getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-            ReferenceFrame currentBodyRefFrame = activeVesselOrbit.getBody().getNonRotatingReferenceFrame();
-
-            double angularDiff = 10;
-            while (angularDiff >= 0.005) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                double maneuverUT = lastManeuverNode.getUT();
-                double targetOrbitPosition = new Vector(targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame))
-                        .magnitude();
-                double maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
-                double maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
-                ctrlManeuver.setPIDValues(0.25, 0.0, 0.01);
-                ctrlManeuver.setOutput(-100, 100);
-
-                if (targetOrbitPosition < maneuverPE) {
-                    while (Math.floor(targetOrbitPosition) != Math.floor(maneuverPE)) {
-                        if (Thread.interrupted()) {
-                            throw new InterruptedException();
-                        }
-                        lastManeuverNode.setPrograde(lastManeuverNode.getPrograde()
-                                + ctrlManeuver.calculate(maneuverPE / targetOrbitPosition * 1000, 1000));
-                        maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
-                        Thread.sleep(25);
-                    }
-                }
-
-                if (targetOrbitPosition > maneuverAP) {
-                    while (Math.floor(targetOrbitPosition) != Math.floor(maneuverAP)) {
-                        if (Thread.interrupted()) {
-                            throw new InterruptedException();
-                        }
-                        lastManeuverNode.setPrograde(lastManeuverNode.getPrograde()
-                                + ctrlManeuver.calculate(maneuverAP / targetOrbitPosition * 1000, 1000));
-                        maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
-                        Thread.sleep(25);
-                    }
-                }
-                angularDiff = calculatePhaseAngle(
-                        lastManeuverNode.getOrbit().positionAt(maneuverUT, currentBodyRefFrame),
-                        getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit().positionAt(maneuverUT,
-                                currentBodyRefFrame));
-                maneuverUT = lastManeuverNode.getUT();
-                lastManeuverNode.setUT(lastManeuverNode.getUT() + ctrlManeuver.calculate(-angularDiff * 100, 0));
-                System.out.println(angularDiff);
-                Thread.sleep(25);
-            }
-        } catch (Exception err) {
-            if (err instanceof InterruptedException) {
-                throw (InterruptedException) err;
-            }
-        }
+  }
+
+  private double compareOrbitParameter(Orbit maneuverOrbit, Orbit targetOrbit, Compare parameter) {
+    double maneuverParameter;
+    double targetParameter;
+    double delta = 0;
+    try {
+      switch (parameter) {
+        case INC:
+          maneuverParameter = maneuverOrbit.getInclination();
+          System.out.println(maneuverParameter + " maneuver");
+          targetParameter = targetOrbit.getInclination();
+          System.out.println(targetParameter + " target");
+          delta = (maneuverParameter / targetParameter) * 10;
+          break;
+        case AP:
+          maneuverParameter = Math.round(maneuverOrbit.getApoapsis() / 100000.0);
+          targetParameter = Math.round(targetOrbit.getApoapsis() / 100000.0);
+          delta = (targetParameter - maneuverParameter);
+          break;
+        case PE:
+          maneuverParameter = Math.round(maneuverOrbit.getPeriapsis()) / 100.0;
+          targetParameter = Math.round(targetOrbit.getPeriapsis()) / 100.0;
+          delta = (targetParameter - maneuverParameter);
+          break;
+        default:
+          break;
+      }
+
+    } catch (RPCException e) {
+      e.printStackTrace();
     }
+    return delta;
+  }
 
-    private double compareOrbitParameter(Orbit maneuverOrbit, Orbit targetOrbit, Compare parameter) {
-        double maneuverParameter;
-        double targetParameter;
-        double delta = 0;
-        try {
-            switch (parameter) {
-                case INC :
-                    maneuverParameter = maneuverOrbit.getInclination();
-                    System.out.println(maneuverParameter + " maneuver");
-                    targetParameter = targetOrbit.getInclination();
-                    System.out.println(targetParameter + " target");
-                    delta = (maneuverParameter / targetParameter) * 10;
-                    break;
-                case AP :
-                    maneuverParameter = Math.round(maneuverOrbit.getApoapsis() / 100000.0);
-                    targetParameter = Math.round(targetOrbit.getApoapsis() / 100000.0);
-                    delta = (targetParameter - maneuverParameter);
-                    break;
-                case PE :
-                    maneuverParameter = Math.round(maneuverOrbit.getPeriapsis()) / 100.0;
-                    targetParameter = Math.round(targetOrbit.getPeriapsis()) / 100.0;
-                    delta = (targetParameter - maneuverParameter);
-                    break;
-                default :
-                    break;
-            }
-
-        } catch (RPCException e) {
-            e.printStackTrace();
-        }
-        return delta;
+  private Orbit getTargetOrbit() throws RPCException {
+    if (getConnectionManager().getSpaceCenter().getTargetBody() != null) {
+      return getConnectionManager().getSpaceCenter().getTargetBody().getOrbit();
     }
-
-    private Orbit getTargetOrbit() throws RPCException {
-        if (getConnectionManager().getSpaceCenter().getTargetBody() != null) {
-            return getConnectionManager().getSpaceCenter().getTargetBody().getOrbit();
-        }
-        if (getConnectionManager().getSpaceCenter().getTargetVessel() != null) {
-            return getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-        }
-        return null;
+    if (getConnectionManager().getSpaceCenter().getTargetVessel() != null) {
+      return getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
     }
-
-    private Node createManeuver(double laterTime, double[] deltaV) {
-        Node maneuverNode = null;
-        try {
-            getActiveVessel().getControl().addNode(getConnectionManager().getSpaceCenter().getUT() + laterTime,
-                    (float) deltaV[0],
-                    (float) deltaV[1], (float) deltaV[2]);
-            List<Node> currentNodes = getActiveVessel().getControl().getNodes();
-            maneuverNode = currentNodes.get(currentNodes.size() - 1);
-        } catch (UnsupportedOperationException | RPCException e) {
-            setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
-        }
-        return maneuverNode;
+    return null;
+  }
+
+  private Node createManeuver(double laterTime, double[] deltaV) {
+    Node maneuverNode = null;
+    try {
+      getActiveVessel()
+          .getControl()
+          .addNode(
+              getConnectionManager().getSpaceCenter().getUT() + laterTime,
+              (float) deltaV[0],
+              (float) deltaV[1],
+              (float) deltaV[2]);
+      List<Node> currentNodes = getActiveVessel().getControl().getNodes();
+      maneuverNode = currentNodes.get(currentNodes.size() - 1);
+    } catch (UnsupportedOperationException | RPCException e) {
+      setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
     }
-
-    public void executeNextManeuver() throws InterruptedException {
-        try {
-            Node maneuverNode = getActiveVessel().getControl().getNodes().get(0);
-            double burnTime = calculateBurnTime(maneuverNode);
-            orientToManeuverNode(maneuverNode);
-            executeBurn(maneuverNode, burnTime);
-        } catch (UnsupportedOperationException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_maneuver_not_unlocked"));
-        } catch (IndexOutOfBoundsException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_maneuver_unavailable"));
-        } catch (RPCException | StreamException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_data_unavailable"));
-        } catch (InterruptedException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_couldnt_orient"));
-            throw e;
-        }
+    return maneuverNode;
+  }
+
+  public void executeNextManeuver() throws InterruptedException {
+    try {
+      Node maneuverNode = getActiveVessel().getControl().getNodes().get(0);
+      double burnTime = calculateBurnTime(maneuverNode);
+      orientToManeuverNode(maneuverNode);
+      executeBurn(maneuverNode, burnTime);
+    } catch (UnsupportedOperationException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_maneuver_not_unlocked"));
+    } catch (IndexOutOfBoundsException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_maneuver_unavailable"));
+    } catch (RPCException | StreamException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_data_unavailable"));
+    } catch (InterruptedException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_couldnt_orient"));
+      throw e;
     }
-
-    public void orientToManeuverNode(Node maneuverNode) throws RPCException, StreamException, InterruptedException {
-        setCurrentStatus(Bundle.getString("status_orienting_ship"));
-        ap.engage();
-
-        // Create streams for heading and pitch errors
-        headingErrorStream = connection.addStream(ap, "getHeadingError");
-        pitchErrorStream = connection.addStream(ap, "getPitchError");
-
-        // A shared callback for both streams
-        Runnable checkOrientation = () -> {
-            try {
-                if (headingErrorStream.get() <= 3 && pitchErrorStream.get() <= 3) {
-                    isOriented = true;
-                    // Clean up the callbacks once orientation is complete
-                    headingErrorStream.removeCallback(headingErrorCallbackTag);
-                    pitchErrorStream.removeCallback(pitchErrorCallbackTag);
-                }
-            } catch (RPCException | StreamException e) {
-                // Handle exceptions
+  }
+
+  public void orientToManeuverNode(Node maneuverNode)
+      throws RPCException, StreamException, InterruptedException {
+    setCurrentStatus(Bundle.getString("status_orienting_ship"));
+    ap.engage();
+
+    // Create streams for heading and pitch errors
+    headingErrorStream = connection.addStream(ap, "getHeadingError");
+    pitchErrorStream = connection.addStream(ap, "getPitchError");
+
+    // A shared callback for both streams
+    Runnable checkOrientation =
+        () -> {
+          try {
+            if (headingErrorStream.get() <= 3 && pitchErrorStream.get() <= 3) {
+              isOriented = true;
+              // Clean up the callbacks once orientation is complete
+              headingErrorStream.removeCallback(headingErrorCallbackTag);
+              pitchErrorStream.removeCallback(pitchErrorCallbackTag);
             }
+          } catch (RPCException | StreamException e) {
+            // Handle exceptions
+          }
         };
 
-        // Add the same callback to both streams
-        headingErrorCallbackTag = headingErrorStream.addCallback(v -> checkOrientation.run());
-        pitchErrorCallbackTag = pitchErrorStream.addCallback(v -> checkOrientation.run());
+    // Add the same callback to both streams
+    headingErrorCallbackTag = headingErrorStream.addCallback(v -> checkOrientation.run());
+    pitchErrorCallbackTag = pitchErrorStream.addCallback(v -> checkOrientation.run());
 
-        // Start the streams
-        headingErrorStream.start();
-        pitchErrorStream.start();
+    // Start the streams
+    headingErrorStream.start();
+    pitchErrorStream.start();
 
-        while (!isOriented) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-            navigation.aimAtManeuver(maneuverNode);
-        }
+    while (!isOriented) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      navigation.aimAtManeuver(maneuverNode);
     }
-
-    public double calculateBurnTime(Node maneuverNode) {
-        try {
-            List<Engine> engines = getActiveVessel().getParts().getEngines();
-            for (Engine engine : engines) {
-                if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
-                        && !engine.getActive()) {
-                    engine.setActive(true);
-                }
-            }
-        } catch (RPCException e) {
-            System.err.println("Não foi possível ativar os motores." + e.getMessage());
+  }
+
+  public double calculateBurnTime(Node maneuverNode) {
+    try {
+      List<Engine> engines = getActiveVessel().getParts().getEngines();
+      for (Engine engine : engines) {
+        if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
+            && !engine.getActive()) {
+          engine.setActive(true);
         }
-        double burnDuration = 0;
-        try {
-            double thrust = getActiveVessel().getAvailableThrust();
-            double isp = getActiveVessel().getSpecificImpulse() * CONST_GRAV;
-            double totalMass = getActiveVessel().getMass();
-            double dryMass = totalMass / Math.exp(maneuverNode.getDeltaV() / isp);
-            double burnRatio = thrust / isp;
-            burnDuration = (totalMass - dryMass) / burnRatio;
-        } catch (RPCException e) {
-            System.err.println("Não foi possível calcular o tempo de queima." + e.getMessage());
-        }
-        setCurrentStatus("Tempo de Queima da Manobra: " + burnDuration + " segundos.");
-        return burnDuration;
+      }
+    } catch (RPCException e) {
+      System.err.println("Não foi possível ativar os motores." + e.getMessage());
     }
-
-    public void executeBurn(Node maneuverNode, double burnDuration) throws InterruptedException {
-        try {
-            // Countdown Stream
-            timeToNodeStream = connection.addStream(maneuverNode, "getTimeTo");
-            timeToBurnCallbackTag = timeToNodeStream.addCallback((time) -> {
+    double burnDuration = 0;
+    try {
+      double thrust = getActiveVessel().getAvailableThrust();
+      double isp = getActiveVessel().getSpecificImpulse() * CONST_GRAV;
+      double totalMass = getActiveVessel().getMass();
+      double dryMass = totalMass / Math.exp(maneuverNode.getDeltaV() / isp);
+      double burnRatio = thrust / isp;
+      burnDuration = (totalMass - dryMass) / burnRatio;
+    } catch (RPCException e) {
+      System.err.println("Não foi possível calcular o tempo de queima." + e.getMessage());
+    }
+    setCurrentStatus("Tempo de Queima da Manobra: " + burnDuration + " segundos.");
+    return burnDuration;
+  }
+
+  public void executeBurn(Node maneuverNode, double burnDuration) throws InterruptedException {
+    try {
+      // Countdown Stream
+      timeToNodeStream = connection.addStream(maneuverNode, "getTimeTo");
+      timeToBurnCallbackTag =
+          timeToNodeStream.addCallback(
+              (time) -> {
                 if (time <= (burnDuration / 2.0)) {
-                    isTimeToBurn = true;
-                    timeToNodeStream.removeCallback(timeToBurnCallbackTag);
+                  isTimeToBurn = true;
+                  timeToNodeStream.removeCallback(timeToBurnCallbackTag);
                 }
-            });
-            timeToNodeStream.start();
-
-            double burnStartTime = maneuverNode.getTimeTo() - (burnDuration / 2.0) - (fineAdjustment ? 5 : 0);
-            setCurrentStatus(Bundle.getString("status_maneuver_warp"));
-            if (burnStartTime > 30) {
-                getConnectionManager().getSpaceCenter()
-                        .warpTo((getConnectionManager().getSpaceCenter().getUT() + burnStartTime - 10), 100000, 4);
-            }
-
-            setCurrentStatus(String.format(Bundle.getString("status_maneuver_duration"), burnDuration));
-            while (!isTimeToBurn) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                navigation.aimAtManeuver(maneuverNode);
-                setCurrentStatus(String.format(Bundle.getString("status_maneuver_ignition_in"),
-                        maneuverNode.getTimeTo() - (burnDuration / 2.0)));
-            }
-
-            // Main Burn Stream
-            remainingBurn = getConnectionManager().getConnection().addStream(
-                    maneuverNode,
-                    "remainingBurnVector", maneuverNode.getReferenceFrame());
-            burnCompleteCallbackTag = remainingBurn.addCallback((burn) -> {
+              });
+      timeToNodeStream.start();
+
+      double burnStartTime =
+          maneuverNode.getTimeTo() - (burnDuration / 2.0) - (fineAdjustment ? 5 : 0);
+      setCurrentStatus(Bundle.getString("status_maneuver_warp"));
+      if (burnStartTime > 30) {
+        getConnectionManager()
+            .getSpaceCenter()
+            .warpTo(
+                (getConnectionManager().getSpaceCenter().getUT() + burnStartTime - 10), 100000, 4);
+      }
+
+      setCurrentStatus(String.format(Bundle.getString("status_maneuver_duration"), burnDuration));
+      while (!isTimeToBurn) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
+        }
+        navigation.aimAtManeuver(maneuverNode);
+        setCurrentStatus(
+            String.format(
+                Bundle.getString("status_maneuver_ignition_in"),
+                maneuverNode.getTimeTo() - (burnDuration / 2.0)));
+      }
+
+      // Main Burn Stream
+      remainingBurn =
+          getConnectionManager()
+              .getConnection()
+              .addStream(maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
+      burnCompleteCallbackTag =
+          remainingBurn.addCallback(
+              (burn) -> {
                 if (burn.getValue1() < (fineAdjustment ? 2 : 0.5)) {
-                    isBurnComplete = true;
-                    remainingBurn.removeCallback(burnCompleteCallbackTag);
+                  isBurnComplete = true;
+                  remainingBurn.removeCallback(burnCompleteCallbackTag);
                 }
-            });
-            remainingBurn.start();
+              });
+      remainingBurn.start();
 
-            setCurrentStatus(Bundle.getString("status_maneuver_executing"));
-            while (!isBurnComplete && maneuverNode != null) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                navigation.aimAtManeuver(maneuverNode);
-                double burnDvLeft = remainingBurn.get().getValue1();
-                float limitValue = burnDvLeft > 100 ? 1000 : 100;
-                throttle(ctrlManeuver.calculate(
-                        (maneuverNode.getDeltaV() - Math.floor(burnDvLeft)) / maneuverNode.getDeltaV() * limitValue,
-                        limitValue));
-            }
-
-            throttle(0.0f);
-            if (fineAdjustment) {
-                adjustManeuverWithRCS(remainingBurn);
-            }
-            ap.setReferenceFrame(surfaceReferenceFrame);
-            ap.disengage();
-            getActiveVessel().getControl().setSAS(true);
-            getActiveVessel().getControl().setRCS(false);
-            remainingBurn.remove();
-            maneuverNode.remove();
-            setCurrentStatus(Bundle.getString("status_ready"));
-        } catch (StreamException | RPCException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_data_unavailable"));
-        } catch (InterruptedException e) {
-            System.err.println("Erro: " + e.getMessage());
-            setCurrentStatus(Bundle.getString("status_maneuver_cancelled"));
-            throw e;
+      setCurrentStatus(Bundle.getString("status_maneuver_executing"));
+      while (!isBurnComplete && maneuverNode != null) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
+        navigation.aimAtManeuver(maneuverNode);
+        double burnDvLeft = remainingBurn.get().getValue1();
+        float limitValue = burnDvLeft > 100 ? 1000 : 100;
+        throttle(
+            ctrlManeuver.calculate(
+                (maneuverNode.getDeltaV() - Math.floor(burnDvLeft))
+                    / maneuverNode.getDeltaV()
+                    * limitValue,
+                limitValue));
+      }
+
+      throttle(0.0f);
+      if (fineAdjustment) {
+        adjustManeuverWithRCS(remainingBurn);
+      }
+      ap.setReferenceFrame(surfaceReferenceFrame);
+      ap.disengage();
+      getActiveVessel().getControl().setSAS(true);
+      getActiveVessel().getControl().setRCS(false);
+      remainingBurn.remove();
+      maneuverNode.remove();
+      setCurrentStatus(Bundle.getString("status_ready"));
+    } catch (StreamException | RPCException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_data_unavailable"));
+    } catch (InterruptedException e) {
+      System.err.println("Erro: " + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_maneuver_cancelled"));
+      throw e;
     }
-
-    private void cleanup() {
-        try {
-            if (headingErrorStream != null) {
-                headingErrorStream.removeCallback(headingErrorCallbackTag);
-                headingErrorStream.remove();
-            }
-            if (pitchErrorStream != null) {
-                pitchErrorStream.removeCallback(pitchErrorCallbackTag);
-                pitchErrorStream.remove();
-            }
-            if (timeToNodeStream != null) {
-                timeToNodeStream.removeCallback(timeToBurnCallbackTag);
-                timeToNodeStream.remove();
-            }
-            if (remainingBurn != null) {
-                remainingBurn.removeCallback(burnCompleteCallbackTag);
-                remainingBurn.remove();
-            }
-            ap.disengage();
-            throttle(0);
-        } catch (RPCException e) {
-            // ignore
-        }
+  }
+
+  private void cleanup() {
+    try {
+      if (headingErrorStream != null) {
+        headingErrorStream.removeCallback(headingErrorCallbackTag);
+        headingErrorStream.remove();
+      }
+      if (pitchErrorStream != null) {
+        pitchErrorStream.removeCallback(pitchErrorCallbackTag);
+        pitchErrorStream.remove();
+      }
+      if (timeToNodeStream != null) {
+        timeToNodeStream.removeCallback(timeToBurnCallbackTag);
+        timeToNodeStream.remove();
+      }
+      if (remainingBurn != null) {
+        remainingBurn.removeCallback(burnCompleteCallbackTag);
+        remainingBurn.remove();
+      }
+      ap.disengage();
+      throttle(0);
+    } catch (RPCException e) {
+      // ignore
     }
-
-    private void adjustManeuverWithRCS(Stream<Triplet<Double,Double,Double>> remainingDeltaV)
-            throws RPCException, StreamException, InterruptedException {
-        getActiveVessel().getControl().setRCS(true);
-        while (Math.floor(remainingDeltaV.get().getValue1()) > 0.2) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-            getActiveVessel().getControl()
-                    .setForward((float) ctrlRCS.calculate(-remainingDeltaV.get().getValue1() * 10, 0));
-        }
-        getActiveVessel().getControl().setForward(0);
+  }
+
+  private void adjustManeuverWithRCS(Stream<Triplet<Double, Double, Double>> remainingDeltaV)
+      throws RPCException, StreamException, InterruptedException {
+    getActiveVessel().getControl().setRCS(true);
+    while (Math.floor(remainingDeltaV.get().getValue1()) > 0.2) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      getActiveVessel()
+          .getControl()
+          .setForward((float) ctrlRCS.calculate(-remainingDeltaV.get().getValue1() * 10, 0));
     }
-
-    private boolean canFineAdjust(String string) {
-        if (string.equals("true")) {
-            try {
-                List<RCS> rcsEngines = getActiveVessel().getParts().getRCS();
-                if (rcsEngines.size() > 0) {
-                    for (RCS rcs : rcsEngines) {
-                        if (rcs.getHasFuel()) {
-                            return true;
-                        }
-                    }
-                }
-                return false;
-            } catch (RPCException ignored) {
+    getActiveVessel().getControl().setForward(0);
+  }
+
+  private boolean canFineAdjust(String string) {
+    if (string.equals("true")) {
+      try {
+        List<RCS> rcsEngines = getActiveVessel().getParts().getRCS();
+        if (rcsEngines.size() > 0) {
+          for (RCS rcs : rcsEngines) {
+            if (rcs.getHasFuel()) {
+              return true;
             }
+          }
         }
         return false;
+      } catch (RPCException ignored) {
+      }
     }
-
-    private double calculatePhaseAngle(Triplet<Double,Double,Double> startPos, Triplet<Double,Double,Double> endPos)
-            throws RPCException {
-        double targetPhaseAngle = 10;
-        double angularDifference = 15;
-        Vector startPosition = new Vector(startPos);
-        Vector endPosition = new Vector(endPos);
-
-        // Phase angle
-        double dot = endPosition.dotProduct(startPosition);
-        double det = endPosition.determinant(startPosition);
-        targetPhaseAngle = Math.atan2(det, dot);
-
-        double targetOrbit = endPosition.magnitude();
-
-        double activeVesselSMA = getActiveVessel().getOrbit().getSemiMajorAxis();
-        angularDifference = targetPhaseAngle + Math.PI
-                * (1 - (1 / (2 * Math.sqrt(2))) * Math.sqrt(Math.pow((activeVesselSMA / targetOrbit + 1), 3)));
-
-        return Math.abs(angularDifference);
-    }
-
-    enum Compare {
-        INC, AP, PE
-    }
-
+    return false;
+  }
+
+  private double calculatePhaseAngle(
+      Triplet<Double, Double, Double> startPos, Triplet<Double, Double, Double> endPos)
+      throws RPCException {
+    double targetPhaseAngle = 10;
+    double angularDifference = 15;
+    Vector startPosition = new Vector(startPos);
+    Vector endPosition = new Vector(endPos);
+
+    // Phase angle
+    double dot = endPosition.dotProduct(startPosition);
+    double det = endPosition.determinant(startPosition);
+    targetPhaseAngle = Math.atan2(det, dot);
+
+    double targetOrbit = endPosition.magnitude();
+
+    double activeVesselSMA = getActiveVessel().getOrbit().getSemiMajorAxis();
+    angularDifference =
+        targetPhaseAngle
+            + Math.PI
+                * (1
+                    - (1 / (2 * Math.sqrt(2)))
+                        * Math.sqrt(Math.pow((activeVesselSMA / targetOrbit + 1), 3)));
+
+    return Math.abs(angularDifference);
+  }
+
+  enum Compare {
+    INC,
+    AP,
+    PE
+  }
 }
diff --git a/src/main/java/com/pesterenan/controllers/RoverController.java b/src/main/java/com/pesterenan/controllers/RoverController.java
index b9adb12..f07ac55 100644
--- a/src/main/java/com/pesterenan/controllers/RoverController.java
+++ b/src/main/java/com/pesterenan/controllers/RoverController.java
@@ -1,13 +1,5 @@
 package com.pesterenan.controllers;
 
-import java.io.IOException;
-import java.util.List;
-import java.util.Map;
-import java.util.stream.Collectors;
-
-import org.javatuples.Pair;
-import org.javatuples.Triplet;
-
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
@@ -16,299 +8,386 @@
 import com.pesterenan.utils.PathFinding;
 import com.pesterenan.utils.Utilities;
 import com.pesterenan.utils.Vector;
-
+import java.io.IOException;
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
 import krpc.client.RPCException;
+import krpc.client.Stream;
 import krpc.client.StreamException;
 import krpc.client.services.SpaceCenter.ReferenceFrame;
 import krpc.client.services.SpaceCenter.SolarPanel;
 import krpc.client.services.SpaceCenter.SolarPanelState;
+import org.javatuples.Pair;
+import org.javatuples.Triplet;
 
 public class RoverController extends Controller {
-    private final ControlePID sterringCtrl = new ControlePID();
-    private final ControlePID acelCtrl = new ControlePID();
-    float distanceFromTargetLimit = 50;
-    private float maxSpeed = 3;
-    private ReferenceFrame roverReferenceFrame;
-    private boolean isAutoRoverRunning;
-    private PathFinding pathFinding;
-    private Vector targetPoint = new Vector();
-    private Vector roverDirection = new Vector();
-    private MODE currentMode;
-    private ConnectionManager connectionManager;
-
-    public RoverController(ConnectionManager connectionManager, VesselManager vesselManager,
-            Map<String,String> commands) {
-        super(connectionManager, vesselManager);
-        this.connectionManager = connectionManager;
-        this.commands = commands;
-        initializeParameters();
+  private final ControlePID sterringCtrl = new ControlePID();
+  private final ControlePID acelCtrl = new ControlePID();
+  float distanceFromTargetLimit = 50;
+  private float maxSpeed = 3;
+  private ReferenceFrame roverReferenceFrame;
+  private boolean isAutoRoverRunning;
+  private PathFinding pathFinding;
+  private Vector targetPoint = new Vector();
+  private Vector roverDirection = new Vector();
+  private MODE currentMode;
+  private ConnectionManager connectionManager;
+
+  private volatile double currentDistanceToTarget = 0;
+  private volatile float currentChargePercentage = 100;
+  private int distanceCallbackTag, chargeCallbackTag;
+  private Stream<Triplet<Double, Double, Double>> positionStream;
+  private Stream<Float> chargeAmountStream;
+
+  public RoverController(
+      ConnectionManager connectionManager,
+      VesselManager vesselManager,
+      Map<String, String> commands) {
+    super(connectionManager, vesselManager);
+    this.connectionManager = connectionManager;
+    this.commands = commands;
+    initializeParameters();
+  }
+
+  private void initializeParameters() {
+    try {
+      maxSpeed = Float.parseFloat(commands.get(Module.MAX_SPEED.get()));
+      roverReferenceFrame = getActiveVessel().getReferenceFrame();
+      roverDirection = new Vector(getActiveVessel().direction(roverReferenceFrame));
+      pathFinding = new PathFinding(getConnectionManager(), getVesselManager());
+      acelCtrl.setOutput(0, 1);
+      sterringCtrl.setOutput(-1, 1);
+      isAutoRoverRunning = true;
+    } catch (RPCException ignored) {
     }
+  }
 
-    private void initializeParameters() {
-        try {
-            maxSpeed = Float.parseFloat(commands.get(Module.MAX_SPEED.get()));
-            roverReferenceFrame = getActiveVessel().getReferenceFrame();
-            roverDirection = new Vector(getActiveVessel().direction(roverReferenceFrame));
-            pathFinding = new PathFinding(getConnectionManager(), getVesselManager());
-            acelCtrl.setOutput(0, 1);
-            sterringCtrl.setOutput(-1, 1);
-            isAutoRoverRunning = true;
-        } catch (RPCException ignored) {
-        }
+  private boolean isSolarPanelNotBroken(SolarPanel sp) {
+    try {
+      return sp.getState() != SolarPanelState.BROKEN;
+    } catch (RPCException e) {
+      return false;
     }
+  }
 
-    private boolean isSolarPanelNotBroken(SolarPanel sp) {
-        try {
-            return sp.getState() != SolarPanelState.BROKEN;
-        } catch (RPCException e) {
-            return false;
-        }
+  @Override
+  public void run() {
+    if (commands.get(Module.MODULO.get()).equals(Module.ROVER.get())) {
+      setTarget();
+      driveRoverToTarget();
     }
-
-    @Override
-    public void run() {
-        if (commands.get(Module.MODULO.get()).equals(Module.ROVER.get())) {
-            setTarget();
-            driveRoverToTarget();
-        }
+  }
+
+  private void setupCallbacks() throws RPCException, IOException, StreamException {
+    positionStream = connection.addStream(getActiveVessel(), "position", orbitalReferenceFrame);
+    distanceCallbackTag =
+        positionStream.addCallback(
+            (pos) -> {
+              currentDistanceToTarget = Vector.distance(new Vector(pos), targetPoint);
+            });
+    positionStream.start();
+
+    chargeAmountStream =
+        connection.addStream(getActiveVessel().getResources(), "amount", "ElectricCharge");
+    chargeCallbackTag =
+        chargeAmountStream.addCallback(
+            (amount) -> {
+              try {
+                float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
+                currentChargePercentage = (float) Math.ceil(amount * 100 / totalCharge);
+              } catch (RPCException e) {
+              }
+            });
+    chargeAmountStream.start();
+  }
+
+  private void setTarget() {
+    try {
+      if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
+        pathFinding.addWaypointsOnSameBody(commands.get(Module.MARKER_NAME.get()));
+        setCurrentStatus("Calculando rota até o alvo...");
+        pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
+      }
+      if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.TARGET_VESSEL.get())) {
+        Vector targetVesselPosition =
+            new Vector(
+                connectionManager
+                    .getSpaceCenter()
+                    .getTargetVessel()
+                    .position(orbitalReferenceFrame));
+        setCurrentStatus("Calculando rota até o alvo...");
+        pathFinding.buildPathToTarget(targetVesselPosition);
+      }
+    } catch (RPCException | IOException | InterruptedException ignored) {
     }
-
-    private void setTarget() {
-        try {
-            if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
-                pathFinding.addWaypointsOnSameBody(commands.get(Module.MARKER_NAME.get()));
-                setCurrentStatus("Calculando rota até o alvo...");
-                pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
-            }
-            if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.TARGET_VESSEL.get())) {
-                Vector targetVesselPosition = new Vector(
-                        connectionManager.getSpaceCenter().getTargetVessel().position(orbitalReferenceFrame));
-                setCurrentStatus("Calculando rota até o alvo...");
-                pathFinding.buildPathToTarget(targetVesselPosition);
-            }
-        } catch (RPCException | IOException | InterruptedException ignored) {
-        }
+  }
+
+  private void changeControlMode()
+      throws RPCException, IOException, StreamException, InterruptedException {
+    switch (currentMode) {
+      case DRIVE:
+        driveRover();
+        break;
+      case CHARGING:
+        rechargeRover();
+        break;
+      case NEXT_POINT:
+        setNextPointInPath();
+        break;
     }
-
-    private void changeControlMode() throws RPCException, IOException, StreamException, InterruptedException {
-        switch (currentMode) {
-            case DRIVE :
-                driveRover();
-                break;
-            case CHARGING :
-                rechargeRover();
-                break;
-            case NEXT_POINT :
-                setNextPointInPath();
-                break;
+  }
+
+  private void driveRoverToTarget() {
+    currentMode = MODE.NEXT_POINT;
+    try {
+      setupCallbacks();
+      while (isAutoRoverRunning) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
         }
-    }
-
-    private void driveRoverToTarget() {
-        currentMode = MODE.NEXT_POINT;
-        try {
-            while (isAutoRoverRunning) {
-                if (Thread.interrupted()) {
-                    throw new InterruptedException();
-                }
-                changeControlMode();
-                if (isFarFromTarget()) {
-                    currentMode = needToChargeBatteries() ? MODE.CHARGING : MODE.DRIVE;
-                } else { // Rover arrived at destiny
-                    currentMode = MODE.NEXT_POINT;
-                }
-                Thread.sleep(100);
-            }
-        } catch (InterruptedException | RPCException | IOException | StreamException ignored) {
-            try {
-                getActiveVessel().getControl().setBrakes(true);
-                pathFinding.removeDrawnPath();
-                isAutoRoverRunning = false;
-                setCurrentStatus(Bundle.getString("lbl_stat_ready"));
-            } catch (RPCException ignored2) {
-            }
+        changeControlMode();
+        if (isFarFromTarget()) {
+          currentMode = needToChargeBatteries() ? MODE.CHARGING : MODE.DRIVE;
+        } else { // Rover arrived at destiny
+          currentMode = MODE.NEXT_POINT;
         }
+        Thread.sleep(100);
+      }
+    } catch (InterruptedException e) {
+      cleanup();
+    } catch (RPCException | IOException | StreamException e) {
+      cleanup();
     }
-
-    private void setNextPointInPath() throws RPCException, IOException, InterruptedException {
-        pathFinding.removePathsCurrentPoint();
-        getActiveVessel().getControl().setBrakes(true);
-        if (pathFinding.isPathToTargetEmpty()) {
-            if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
-                pathFinding.removeWaypointFromList();
-                if (pathFinding.isWaypointsToReachEmpty()) {
-                    throw new InterruptedException();
-                }
-                pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
-            }
-
-        } else {
-            targetPoint = pathFinding.getPathsFirstPoint();
-        }
-    }
-
-    private boolean isFarFromTarget() throws RPCException {
-        double distance = Vector.distance(new Vector(getActiveVessel().position(orbitalReferenceFrame)), targetPoint);
-        return distance > distanceFromTargetLimit;
-    }
-
-    private boolean needToChargeBatteries() throws RPCException, IOException, StreamException, InterruptedException {
-        float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
-        float currentCharge = getActiveVessel().getResources().amount("ElectricCharge");
-        float minChargeLevel = 10.0f;
-        float chargePercentage = (float) Math.ceil(currentCharge * 100 / totalCharge);
-        return (chargePercentage < minChargeLevel);
+  }
+
+  private void cleanup() {
+    try {
+      getActiveVessel().getControl().setBrakes(true);
+      pathFinding.removeDrawnPath();
+      isAutoRoverRunning = false;
+      if (positionStream != null) {
+        positionStream.removeCallback(distanceCallbackTag);
+        positionStream.remove();
+      }
+      if (chargeAmountStream != null) {
+        chargeAmountStream.removeCallback(chargeCallbackTag);
+        chargeAmountStream.remove();
+      }
+      setCurrentStatus(Bundle.getString("lbl_stat_ready"));
+    } catch (RPCException ignored) {
     }
-
-    private void rechargeRover() throws RPCException, StreamException, InterruptedException {
-
-        float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
-        float currentCharge = getActiveVessel().getResources().amount("ElectricCharge");
-
-        setRoverThrottle(0);
-        getActiveVessel().getControl().setLights(false);
-        getActiveVessel().getControl().setBrakes(true);
-
-        if (horizontalVelocity.get() < 1 && getActiveVessel().getControl().getBrakes()) {
-            Thread.sleep(1000);
-            double chargeTime;
-            double totalEnergyFlow = 0;
-            List<SolarPanel> solarPanels = getActiveVessel().getParts().getSolarPanels().stream()
-                    .filter(this::isSolarPanelNotBroken).collect(Collectors.toList());
-
-            for (SolarPanel sp : solarPanels) {
-                totalEnergyFlow += sp.getEnergyFlow();
-            }
-            chargeTime = ((totalCharge - currentCharge) / totalEnergyFlow);
-            setCurrentStatus("Segundos de Carga: " + chargeTime);
-            if (chargeTime < 1 || chargeTime > 21600) {
-                chargeTime = 3600;
-            }
-            connectionManager.getSpaceCenter().warpTo((connectionManager.getSpaceCenter().getUT() + chargeTime), 10000,
-                    4);
-            getActiveVessel().getControl().setLights(true);
+  }
+
+  private void setNextPointInPath() throws RPCException, IOException, InterruptedException {
+    pathFinding.removePathsCurrentPoint();
+    getActiveVessel().getControl().setBrakes(true);
+    if (pathFinding.isPathToTargetEmpty()) {
+      if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
+        pathFinding.removeWaypointFromList();
+        if (pathFinding.isWaypointsToReachEmpty()) {
+          throw new InterruptedException();
         }
-    }
+        pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
+      }
 
-    private void driveRover() throws RPCException, IOException, StreamException {
-        Vector targetDirection = posSurfToRover(posOrbToSurf(targetPoint)).normalize();
-        Vector radarSourcePosition = posRoverToSurf(
-                new Vector(getActiveVessel().position(roverReferenceFrame)).sum(new Vector(0.0, 3.0, 0.0)));
-
-        double roverAngle = (roverDirection.heading());
-        // fazer um raycast pra frente e verificar a distancia
-        double obstacleAhead = pathFinding.raycastDistance(radarSourcePosition, transformDirection(roverDirection),
-                surfaceReferenceFrame, 30);
-        double steeringPower = Utilities.remap(3, 30, 0.1, 0.5, obstacleAhead, true);
-        // usar esse valor pra muiltiplicar a direcao alvo
-        double targetAndRadarAngle = (targetDirection.multiply(steeringPower)
-                .sum(directionFromRadar(getActiveVessel().boundingBox(roverReferenceFrame))).normalize()).heading();
-        double deltaAngle = Math.abs(targetAndRadarAngle - roverAngle);
-        getActiveVessel().getControl().setSAS(deltaAngle < 1);
-        // Control Rover Throttle
-        setRoverThrottle(acelCtrl.calculate(horizontalVelocity.get() / maxSpeed * 50, 50));
-        // Control Rover Steering
-        if (deltaAngle > 1) {
-            setRoverSteering(sterringCtrl.calculate(roverAngle / (targetAndRadarAngle) * 100, 100));
-        } else {
-            setRoverSteering(0.0f);
-        }
-        setCurrentStatus("Driving... " + deltaAngle);
+    } else {
+      targetPoint = pathFinding.getPathsFirstPoint();
     }
-
-    private Vector directionFromRadar(
-            Pair<Triplet<Double,Double,Double>,Triplet<Double,Double,Double>> boundingBox)
-            throws RPCException, IOException {
-        // PONTO REF ROVER: X = DIREITA, Y = FRENTE, Z = BAIXO;
-        // Bounding box points from rover (LBU: Left, Back, Up - RFD: Right, Front,
-        // Down):
-        Vector LBU = new Vector(boundingBox.getValue0());
-        Vector RFD = new Vector(boundingBox.getValue1());
-
-        // Pre-calculated bbox positions
-        Vector lateralLeft = new Vector(LBU.x, LBU.y * 0.5 + RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector latFrontLeft = new Vector(LBU.x, RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector frontLeft = new Vector(LBU.x, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector frontLeft2 = new Vector(LBU.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector front = new Vector(LBU.x * 0.5 + RFD.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector frontRight2 = new Vector(RFD.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector frontRight = new Vector(RFD.x, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector latFrontRight = new Vector(RFD.x, RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
-        Vector lateralRight = new Vector(RFD.x, LBU.y * 0.5 + RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
-
-        // Pre-calculated bbox directions
-        Vector lateralLeftAngle = new Vector(-Math.sin(Math.toRadians(90)), Math.cos(Math.toRadians(90)), 0.0);
-        Vector latFrontLeftAngle = new Vector(-Math.sin(Math.toRadians(67.5)), Math.cos(Math.toRadians(67.5)), 0.0);
-        Vector frontLeftAngle = new Vector(-Math.sin(Math.toRadians(45)), Math.cos(Math.toRadians(45)), 0.0);
-        Vector frontLeftAngle2 = new Vector(-Math.sin(Math.toRadians(22.5)), Math.cos(Math.toRadians(22.5)), 0.0);
-        Vector frontAngle = new Vector(0.0, 1.0, 0.0);
-        Vector frontRightAngle2 = new Vector(Math.sin(Math.toRadians(22.5)), Math.cos(Math.toRadians(22.5)), 0.0);
-        Vector frontRightAngle = new Vector(Math.sin(Math.toRadians(45)), Math.cos(Math.toRadians(45)), 0.0);
-        Vector latFrontRightAngle = new Vector(Math.sin(Math.toRadians(67.5)), Math.cos(Math.toRadians(67.5)), 0.0);
-        Vector lateralRightAngle = new Vector(Math.sin(Math.toRadians(90)), Math.cos(Math.toRadians(90)), 0.0);
-
-        // Raytracing distance from points:
-        Vector lateralLeftRay = calculateRaycastDirection(lateralLeft, lateralLeftAngle, 15);
-        Vector lateralFrontLeftRay = calculateRaycastDirection(latFrontLeft, latFrontLeftAngle, 19);
-        Vector frontLeftRay = calculateRaycastDirection(frontLeft, frontLeftAngle, 23);
-        Vector frontLeftRay2 = calculateRaycastDirection(frontLeft2, frontLeftAngle2, 27);
-        Vector frontRay = calculateRaycastDirection(front, frontAngle, 35);
-        Vector frontRightRay2 = calculateRaycastDirection(frontRight2, frontRightAngle2, 27);
-        Vector frontRightRay = calculateRaycastDirection(frontRight, frontRightAngle, 23);
-        Vector lateralFrontRightRay = calculateRaycastDirection(latFrontRight, latFrontRightAngle, 19);
-        Vector lateralRightRay = calculateRaycastDirection(lateralRight, lateralRightAngle, 15);
-
-        Vector calculatedDirection = new Vector().sum(lateralLeftRay).sum(lateralFrontLeftRay).sum(frontLeftRay)
-                .sum(frontLeftRay2).sum(frontRay).sum(frontRightRay2).sum(frontRightRay).sum(lateralFrontRightRay)
-                .sum(lateralRightRay);
-
-        return (calculatedDirection.normalize());
+  }
+
+  private boolean isFarFromTarget() {
+    return currentDistanceToTarget > distanceFromTargetLimit;
+  }
+
+  private boolean needToChargeBatteries() {
+    float minChargeLevel = 10.0f;
+    return (currentChargePercentage < minChargeLevel);
+  }
+
+  private void rechargeRover() throws RPCException, StreamException, InterruptedException {
+
+    float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
+    float currentCharge = getActiveVessel().getResources().amount("ElectricCharge");
+
+    setRoverThrottle(0);
+    getActiveVessel().getControl().setLights(false);
+    getActiveVessel().getControl().setBrakes(true);
+
+    if (horizontalVelocity.get() < 1 && getActiveVessel().getControl().getBrakes()) {
+      Thread.sleep(1000);
+      double chargeTime;
+      double totalEnergyFlow = 0;
+      List<SolarPanel> solarPanels =
+          getActiveVessel().getParts().getSolarPanels().stream()
+              .filter(this::isSolarPanelNotBroken)
+              .collect(Collectors.toList());
+
+      for (SolarPanel sp : solarPanels) {
+        totalEnergyFlow += sp.getEnergyFlow();
+      }
+      chargeTime = ((totalCharge - currentCharge) / totalEnergyFlow);
+      setCurrentStatus("Segundos de Carga: " + chargeTime);
+      if (chargeTime < 1 || chargeTime > 21600) {
+        chargeTime = 3600;
+      }
+      connectionManager
+          .getSpaceCenter()
+          .warpTo((connectionManager.getSpaceCenter().getUT() + chargeTime), 10000, 4);
+      getActiveVessel().getControl().setLights(true);
     }
-
-    private Vector calculateRaycastDirection(Vector point, Vector direction, double distance) throws RPCException {
-        double raycast = pathFinding.raycastDistance(posRoverToSurf(point), transformDirection(direction),
-                surfaceReferenceFrame, distance);
-        return direction.multiply(raycast);
+  }
+
+  private void driveRover() throws RPCException, IOException, StreamException {
+    Vector targetDirection = posSurfToRover(posOrbToSurf(targetPoint)).normalize();
+    Vector radarSourcePosition =
+        posRoverToSurf(
+            new Vector(getActiveVessel().position(roverReferenceFrame))
+                .sum(new Vector(0.0, 3.0, 0.0)));
+
+    double roverAngle = (roverDirection.heading());
+    // fazer um raycast pra frente e verificar a distancia
+    double obstacleAhead =
+        pathFinding.raycastDistance(
+            radarSourcePosition, transformDirection(roverDirection), surfaceReferenceFrame, 30);
+    double steeringPower = Utilities.remap(3, 30, 0.1, 0.5, obstacleAhead, true);
+    // usar esse valor pra muiltiplicar a direcao alvo
+    double targetAndRadarAngle =
+        (targetDirection
+                .multiply(steeringPower)
+                .sum(directionFromRadar(getActiveVessel().boundingBox(roverReferenceFrame)))
+                .normalize())
+            .heading();
+    double deltaAngle = Math.abs(targetAndRadarAngle - roverAngle);
+    getActiveVessel().getControl().setSAS(deltaAngle < 1);
+    // Control Rover Throttle
+    setRoverThrottle(acelCtrl.calculate(horizontalVelocity.get() / maxSpeed * 50, 50));
+    // Control Rover Steering
+    if (deltaAngle > 1) {
+      setRoverSteering(sterringCtrl.calculate(roverAngle / (targetAndRadarAngle) * 100, 100));
+    } else {
+      setRoverSteering(0.0f);
     }
-
-    private Vector transformDirection(Vector vector) throws RPCException {
-        return new Vector(
-                connectionManager.getSpaceCenter().transformDirection(vector.toTriplet(), roverReferenceFrame,
-                        surfaceReferenceFrame));
+    setCurrentStatus("Driving... " + deltaAngle);
+  }
+
+  private Vector directionFromRadar(
+      Pair<Triplet<Double, Double, Double>, Triplet<Double, Double, Double>> boundingBox)
+      throws RPCException, IOException {
+    // PONTO REF ROVER: X = DIREITA, Y = FRENTE, Z = BAIXO;
+    // Bounding box points from rover (LBU: Left, Back, Up - RFD: Right, Front,
+    // Down):
+    Vector LBU = new Vector(boundingBox.getValue0());
+    Vector RFD = new Vector(boundingBox.getValue1());
+
+    // Pre-calculated bbox positions
+    Vector lateralLeft = new Vector(LBU.x, LBU.y * 0.5 + RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector latFrontLeft = new Vector(LBU.x, RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector frontLeft = new Vector(LBU.x, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector frontLeft2 = new Vector(LBU.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector front = new Vector(LBU.x * 0.5 + RFD.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector frontRight2 = new Vector(RFD.x * 0.5, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector frontRight = new Vector(RFD.x, RFD.y, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector latFrontRight = new Vector(RFD.x, RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
+    Vector lateralRight = new Vector(RFD.x, LBU.y * 0.5 + RFD.y * 0.5, LBU.z * 0.5 + RFD.z * 0.5);
+
+    // Pre-calculated bbox directions
+    Vector lateralLeftAngle =
+        new Vector(-Math.sin(Math.toRadians(90)), Math.cos(Math.toRadians(90)), 0.0);
+    Vector latFrontLeftAngle =
+        new Vector(-Math.sin(Math.toRadians(67.5)), Math.cos(Math.toRadians(67.5)), 0.0);
+    Vector frontLeftAngle =
+        new Vector(-Math.sin(Math.toRadians(45)), Math.cos(Math.toRadians(45)), 0.0);
+    Vector frontLeftAngle2 =
+        new Vector(-Math.sin(Math.toRadians(22.5)), Math.cos(Math.toRadians(22.5)), 0.0);
+    Vector frontAngle = new Vector(0.0, 1.0, 0.0);
+    Vector frontRightAngle2 =
+        new Vector(Math.sin(Math.toRadians(22.5)), Math.cos(Math.toRadians(22.5)), 0.0);
+    Vector frontRightAngle =
+        new Vector(Math.sin(Math.toRadians(45)), Math.cos(Math.toRadians(45)), 0.0);
+    Vector latFrontRightAngle =
+        new Vector(Math.sin(Math.toRadians(67.5)), Math.cos(Math.toRadians(67.5)), 0.0);
+    Vector lateralRightAngle =
+        new Vector(Math.sin(Math.toRadians(90)), Math.cos(Math.toRadians(90)), 0.0);
+
+    // Raytracing distance from points:
+    Vector lateralLeftRay = calculateRaycastDirection(lateralLeft, lateralLeftAngle, 15);
+    Vector lateralFrontLeftRay = calculateRaycastDirection(latFrontLeft, latFrontLeftAngle, 19);
+    Vector frontLeftRay = calculateRaycastDirection(frontLeft, frontLeftAngle, 23);
+    Vector frontLeftRay2 = calculateRaycastDirection(frontLeft2, frontLeftAngle2, 27);
+    Vector frontRay = calculateRaycastDirection(front, frontAngle, 35);
+    Vector frontRightRay2 = calculateRaycastDirection(frontRight2, frontRightAngle2, 27);
+    Vector frontRightRay = calculateRaycastDirection(frontRight, frontRightAngle, 23);
+    Vector lateralFrontRightRay = calculateRaycastDirection(latFrontRight, latFrontRightAngle, 19);
+    Vector lateralRightRay = calculateRaycastDirection(lateralRight, lateralRightAngle, 15);
+
+    Vector calculatedDirection =
+        new Vector()
+            .sum(lateralLeftRay)
+            .sum(lateralFrontLeftRay)
+            .sum(frontLeftRay)
+            .sum(frontLeftRay2)
+            .sum(frontRay)
+            .sum(frontRightRay2)
+            .sum(frontRightRay)
+            .sum(lateralFrontRightRay)
+            .sum(lateralRightRay);
+
+    return (calculatedDirection.normalize());
+  }
+
+  private Vector calculateRaycastDirection(Vector point, Vector direction, double distance)
+      throws RPCException {
+    double raycast =
+        pathFinding.raycastDistance(
+            posRoverToSurf(point), transformDirection(direction), surfaceReferenceFrame, distance);
+    return direction.multiply(raycast);
+  }
+
+  private Vector transformDirection(Vector vector) throws RPCException {
+    return new Vector(
+        connectionManager
+            .getSpaceCenter()
+            .transformDirection(vector.toTriplet(), roverReferenceFrame, surfaceReferenceFrame));
+  }
+
+  private Vector posSurfToRover(Vector vector) throws RPCException {
+    return new Vector(
+        connectionManager
+            .getSpaceCenter()
+            .transformPosition(vector.toTriplet(), surfaceReferenceFrame, roverReferenceFrame));
+  }
+
+  private Vector posRoverToSurf(Vector vector) throws RPCException {
+    return new Vector(
+        connectionManager
+            .getSpaceCenter()
+            .transformPosition(vector.toTriplet(), roverReferenceFrame, surfaceReferenceFrame));
+  }
+
+  private Vector posOrbToSurf(Vector vector) throws RPCException {
+    return new Vector(
+        connectionManager
+            .getSpaceCenter()
+            .transformPosition(vector.toTriplet(), orbitalReferenceFrame, surfaceReferenceFrame));
+  }
+
+  private void setRoverThrottle(double throttle) throws RPCException, StreamException {
+    if (horizontalVelocity.get() < (maxSpeed * 1.01)) {
+      getActiveVessel().getControl().setBrakes(false);
+      getActiveVessel().getControl().setWheelThrottle((float) throttle);
+    } else {
+      getActiveVessel().getControl().setBrakes(true);
     }
+  }
 
-    private Vector posSurfToRover(Vector vector) throws RPCException {
-        return new Vector(
-                connectionManager.getSpaceCenter().transformPosition(vector.toTriplet(), surfaceReferenceFrame,
-                        roverReferenceFrame));
-    }
-
-    private Vector posRoverToSurf(Vector vector) throws RPCException {
-        return new Vector(
-                connectionManager.getSpaceCenter().transformPosition(vector.toTriplet(), roverReferenceFrame,
-                        surfaceReferenceFrame));
-    }
+  private void setRoverSteering(double steering) throws RPCException {
+    getActiveVessel().getControl().setWheelSteering((float) steering);
+  }
 
-    private Vector posOrbToSurf(Vector vector) throws RPCException {
-        return new Vector(
-                connectionManager.getSpaceCenter().transformPosition(vector.toTriplet(), orbitalReferenceFrame,
-                        surfaceReferenceFrame));
-    }
-
-    private void setRoverThrottle(double throttle) throws RPCException, StreamException {
-        if (horizontalVelocity.get() < (maxSpeed * 1.01)) {
-            getActiveVessel().getControl().setBrakes(false);
-            getActiveVessel().getControl().setWheelThrottle((float) throttle);
-        } else {
-            getActiveVessel().getControl().setBrakes(true);
-        }
-    }
-
-    private void setRoverSteering(double steering) throws RPCException {
-        getActiveVessel().getControl().setWheelSteering((float) steering);
-    }
-
-    private enum MODE {
-        DRIVE, NEXT_POINT, CHARGING
-    }
+  private enum MODE {
+    DRIVE,
+    NEXT_POINT,
+    CHARGING
+  }
 }
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 3a9bcd1..5b540b2 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -1,8 +1,5 @@
 package com.pesterenan.model;
 
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
 import com.pesterenan.controllers.Controller;
 import com.pesterenan.controllers.DockingController;
 import com.pesterenan.controllers.LandingController;
@@ -13,7 +10,8 @@
 import com.pesterenan.utils.Module;
 import com.pesterenan.utils.Telemetry;
 import com.pesterenan.utils.Vector;
-
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
 import krpc.client.Connection;
 import krpc.client.RPCException;
 import krpc.client.Stream;
@@ -28,229 +26,237 @@
 
 public class ActiveVessel {
 
-    protected Vessel activeVessel;
-    protected SpaceCenter spaceCenter;
-    protected Connection connection;
-    private final Map<Telemetry,Double> telemetryData = new ConcurrentHashMap<>();
-    public AutoPilot ap;
-    public Flight flightParameters;
-    public ReferenceFrame orbitalReferenceFrame;
-    protected Stream<Float> totalMass;
-    public ReferenceFrame surfaceReferenceFrame;
-    public float totalCharge;
-    public double gravityAcel;
-    public CelestialBody currentBody;
-    public Stream<Double> altitude;
-    public Stream<Double> surfaceAltitude;
-    public Stream<Double> apoapsis;
-    public Stream<Double> periapsis;
-    public Stream<Double> verticalVelocity;
-    public Stream<Double> missionTime;
-    public Stream<Double> horizontalVelocity;
-    public Map<String,String> commands;
-    protected int currentVesselId = 0;
-    protected Thread controllerThread = null;
-    protected Controller controller;
-    protected long timer = 0;
-    private String currentStatus = Bundle.getString("status_ready");
-    private boolean runningModule;
-    private ConnectionManager connectionManager;
-    private VesselManager vesselManager;
-
-    public ActiveVessel(ConnectionManager connectionManager, VesselManager vesselManager) {
-        this.connectionManager = connectionManager;
-        this.vesselManager = vesselManager;
-        this.connection = connectionManager.getConnection();
-        this.spaceCenter = connectionManager.getSpaceCenter();
-        initializeParameters();
+  protected Vessel activeVessel;
+  protected SpaceCenter spaceCenter;
+  protected Connection connection;
+  private final Map<Telemetry, Double> telemetryData = new ConcurrentHashMap<>();
+  public AutoPilot ap;
+  public Flight flightParameters;
+  public ReferenceFrame orbitalReferenceFrame;
+  protected Stream<Float> totalMass;
+  public ReferenceFrame surfaceReferenceFrame;
+  public float totalCharge;
+  public double gravityAcel;
+  public CelestialBody currentBody;
+  public Stream<Double> altitude;
+  public Stream<Double> surfaceAltitude;
+  public Stream<Double> apoapsis;
+  public Stream<Double> periapsis;
+  public Stream<Double> verticalVelocity;
+  public Stream<Double> missionTime;
+  public Stream<Double> horizontalVelocity;
+  public Map<String, String> commands;
+  protected int currentVesselId = 0;
+  protected Thread controllerThread = null;
+  protected Controller controller;
+  protected long timer = 0;
+  private String currentStatus = Bundle.getString("status_ready");
+  private boolean runningModule;
+  private ConnectionManager connectionManager;
+  private VesselManager vesselManager;
+
+  public ActiveVessel(ConnectionManager connectionManager, VesselManager vesselManager) {
+    this.connectionManager = connectionManager;
+    this.vesselManager = vesselManager;
+    this.connection = connectionManager.getConnection();
+    this.spaceCenter = connectionManager.getSpaceCenter();
+    initializeParameters();
+  }
+
+  public ConnectionManager getConnectionManager() {
+    return connectionManager;
+  }
+
+  public VesselManager getVesselManager() {
+    return vesselManager;
+  }
+
+  public String getCurrentStatus() {
+    if (controller != null) {
+      return controller.getCurrentStatus();
     }
-
-    public ConnectionManager getConnectionManager() {
-        return connectionManager;
-    }
-
-    public VesselManager getVesselManager() {
-        return vesselManager;
+    return currentStatus;
+  }
+
+  public void setCurrentStatus(String status) {
+    if (controller != null) {
+      controller.setCurrentStatus(status);
+    } else {
+      this.currentStatus = status;
     }
-
-    public String getCurrentStatus() {
-        if (controller != null) {
-            return controller.getCurrentStatus();
+  }
+
+  public int getCurrentVesselId() {
+    return currentVesselId;
+  }
+
+  public Vessel getActiveVessel() {
+    return activeVessel;
+  }
+
+  public void setActiveVessel(Vessel currentVessel) {
+    activeVessel = currentVessel;
+  }
+
+  public void throttle(float acel) throws RPCException {
+    getActiveVessel().getControl().setThrottle(Math.min(acel, 1.0f));
+  }
+
+  public void throttle(double acel) throws RPCException {
+    throttle((float) acel);
+  }
+
+  public void tuneAutoPilot() throws RPCException {
+    ap.setTimeToPeak(new Vector(2, 2, 2).toTriplet());
+    ap.setDecelerationTime(new Vector(5, 5, 5).toTriplet());
+  }
+
+  public void liftoff() {
+    try {
+      getActiveVessel().getControl().setSAS(true);
+      throttleUp(getMaxThrottleForTWR(2.0), 1);
+      if (getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
+        for (double count = 5.0; count >= 0; count -= 0.1) {
+          if (Thread.interrupted()) {
+            throw new InterruptedException();
+          }
+          setCurrentStatus(String.format(Bundle.getString("status_launching_in"), count));
+          Thread.sleep(100);
         }
-        return currentStatus;
+        spaceCenter.setActiveVessel(activeVessel);
+        getActiveVessel().getControl().activateNextStage();
+      }
+      setCurrentStatus(Bundle.getString("status_liftoff"));
+    } catch (RPCException | InterruptedException | StreamException ignored) {
+      setCurrentStatus(Bundle.getString("status_liftoff_abort"));
     }
+  }
 
-    public void setCurrentStatus(String status) {
-        currentStatus = status;
-    }
+  public double getTWR() throws RPCException, StreamException {
+    return getActiveVessel().getAvailableThrust() / (totalMass.get() * gravityAcel);
+  }
 
-    public int getCurrentVesselId() {
-        return currentVesselId;
-    }
+  public double getMaxThrottleForTWR(double targetTWR) throws RPCException, StreamException {
+    return targetTWR / getTWR();
+  }
 
-    public Vessel getActiveVessel() {
-        return activeVessel;
-    }
+  public double getMaxAcel(float maxTWR) throws RPCException, StreamException {
+    return Math.min(maxTWR, getTWR()) * gravityAcel - gravityAcel;
+  }
 
-    public void setActiveVessel(Vessel currentVessel) {
-        activeVessel = currentVessel;
+  public void startModule(Map<String, String> commands) {
+    String currentFunction = commands.get(Module.MODULO.get());
+    if (controllerThread != null) {
+      controllerThread.interrupt();
+      runningModule = false;
     }
-
-    public void throttle(float acel) throws RPCException {
-        getActiveVessel().getControl().setThrottle(Math.min(acel, 1.0f));
+    if (currentFunction.equals(Module.LIFTOFF.get())) {
+      controller = new LiftoffController(this.connectionManager, this.vesselManager, commands);
+      runningModule = true;
     }
-
-    public void throttle(double acel) throws RPCException {
-        throttle((float) acel);
+    if (currentFunction.equals(Module.HOVERING.get())
+        || currentFunction.equals(Module.LANDING.get())) {
+      controller = new LandingController(this.connectionManager, this.vesselManager, commands);
+      runningModule = true;
     }
-
-    public void tuneAutoPilot() throws RPCException {
-        ap.setTimeToPeak(new Vector(2, 2, 2).toTriplet());
-        ap.setDecelerationTime(new Vector(5, 5, 5).toTriplet());
+    if (currentFunction.equals(Module.MANEUVER.get())) {
+      controller = new ManeuverController(this.connectionManager, this.vesselManager, commands);
+      runningModule = true;
     }
-
-    public void liftoff() {
-        try {
-            getActiveVessel().getControl().setSAS(true);
-            throttleUp(getMaxThrottleForTWR(2.0), 1);
-            if (getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
-                for (double count = 5.0; count >= 0; count -= 0.1) {
-                    if (Thread.interrupted()) {
-                        throw new InterruptedException();
-                    }
-                    setCurrentStatus(String.format(Bundle.getString("status_launching_in"), count));
-                    Thread.sleep(100);
-                }
-                spaceCenter.setActiveVessel(activeVessel);
-                getActiveVessel().getControl().activateNextStage();
-            }
-            setCurrentStatus(Bundle.getString("status_liftoff"));
-        } catch (RPCException | InterruptedException | StreamException ignored) {
-            setCurrentStatus(Bundle.getString("status_liftoff_abort"));
-        }
+    if (currentFunction.equals(Module.ROVER.get())) {
+      controller = new RoverController(this.connectionManager, this.vesselManager, commands);
+      runningModule = true;
     }
-
-    public double getTWR() throws RPCException, StreamException {
-        return getActiveVessel().getAvailableThrust() / (totalMass.get() * gravityAcel);
+    if (currentFunction.equals(Module.DOCKING.get())) {
+      controller = new DockingController(this.connectionManager, this.vesselManager, commands);
+      runningModule = true;
     }
-
-    public double getMaxThrottleForTWR(double targetTWR) throws RPCException, StreamException {
-        return targetTWR / getTWR();
+    controllerThread = new Thread(controller, currentVesselId + " - " + currentFunction);
+    controllerThread.start();
+  }
+
+  public Map<Telemetry, Double> getTelemetryData() {
+    return telemetryData;
+  }
+
+  public void cancelControl() {
+    try {
+      ap.disengage();
+      throttle(0);
+      if (controllerThread != null) {
+        controllerThread.interrupt();
+        runningModule = false;
+      }
+    } catch (RPCException ignored) {
     }
-
-    public double getMaxAcel(float maxTWR) throws RPCException, StreamException {
-        return Math.min(maxTWR, getTWR()) * gravityAcel - gravityAcel;
+  }
+
+  public boolean hasModuleRunning() {
+    return runningModule;
+  }
+
+  protected void decoupleStage() throws RPCException, InterruptedException {
+    setCurrentStatus(Bundle.getString("status_separating_stage"));
+    spaceCenter.setActiveVessel(getActiveVessel());
+    double currentThrottle = getActiveVessel().getControl().getThrottle();
+    throttle(0);
+    Thread.sleep(1000);
+    getActiveVessel().getControl().activateNextStage();
+    throttleUp(currentThrottle, 1);
+  }
+
+  protected void throttleUp(double throttleAmount, double seconds)
+      throws RPCException, InterruptedException {
+    double secondsElapsed = 0;
+    while (secondsElapsed < seconds) {
+      throttle(secondsElapsed / seconds * throttleAmount);
+      secondsElapsed += 0.1;
+      Thread.sleep(100);
     }
-
-    public void startModule(Map<String,String> commands) {
-        String currentFunction = commands.get(Module.MODULO.get());
-        if (controllerThread != null) {
-            controllerThread.interrupt();
-            runningModule = false;
-        }
-        if (currentFunction.equals(Module.LIFTOFF.get())) {
-            controller = new LiftoffController(this.connectionManager, this.vesselManager, commands);
-            runningModule = true;
-        }
-        if (currentFunction.equals(Module.HOVERING.get()) || currentFunction.equals(Module.LANDING.get())) {
-            controller = new LandingController(this.connectionManager, this.vesselManager, commands);
-            runningModule = true;
-        }
-        if (currentFunction.equals(Module.MANEUVER.get())) {
-            controller = new ManeuverController(this.connectionManager, this.vesselManager, commands);
-            runningModule = true;
-        }
-        if (currentFunction.equals(Module.ROVER.get())) {
-            controller = new RoverController(this.connectionManager, this.vesselManager, commands);
-            runningModule = true;
-        }
-        if (currentFunction.equals(Module.DOCKING.get())) {
-            controller = new DockingController(this.connectionManager, this.vesselManager, commands);
-            runningModule = true;
-        }
-        controllerThread = new Thread(controller, currentVesselId + " - " + currentFunction);
-        controllerThread.start();
-    }
-
-    public Map<Telemetry,Double> getTelemetryData() {
-        return telemetryData;
-    }
-
-    public void cancelControl() {
-        try {
-            ap.disengage();
-            throttle(0);
-            if (controllerThread != null) {
-                controllerThread.interrupt();
-                runningModule = false;
-            }
-        } catch (RPCException ignored) {
-        }
-    }
-
-    public boolean hasModuleRunning() {
-        return runningModule;
-    }
-
-    protected void decoupleStage() throws RPCException, InterruptedException {
-        setCurrentStatus(Bundle.getString("status_separating_stage"));
-        spaceCenter.setActiveVessel(getActiveVessel());
-        double currentThrottle = getActiveVessel().getControl().getThrottle();
-        throttle(0);
-        Thread.sleep(1000);
-        getActiveVessel().getControl().activateNextStage();
-        throttleUp(currentThrottle, 1);
-    }
-
-    protected void throttleUp(double throttleAmount, double seconds) throws RPCException, InterruptedException {
-        double secondsElapsed = 0;
-        while (secondsElapsed < seconds) {
-            throttle(secondsElapsed / seconds * throttleAmount);
-            secondsElapsed += 0.1;
-            Thread.sleep(100);
-        }
-    }
-
-    private void initializeParameters() {
-        try {
-            setActiveVessel(spaceCenter.getActiveVessel());
-            currentVesselId = getActiveVessel().hashCode();
-            ap = getActiveVessel().getAutoPilot();
-            currentBody = getActiveVessel().getOrbit().getBody();
-            gravityAcel = currentBody.getSurfaceGravity();
-            orbitalReferenceFrame = currentBody.getReferenceFrame();
-            surfaceReferenceFrame = getActiveVessel().getSurfaceReferenceFrame();
-            flightParameters = getActiveVessel().flight(orbitalReferenceFrame);
-            totalMass = connection.addStream(getActiveVessel(), "getMass");
-            totalMass.start();
-
-            // Add callbacks to update telemetry data automatically
-            altitude = connection.addStream(flightParameters, "getMeanAltitude");
-            altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
-            altitude.start();
-
-            surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
-            surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
-            surfaceAltitude.start();
-
-            apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
-            apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
-            apoapsis.start();
-
-            periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
-            periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
-            periapsis.start();
-
-            verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
-            verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
-            verticalVelocity.start();
-
-            horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
-            horizontalVelocity.addCallback(val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
-            horizontalVelocity.start();
-
-        } catch (RPCException | StreamException e) {
-            System.err.println("Error while initializing parameters for active vessel: " + e.getMessage());
-        }
+  }
+
+  private void initializeParameters() {
+    try {
+      setActiveVessel(spaceCenter.getActiveVessel());
+      currentVesselId = getActiveVessel().hashCode();
+      ap = getActiveVessel().getAutoPilot();
+      currentBody = getActiveVessel().getOrbit().getBody();
+      gravityAcel = currentBody.getSurfaceGravity();
+      orbitalReferenceFrame = currentBody.getReferenceFrame();
+      surfaceReferenceFrame = getActiveVessel().getSurfaceReferenceFrame();
+      flightParameters = getActiveVessel().flight(orbitalReferenceFrame);
+      totalMass = connection.addStream(getActiveVessel(), "getMass");
+      totalMass.start();
+
+      // Add callbacks to update telemetry data automatically
+      altitude = connection.addStream(flightParameters, "getMeanAltitude");
+      altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
+      altitude.start();
+
+      surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
+      surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
+      surfaceAltitude.start();
+
+      apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
+      apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
+      apoapsis.start();
+
+      periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
+      periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
+      periapsis.start();
+
+      verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
+      verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
+      verticalVelocity.start();
+
+      horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
+      horizontalVelocity.addCallback(
+          val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
+      horizontalVelocity.start();
+
+    } catch (RPCException | StreamException e) {
+      System.err.println(
+          "Error while initializing parameters for active vessel: " + e.getMessage());
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/model/ConnectionManager.java b/src/main/java/com/pesterenan/model/ConnectionManager.java
index 391413e..d8ef470 100644
--- a/src/main/java/com/pesterenan/model/ConnectionManager.java
+++ b/src/main/java/com/pesterenan/model/ConnectionManager.java
@@ -1,101 +1,103 @@
 package com.pesterenan.model;
 
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.views.StatusDisplay;
 import java.io.IOException;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
-
 import javax.swing.SwingUtilities;
-
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.views.StatusDisplay;
-
 import krpc.client.Connection;
 import krpc.client.RPCException;
 import krpc.client.services.KRPC;
 import krpc.client.services.SpaceCenter;
 
 public class ConnectionManager {
-    private KRPC krpc;
-    private Connection connection;
-    private SpaceCenter spaceCenter;
-    private final StatusDisplay statusDisplay;
-    private volatile boolean isConnecting = false;
-    private ScheduledExecutorService connectionScheduler;
-
-    public ConnectionManager(final String connectionName, final StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        connectAndMonitor(connectionName);
-    }
-
-    public Connection getConnection() {
-        return connection;
+  private KRPC krpc;
+  private Connection connection;
+  private SpaceCenter spaceCenter;
+  private final StatusDisplay statusDisplay;
+  private volatile boolean isConnecting = false;
+  private ScheduledExecutorService connectionScheduler;
+
+  public ConnectionManager(final String connectionName, final StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    connectAndMonitor(connectionName);
+  }
+
+  public Connection getConnection() {
+    return connection;
+  }
+
+  public SpaceCenter getSpaceCenter() {
+    return spaceCenter;
+  }
+
+  public KRPC getKRPC() {
+    return krpc;
+  }
+
+  public void connectAndMonitor(final String connectionName) {
+    if (connectionScheduler != null && !connectionScheduler.isShutdown()) {
+      return;
     }
-
-    public SpaceCenter getSpaceCenter() {
-        return spaceCenter;
-    }
-
-    public KRPC getKRPC() {
-        return krpc;
-    }
-
-    public void connectAndMonitor(final String connectionName) {
-        if (connectionScheduler != null && !connectionScheduler.isShutdown()) {
+    connectionScheduler = Executors.newSingleThreadScheduledExecutor();
+    connectionScheduler.scheduleAtFixedRate(
+        () -> {
+          if (isConnectionAlive() || isConnecting) {
             return;
-        }
-        connectionScheduler = Executors.newSingleThreadScheduledExecutor();
-        connectionScheduler.scheduleAtFixedRate(() -> {
-            if (isConnectionAlive() || isConnecting) {
-                return;
-            }
+          }
 
-            isConnecting = true;
-            SwingUtilities.invokeLater(() -> {
+          isConnecting = true;
+          SwingUtilities.invokeLater(
+              () -> {
                 statusDisplay.setStatusMessage(Bundle.getString("status_connecting"));
                 statusDisplay.setBtnConnectVisible(false);
-            });
-
-            try {
-                connection = Connection.newInstance(connectionName);
-                krpc = KRPC.newInstance(getConnection());
-                spaceCenter = SpaceCenter.newInstance(getConnection());
-                SwingUtilities.invokeLater(() -> {
-                    statusDisplay.setStatusMessage(Bundle.getString("status_connected"));
-                    statusDisplay.setBtnConnectVisible(false);
+              });
+
+          try {
+            connection = Connection.newInstance(connectionName);
+            krpc = KRPC.newInstance(getConnection());
+            spaceCenter = SpaceCenter.newInstance(getConnection());
+            SwingUtilities.invokeLater(
+                () -> {
+                  statusDisplay.setStatusMessage(Bundle.getString("status_connected"));
+                  statusDisplay.setBtnConnectVisible(false);
                 });
-            } catch (final IOException e) {
-                SwingUtilities.invokeLater(() -> {
-                    statusDisplay.setStatusMessage(Bundle.getString("status_error_connection"));
-                    statusDisplay.setBtnConnectVisible(true);
+          } catch (final IOException e) {
+            SwingUtilities.invokeLater(
+                () -> {
+                  statusDisplay.setStatusMessage(Bundle.getString("status_error_connection"));
+                  statusDisplay.setBtnConnectVisible(true);
                 });
-            } finally {
-                isConnecting = false;
-            }
-        }, 0, 5, TimeUnit.SECONDS);
+          } finally {
+            isConnecting = false;
+          }
+        },
+        0,
+        5,
+        TimeUnit.SECONDS);
+  }
+
+  public boolean isConnectionAlive() {
+    try {
+      if (krpc == null) return false;
+      krpc.getStatus();
+      return true;
+    } catch (final RPCException e) {
+      return false;
     }
+  }
 
-    public boolean isConnectionAlive() {
-        try {
-            if (krpc == null)
-                return false;
-            krpc.getStatus();
-            return true;
-        } catch (final RPCException e) {
-            return false;
-        }
-    }
+  public KRPC.GameScene getCurrentGameScene() throws RPCException {
+    return krpc.getCurrentGameScene();
+  }
 
-    public KRPC.GameScene getCurrentGameScene() throws RPCException {
-        return krpc.getCurrentGameScene();
+  public boolean isOnFlightScene() {
+    try {
+      return this.getCurrentGameScene().equals(KRPC.GameScene.FLIGHT);
+    } catch (final RPCException e) {
+      return false;
     }
-
-    public boolean isOnFlightScene() {
-        try {
-            return this.getCurrentGameScene().equals(KRPC.GameScene.FLIGHT);
-        } catch (final RPCException e) {
-            return false;
-        }
-    }
-
+  }
 }
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 24ecd97..8ead94e 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -1,5 +1,10 @@
 package com.pesterenan.model;
 
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Vector;
+import com.pesterenan.views.FunctionsAndTelemetryJPanel;
+import com.pesterenan.views.MainGui;
+import com.pesterenan.views.StatusDisplay;
 import java.awt.event.ActionEvent;
 import java.util.List;
 import java.util.Map;
@@ -7,17 +12,9 @@
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
-
 import javax.swing.DefaultListModel;
 import javax.swing.ListModel;
 import javax.swing.SwingUtilities;
-
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Vector;
-import com.pesterenan.views.FunctionsAndTelemetryJPanel;
-import com.pesterenan.views.MainGui;
-import com.pesterenan.views.StatusDisplay;
-
 import krpc.client.Connection;
 import krpc.client.RPCException;
 import krpc.client.services.SpaceCenter;
@@ -25,176 +22,199 @@
 import krpc.client.services.SpaceCenter.Vessel;
 
 public class VesselManager {
-    private ConnectionManager connectionManager;
-    private ActiveVessel currentVessel;
-    private int currentVesselId = -1;
-    private StatusDisplay statusDisplay;
-    private FunctionsAndTelemetryJPanel telemetryPanel;
-
-    public void setTelemetryPanel(FunctionsAndTelemetryJPanel panel) {
-        this.telemetryPanel = panel;
-    }
-
-    public VesselManager(ConnectionManager connectionManager, StatusDisplay statusDisplay) {
-        this.connectionManager = connectionManager;
-        this.statusDisplay = statusDisplay;
-    }
-
-    public Connection getConnection() {
-        return connectionManager.getConnection();
-    }
-
-    public SpaceCenter getSpaceCenter() {
-        return connectionManager.getSpaceCenter();
-    }
-
-    public ActiveVessel getCurrentVessel() {
-        return currentVessel;
-    }
-
-    public int getCurrentVesselId() {
-        return currentVesselId;
-    }
-
-    public void startUpdateLoop() {
-        ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
-        scheduler.scheduleAtFixedRate(() -> {
-            if (getConnection() == null || getSpaceCenter() == null) {
-                System.out.println("Connection not established yet, skipping update cycle.");
-                return;
+  private ConnectionManager connectionManager;
+  private ActiveVessel currentVessel;
+  private int currentVesselId = -1;
+  private StatusDisplay statusDisplay;
+  private FunctionsAndTelemetryJPanel telemetryPanel;
+
+  public void setTelemetryPanel(FunctionsAndTelemetryJPanel panel) {
+    this.telemetryPanel = panel;
+  }
+
+  public VesselManager(ConnectionManager connectionManager, StatusDisplay statusDisplay) {
+    this.connectionManager = connectionManager;
+    this.statusDisplay = statusDisplay;
+  }
+
+  public Connection getConnection() {
+    return connectionManager.getConnection();
+  }
+
+  public SpaceCenter getSpaceCenter() {
+    return connectionManager.getSpaceCenter();
+  }
+
+  public ActiveVessel getCurrentVessel() {
+    return currentVessel;
+  }
+
+  public int getCurrentVesselId() {
+    return currentVesselId;
+  }
+
+  public void startUpdateLoop() {
+    ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+    scheduler.scheduleAtFixedRate(
+        () -> {
+          if (getConnection() == null || getSpaceCenter() == null) {
+            System.out.println("Connection not established yet, skipping update cycle.");
+            return;
+          }
+          try {
+            if (!connectionManager.isOnFlightScene()) {
+              try {
+                Thread.sleep(1000);
+              } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+              }
+              return;
             }
+            checkAndUpdateActiveVessel();
+            updateUI();
+          } catch (RPCException e) {
+            System.err.println("RPC Error: " + e.getMessage());
+          }
+        },
+        0,
+        100,
+        TimeUnit.MILLISECONDS);
+  }
+
+  public ListModel<String> getCurrentManeuvers() {
+    DefaultListModel<String> list = new DefaultListModel<>();
+    try {
+      List<Node> maneuvers = this.getSpaceCenter().getActiveVessel().getControl().getNodes();
+      maneuvers.forEach(
+          m -> {
             try {
-                if (!connectionManager.isOnFlightScene()) {
-                    try {
-                        Thread.sleep(1000);
-                    } catch (InterruptedException e) {
-                        Thread.currentThread().interrupt();
-                    }
-                    return;
-                }
-                checkAndUpdateActiveVessel();
-                updateUI();
-            } catch (RPCException e) {
-                System.err.println("RPC Error: " + e.getMessage());
+              String maneuverStr =
+                  String.format(
+                      "%d - Dv: %.1f {P: %.1f, N: %.1f, R: %.1f} AP: %.1f, PE: %.1f",
+                      maneuvers.indexOf(m) + 1,
+                      m.getDeltaV(),
+                      m.getPrograde(),
+                      m.getNormal(),
+                      m.getRadial(),
+                      m.getOrbit().getApoapsisAltitude(),
+                      m.getOrbit().getPeriapsisAltitude());
+              list.addElement(maneuverStr);
+            } catch (RPCException ignored) {
             }
-        }, 0, 100, TimeUnit.MILLISECONDS);
-    }
-
-    public ListModel<String> getCurrentManeuvers() {
-        DefaultListModel<String> list = new DefaultListModel<>();
-        try {
-            List<Node> maneuvers = this.getSpaceCenter().getActiveVessel().getControl().getNodes();
-            maneuvers.forEach(m -> {
-                try {
-                    String maneuverStr = String.format("%d - Dv: %.1f {P: %.1f, N: %.1f, R: %.1f} AP: %.1f, PE: %.1f",
-                            maneuvers.indexOf(m) + 1, m.getDeltaV(), m.getPrograde(), m.getNormal(), m.getRadial(),
-                            m.getOrbit().getApoapsisAltitude(), m.getOrbit().getPeriapsisAltitude());
-                    list.addElement(maneuverStr);
-                } catch (RPCException ignored) {
-                }
-            });
-        } catch (RPCException | NullPointerException | UnsupportedOperationException ignored) {
-        }
-        return list;
-    }
-
-    public void startModule(Map<String,String> commands) {
-        currentVessel.startModule(commands);
-    }
-
-    public ListModel<String> getActiveVessels(String search) {
-        DefaultListModel<String> list = new DefaultListModel<>();
-        try {
-            List<Vessel> vessels = getSpaceCenter().getVessels();
-            vessels = vessels.stream().filter(v -> filterVessels(v, search)).collect(Collectors.toList());
-            vessels.forEach(v -> {
-                try {
-                    String vesselName = v.hashCode() + " - \t" + v.getName();
-                    list.addElement(vesselName);
-                } catch (RPCException vesselNameError) {
-                    System.err.println("Couldn't add vessel name to list. Error: " + vesselNameError.getMessage());
-                }
-            });
-        } catch (RPCException rpcOrNpeException) {
-            System.err.println("Couldn't get vessel list, Error: " + rpcOrNpeException.getMessage());
-        }
-        return list;
-    }
-
-    public String getVesselInfo(int selectedIndex) {
-        try {
-            Vessel activeVessel = this.getSpaceCenter().getVessels().stream().filter(v -> v.hashCode() == selectedIndex)
-                    .findFirst().get();
-            String name = activeVessel.getName().length() > 40
-                    ? activeVessel.getName().substring(0, 40) + "..."
-                    : activeVessel.getName();
-            String vesselInfo = String.format("Nome: %s\t\t\t | Corpo: %s", name,
-                    activeVessel.getOrbit().getBody().getName());
-            return vesselInfo;
-        } catch (RPCException | NullPointerException ignored) {
-        }
-        return "";
-    }
-
-    public void changeToVessel(int selectedIndex) {
-        try {
-            Vessel activeVessel = getSpaceCenter().getVessels().stream().filter(v -> v.hashCode() == selectedIndex)
-                    .findFirst().get();
-            getSpaceCenter().setActiveVessel(activeVessel);
-        } catch (RPCException | NullPointerException e) {
-            System.out.println(Bundle.getString("status_couldnt_switch_vessel"));
-        }
-    }
-
-    public void cancelControl(ActionEvent e) {
-        currentVessel.cancelControl();
-    }
-
-    private void checkAndUpdateActiveVessel() throws RPCException {
-        Vessel activeVessel = getSpaceCenter().getActiveVessel();
-        int activeVesselId = activeVessel.hashCode();
-        if (currentVesselId != activeVesselId) {
-            currentVessel = new ActiveVessel(connectionManager, this);
-            currentVesselId = currentVessel.getCurrentVesselId();
-            MainGui.getInstance().setVesselManager(this);
-        }
-    }
-
-    private void updateUI() {
-        SwingUtilities.invokeLater(() -> {
-            if (currentVessel != null && telemetryPanel != null) {
-                telemetryPanel.updateTelemetry(currentVessel.getTelemetryData());
-                MainGui.getInstance().getCreateManeuverPanel().updatePanel(getCurrentManeuvers());
-                if (currentVessel.hasModuleRunning()) {
-                    statusDisplay.setStatusMessage(currentVessel.getCurrentStatus());
-                }
+          });
+    } catch (RPCException | NullPointerException | UnsupportedOperationException ignored) {
+    }
+    return list;
+  }
+
+  public void startModule(Map<String, String> commands) {
+    currentVessel.startModule(commands);
+  }
+
+  public ListModel<String> getActiveVessels(String search) {
+    DefaultListModel<String> list = new DefaultListModel<>();
+    try {
+      List<Vessel> vessels = getSpaceCenter().getVessels();
+      vessels = vessels.stream().filter(v -> filterVessels(v, search)).collect(Collectors.toList());
+      vessels.forEach(
+          v -> {
+            try {
+              String vesselName = v.hashCode() + " - \t" + v.getName();
+              list.addElement(vesselName);
+            } catch (RPCException vesselNameError) {
+              System.err.println(
+                  "Couldn't add vessel name to list. Error: " + vesselNameError.getMessage());
             }
+          });
+    } catch (RPCException rpcOrNpeException) {
+      System.err.println("Couldn't get vessel list, Error: " + rpcOrNpeException.getMessage());
+    }
+    return list;
+  }
+
+  public String getVesselInfo(int selectedIndex) {
+    try {
+      Vessel activeVessel =
+          this.getSpaceCenter().getVessels().stream()
+              .filter(v -> v.hashCode() == selectedIndex)
+              .findFirst()
+              .get();
+      String name =
+          activeVessel.getName().length() > 40
+              ? activeVessel.getName().substring(0, 40) + "..."
+              : activeVessel.getName();
+      String vesselInfo =
+          String.format(
+              "Nome: %s\t\t\t | Corpo: %s", name, activeVessel.getOrbit().getBody().getName());
+      return vesselInfo;
+    } catch (RPCException | NullPointerException ignored) {
+    }
+    return "";
+  }
+
+  public void changeToVessel(int selectedIndex) {
+    try {
+      Vessel activeVessel =
+          getSpaceCenter().getVessels().stream()
+              .filter(v -> v.hashCode() == selectedIndex)
+              .findFirst()
+              .get();
+      getSpaceCenter().setActiveVessel(activeVessel);
+    } catch (RPCException | NullPointerException e) {
+      System.out.println(Bundle.getString("status_couldnt_switch_vessel"));
+    }
+  }
+
+  public void cancelControl(ActionEvent e) {
+    currentVessel.cancelControl();
+  }
+
+  private void checkAndUpdateActiveVessel() throws RPCException {
+    Vessel activeVessel = getSpaceCenter().getActiveVessel();
+    int activeVesselId = activeVessel.hashCode();
+    if (currentVesselId != activeVesselId) {
+      currentVessel = new ActiveVessel(connectionManager, this);
+      currentVesselId = currentVessel.getCurrentVesselId();
+      MainGui.getInstance().setVesselManager(this);
+    }
+  }
+
+  private void updateUI() {
+    SwingUtilities.invokeLater(
+        () -> {
+          if (currentVessel != null && telemetryPanel != null) {
+            telemetryPanel.updateTelemetry(currentVessel.getTelemetryData());
+            MainGui.getInstance().getCreateManeuverPanel().updatePanel(getCurrentManeuvers());
+            if (currentVessel.hasModuleRunning()) {
+              statusDisplay.setStatusMessage(currentVessel.getCurrentStatus());
+            }
+          }
         });
-    }
-
-    private boolean filterVessels(Vessel vessel, String search) {
-        if ("all".equals(search)) {
-            return true;
-        }
-        double TEN_KILOMETERS = 10000.0;
-        try {
-            Vessel active = this.getSpaceCenter().getActiveVessel();
-            if (vessel.getOrbit().getBody().getName().equals(active.getOrbit().getBody().getName())) {
-                final Vector activePos = new Vector(active.position(active.getSurfaceReferenceFrame()));
-                final Vector vesselPos = new Vector(vessel.position(active.getSurfaceReferenceFrame()));
-                final double distance = Vector.distance(activePos, vesselPos);
-                switch (search) {
-                    case "closest" :
-                        if (distance < TEN_KILOMETERS) {
-                            return true;
-                        }
-                        break;
-                    case "samebody" :
-                        return true;
-                }
+  }
+
+  private boolean filterVessels(Vessel vessel, String search) {
+    if ("all".equals(search)) {
+      return true;
+    }
+    double TEN_KILOMETERS = 10000.0;
+    try {
+      Vessel active = this.getSpaceCenter().getActiveVessel();
+      if (vessel.getOrbit().getBody().getName().equals(active.getOrbit().getBody().getName())) {
+        final Vector activePos = new Vector(active.position(active.getSurfaceReferenceFrame()));
+        final Vector vesselPos = new Vector(vessel.position(active.getSurfaceReferenceFrame()));
+        final double distance = Vector.distance(activePos, vesselPos);
+        switch (search) {
+          case "closest":
+            if (distance < TEN_KILOMETERS) {
+              return true;
             }
-        } catch (RPCException ignored) {
+            break;
+          case "samebody":
+            return true;
         }
-        return false;
+      }
+    } catch (RPCException ignored) {
     }
+    return false;
+  }
 }
diff --git a/src/main/java/com/pesterenan/resources/Bundle.java b/src/main/java/com/pesterenan/resources/Bundle.java
index 1d4e53b..42e493d 100644
--- a/src/main/java/com/pesterenan/resources/Bundle.java
+++ b/src/main/java/com/pesterenan/resources/Bundle.java
@@ -5,17 +5,16 @@
 import java.util.ResourceBundle;
 
 public class Bundle {
-    public static final ResourceBundle RESOURCE_BUNDLE = ResourceBundle.getBundle("MechPesteBundle",
-            Locale.getDefault());
+  public static final ResourceBundle RESOURCE_BUNDLE =
+      ResourceBundle.getBundle("MechPesteBundle", Locale.getDefault());
 
-    private Bundle() {
-    }
+  private Bundle() {}
 
-    public static String getString(String key) {
-        try {
-            return RESOURCE_BUNDLE.getString(key);
-        } catch (MissingResourceException e) {
-            return '!' + key + '!';
-        }
+  public static String getString(String key) {
+    try {
+      return RESOURCE_BUNDLE.getString(key);
+    } catch (MissingResourceException e) {
+      return '!' + key + '!';
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/updater/KrpcInstaller.java b/src/main/java/com/pesterenan/updater/KrpcInstaller.java
index f7ca60b..3feebec 100644
--- a/src/main/java/com/pesterenan/updater/KrpcInstaller.java
+++ b/src/main/java/com/pesterenan/updater/KrpcInstaller.java
@@ -1,7 +1,6 @@
 package com.pesterenan.updater;
 
 import com.pesterenan.views.InstallKrpcDialog;
-
 import java.io.BufferedInputStream;
 import java.io.BufferedOutputStream;
 import java.io.File;
@@ -15,76 +14,77 @@
 import java.util.zip.ZipInputStream;
 
 public class KrpcInstaller {
-    static final int BUFFER = 2048;
-    private static final String KRPC_GITHUB_LINK = "https://github.com/krpc/krpc/releases/download/v0.5.4/krpc-0.5.4.zip";
-    private static String KSP_FOLDER = null;
+  static final int BUFFER = 2048;
+  private static final String KRPC_GITHUB_LINK =
+      "https://github.com/krpc/krpc/releases/download/v0.5.4/krpc-0.5.4.zip";
+  private static String KSP_FOLDER = null;
 
-    public static String getKspFolder() {
-        return KSP_FOLDER;
-    }
+  public static String getKspFolder() {
+    return KSP_FOLDER;
+  }
 
-    public static void setKspFolder(String folderPath) {
-        KSP_FOLDER = folderPath;
-    }
+  public static void setKspFolder(String folderPath) {
+    KSP_FOLDER = folderPath;
+  }
 
-    public static void downloadAndInstallKrpc() {
-        InstallKrpcDialog.setStatus("Fazendo download do KRPC pelo Github...");
-        downloadKrpc();
-        InstallKrpcDialog.setStatus("Download completo!");
-        InstallKrpcDialog.setStatus("Extraindo arquivos...");
-        unzipKrpc();
-        InstallKrpcDialog.setStatus("Instalação terminada, reinicie o KSP!");
-    }
+  public static void downloadAndInstallKrpc() {
+    InstallKrpcDialog.setStatus("Fazendo download do KRPC pelo Github...");
+    downloadKrpc();
+    InstallKrpcDialog.setStatus("Download completo!");
+    InstallKrpcDialog.setStatus("Extraindo arquivos...");
+    unzipKrpc();
+    InstallKrpcDialog.setStatus("Instalação terminada, reinicie o KSP!");
+  }
 
-    public static void downloadKrpc() {
-        URL krpcLink;
-        try {
-            krpcLink = new URL(KRPC_GITHUB_LINK);
-            ReadableByteChannel readableByteChannel = Channels.newChannel(krpcLink.openStream());
-            FileOutputStream fos = new FileOutputStream(KSP_FOLDER + "\\krpc-0.5.4.zip");
-            fos.getChannel().transferFrom(readableByteChannel, 0, Long.MAX_VALUE);
-            fos.close();
-        } catch (IOException e) {
-            InstallKrpcDialog.setStatus("Não foi possível fazer o download do KRPC");
-        }
+  public static void downloadKrpc() {
+    URL krpcLink;
+    try {
+      krpcLink = new URL(KRPC_GITHUB_LINK);
+      ReadableByteChannel readableByteChannel = Channels.newChannel(krpcLink.openStream());
+      FileOutputStream fos = new FileOutputStream(KSP_FOLDER + "\\krpc-0.5.4.zip");
+      fos.getChannel().transferFrom(readableByteChannel, 0, Long.MAX_VALUE);
+      fos.close();
+    } catch (IOException e) {
+      InstallKrpcDialog.setStatus("Não foi possível fazer o download do KRPC");
     }
+  }
 
-    public static void unzipKrpc() {
-        try {
-            File folder = new File(KSP_FOLDER);
-            if (!folder.exists()) {
-                folder.mkdir();
-            }
-            BufferedOutputStream dest;
-            // zipped input
-            FileInputStream fis = new FileInputStream(KSP_FOLDER + "\\krpc-0.5.4.zip");
-            ZipInputStream zis = new ZipInputStream(new BufferedInputStream(fis));
-            ZipEntry entry;
-            while ((entry = zis.getNextEntry()) != null) {
-                int count;
-                byte[] data = new byte[BUFFER];
-                String fileName = entry.getName();
-                File newFile = new File(folder + File.separator + fileName);
-                // If directory then just create the directory (and parents if required)
-                if (entry.isDirectory()) {
-                    if (!newFile.exists()) {
-                        newFile.mkdirs();
-                    }
-                } else {
-                    // write the files to the disk
-                    FileOutputStream fos = new FileOutputStream(newFile);
-                    dest = new BufferedOutputStream(fos, BUFFER);
-                    while ((count = zis.read(data, 0, BUFFER)) != -1) {
-                        dest.write(data, 0, count);
-                    }
-                    dest.flush();
-                    dest.close();
-                }
-                zis.closeEntry();
-            }
-            zis.close();
-        } catch (Exception e) {
-            InstallKrpcDialog.setStatus("Não foi possível fazer instalar o KRPC");
+  public static void unzipKrpc() {
+    try {
+      File folder = new File(KSP_FOLDER);
+      if (!folder.exists()) {
+        folder.mkdir();
+      }
+      BufferedOutputStream dest;
+      // zipped input
+      FileInputStream fis = new FileInputStream(KSP_FOLDER + "\\krpc-0.5.4.zip");
+      ZipInputStream zis = new ZipInputStream(new BufferedInputStream(fis));
+      ZipEntry entry;
+      while ((entry = zis.getNextEntry()) != null) {
+        int count;
+        byte[] data = new byte[BUFFER];
+        String fileName = entry.getName();
+        File newFile = new File(folder + File.separator + fileName);
+        // If directory then just create the directory (and parents if required)
+        if (entry.isDirectory()) {
+          if (!newFile.exists()) {
+            newFile.mkdirs();
+          }
+        } else {
+          // write the files to the disk
+          FileOutputStream fos = new FileOutputStream(newFile);
+          dest = new BufferedOutputStream(fos, BUFFER);
+          while ((count = zis.read(data, 0, BUFFER)) != -1) {
+            dest.write(data, 0, count);
+          }
+          dest.flush();
+          dest.close();
         }
+        zis.closeEntry();
+      }
+      zis.close();
+    } catch (Exception e) {
+      InstallKrpcDialog.setStatus("Não foi possível fazer instalar o KRPC");
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/Attributes.java b/src/main/java/com/pesterenan/utils/Attributes.java
index 51174d8..2c75c39 100644
--- a/src/main/java/com/pesterenan/utils/Attributes.java
+++ b/src/main/java/com/pesterenan/utils/Attributes.java
@@ -5,29 +5,30 @@
 
 public class Attributes {
 
-    private static Map<String,Double> safeLowOrbitAltitudes = new HashMap<String,Double>();
+  private static Map<String, Double> safeLowOrbitAltitudes = new HashMap<String, Double>();
 
-    public Attributes() {
-        safeLowOrbitAltitudes.put("Bop", 10_000.0);
-        safeLowOrbitAltitudes.put("Dres", 20_000.0);
-        safeLowOrbitAltitudes.put("Duna", 60_000.0);
-        safeLowOrbitAltitudes.put("Eeloo", 20_000.0);
-        safeLowOrbitAltitudes.put("Eve", 100_000.0);
-        safeLowOrbitAltitudes.put("Gilly", 10_000.0);
-        safeLowOrbitAltitudes.put("Ike", 20_000.0);
-        safeLowOrbitAltitudes.put("Jool", 220_000.0);
-        safeLowOrbitAltitudes.put("Kerbin", 80_000.0);
-        safeLowOrbitAltitudes.put("Laythe", 80_000.0);
-        safeLowOrbitAltitudes.put("Minmus", 10_000.0);
-        safeLowOrbitAltitudes.put("Moho", 35_000.0);
-        safeLowOrbitAltitudes.put("Mun", 10_000.0);
-        safeLowOrbitAltitudes.put("Pol", 10_000.0);
-        safeLowOrbitAltitudes.put("Sun", 350_000.0);
-        safeLowOrbitAltitudes.put("Tylo", 40_000.0);
-        safeLowOrbitAltitudes.put("Vall", 20_000.0);
-    }
+  public Attributes() {
+    safeLowOrbitAltitudes.put("Bop", 10_000.0);
+    safeLowOrbitAltitudes.put("Dres", 20_000.0);
+    safeLowOrbitAltitudes.put("Duna", 60_000.0);
+    safeLowOrbitAltitudes.put("Eeloo", 20_000.0);
+    safeLowOrbitAltitudes.put("Eve", 100_000.0);
+    safeLowOrbitAltitudes.put("Gilly", 10_000.0);
+    safeLowOrbitAltitudes.put("Ike", 20_000.0);
+    safeLowOrbitAltitudes.put("Jool", 220_000.0);
+    safeLowOrbitAltitudes.put("Kerbin", 80_000.0);
+    safeLowOrbitAltitudes.put("Laythe", 80_000.0);
+    safeLowOrbitAltitudes.put("Minmus", 10_000.0);
+    safeLowOrbitAltitudes.put("Moho", 35_000.0);
+    safeLowOrbitAltitudes.put("Mun", 10_000.0);
+    safeLowOrbitAltitudes.put("Pol", 10_000.0);
+    safeLowOrbitAltitudes.put("Sun", 350_000.0);
+    safeLowOrbitAltitudes.put("Tylo", 40_000.0);
+    safeLowOrbitAltitudes.put("Vall", 20_000.0);
+  }
 
-    public double getLowOrbitAltitude(String celestialBody) {
-        return safeLowOrbitAltitudes.getOrDefault(celestialBody, 10_000.0);
-    };
+  public double getLowOrbitAltitude(String celestialBody) {
+    return safeLowOrbitAltitudes.getOrDefault(celestialBody, 10_000.0);
+  }
+  ;
 }
diff --git a/src/main/java/com/pesterenan/utils/ControlePID.java b/src/main/java/com/pesterenan/utils/ControlePID.java
index 4c9c07b..b5b56fc 100644
--- a/src/main/java/com/pesterenan/utils/ControlePID.java
+++ b/src/main/java/com/pesterenan/utils/ControlePID.java
@@ -4,121 +4,119 @@
 import krpc.client.services.SpaceCenter;
 
 public class ControlePID {
-    private SpaceCenter spaceCenter = null;
-    private double outputMin = -1;
-    private double outputMax = 1;
-    private double kp = 0.025;
-    private double ki = 0.001;
-    private double kd = 0.01;
-    private double integralTerm = 0.0;
-    private double previousError, previousMeasurement, lastTime = 0.0;
-    private double timeSample = 0.025; // 25 millisegundos
-    private double proportionalTerm;
-
-    private double derivativeTerm;
-
-    public ControlePID() {
+  private SpaceCenter spaceCenter = null;
+  private double outputMin = -1;
+  private double outputMax = 1;
+  private double kp = 0.025;
+  private double ki = 0.001;
+  private double kd = 0.01;
+  private double integralTerm = 0.0;
+  private double previousError, previousMeasurement, lastTime = 0.0;
+  private double timeSample = 0.025; // 25 millisegundos
+  private double proportionalTerm;
+
+  private double derivativeTerm;
+
+  public ControlePID() {}
+
+  public ControlePID(SpaceCenter spaceCenter, double timeSample) {
+    this.spaceCenter = spaceCenter;
+    setTimeSample(timeSample);
+  }
+
+  public ControlePID(double kp, double ki, double kd, double outputMin, double outputMax) {
+    this.kp = kp;
+    this.ki = ki;
+    this.kd = kd;
+    this.outputMin = outputMin;
+    this.outputMax = outputMax;
+  }
+
+  public double getTimeSample() {
+    return timeSample;
+  }
+
+  public void reset() {
+    this.previousError = 0;
+    this.previousMeasurement = 0;
+    this.proportionalTerm = 0;
+    this.integralTerm = 0;
+    this.derivativeTerm = 0;
+  }
+
+  public double calculate(double measurement, double setPoint) {
+    double now = this.getCurrentTime();
+    double changeInTime = now - lastTime;
+
+    if (changeInTime >= timeSample) {
+      // Error signal
+      double error = setPoint - measurement;
+      // Proportional
+      proportionalTerm = kp * error;
+
+      // Integral
+      // integralTerm += 0.5f * ki * timeSample * (error + previousError);
+      // integralTerm += ki * (error + previousError);
+      integralTerm = ki * (integralTerm + (error * timeSample));
+      integralTerm = limitOutput(integralTerm);
+
+      derivativeTerm = kd * ((error - previousError) / timeSample);
+      previousError = error;
+      lastTime = now;
     }
+    return limitOutput(proportionalTerm + integralTerm + derivativeTerm);
+  }
 
-    public ControlePID(SpaceCenter spaceCenter, double timeSample) {
-        this.spaceCenter = spaceCenter;
-        setTimeSample(timeSample);
+  public void setOutput(double min, double max) {
+    if (min > max) {
+      return;
     }
-
-    public ControlePID(double kp, double ki, double kd, double outputMin, double outputMax) {
-        this.kp = kp;
-        this.ki = ki;
-        this.kd = kd;
-        this.outputMin = outputMin;
-        this.outputMax = outputMax;
-    }
-
-    public double getTimeSample() {
-        return timeSample;
-    }
-
-    public void reset() {
-        this.previousError = 0;
-        this.previousMeasurement = 0;
-        this.proportionalTerm = 0;
-        this.integralTerm = 0;
-        this.derivativeTerm = 0;
-    }
-
-    public double calculate(double measurement, double setPoint) {
-        double now = this.getCurrentTime();
-        double changeInTime = now - lastTime;
-
-        if (changeInTime >= timeSample) {
-            // Error signal
-            double error = setPoint - measurement;
-            // Proportional
-            proportionalTerm = kp * error;
-
-            // Integral
-            // integralTerm += 0.5f * ki * timeSample * (error + previousError);
-            // integralTerm += ki * (error + previousError);
-            integralTerm = ki * (integralTerm + (error * timeSample));
-            integralTerm = limitOutput(integralTerm);
-
-            derivativeTerm = kd * ((error - previousError) / timeSample);
-            previousError = error;
-            lastTime = now;
-        }
-        return limitOutput(proportionalTerm + integralTerm + derivativeTerm);
+    outputMin = min;
+    outputMax = max;
+    integralTerm = limitOutput(integralTerm);
+  }
+
+  public void setPIDValues(double Kp, double Ki, double Kd) {
+    if (Kp > 0) {
+      this.kp = Kp;
     }
-
-    public void setOutput(double min, double max) {
-        if (min > max) {
-            return;
-        }
-        outputMin = min;
-        outputMax = max;
-        integralTerm = limitOutput(integralTerm);
+    if (Ki >= 0) {
+      this.ki = Ki;
     }
-
-    public void setPIDValues(double Kp, double Ki, double Kd) {
-        if (Kp > 0) {
-            this.kp = Kp;
-        }
-        if (Ki >= 0) {
-            this.ki = Ki;
-        }
-        if (Kd >= 0) {
-            this.kd = Kd;
-        }
+    if (Kd >= 0) {
+      this.kd = Kd;
     }
-
-    public void setTimeSample(double milliseconds) {
-        timeSample = milliseconds > 0 ? milliseconds / 1000 : timeSample;
+  }
+
+  public void setTimeSample(double milliseconds) {
+    timeSample = milliseconds > 0 ? milliseconds / 1000 : timeSample;
+  }
+
+  /**
+   * Tries to return the milliseconds from the game, if it fails, returns the system time
+   *
+   * @returns the current time in milisseconds
+   */
+  public double getCurrentTime() {
+    try {
+      return spaceCenter.getUT();
+    } catch (RPCException | NullPointerException ignored) {
+      return System.currentTimeMillis();
     }
-
-    /**
-     * Tries to return the milliseconds from the game, if it fails, returns the
-     * system time
-     * 
-     * @returns the current time in milisseconds
-     */
-    public double getCurrentTime() {
-        try {
-            return spaceCenter.getUT();
-        } catch (RPCException | NullPointerException ignored) {
-            return System.currentTimeMillis();
-        }
+  }
+
+  /** Uses busy waiting to lock the thread until time passes the time sample */
+  public void waitForNextSample() throws InterruptedException {
+    double startTime = getCurrentTime();
+    while (getCurrentTime() - startTime < getTimeSample()) {
+      Thread.sleep(1);
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
     }
+  }
 
-    /** Uses busy waiting to lock the thread until time passes the time sample */
-    public void waitForNextSample() throws InterruptedException {
-        double startTime = getCurrentTime();
-        while (getCurrentTime() - startTime < getTimeSample()) {
-            Thread.sleep(1);
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-        }
-    }
-
-    private double limitOutput(double value) {
-        return Utilities.clamp(value, outputMin, outputMax);
-    }
+  private double limitOutput(double value) {
+    return Utilities.clamp(value, outputMin, outputMax);
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/Module.java b/src/main/java/com/pesterenan/utils/Module.java
index fcd7ebe..566af1e 100644
--- a/src/main/java/com/pesterenan/utils/Module.java
+++ b/src/main/java/com/pesterenan/utils/Module.java
@@ -1,57 +1,51 @@
 package com.pesterenan.utils;
 
 public enum Module {
+  ADJUST("Ajustar"),
+  APOAPSIS("Apoastro"),
+  CIRCULAR("Circular"),
+  CREATE_MANEUVER("CRIAR_MANOBRAS"),
+  CUBIC("Cúbica"),
+  DIRECTION("Direção"),
+  DOCKING("DOCKING"),
+  EXECUTE("Executar"),
+  EXPONENCIAL("Exponencial"),
+  FINE_ADJUST("Ajuste Fino"),
+  FUNCTION("Função"),
+  HOVERING("HOVER"),
+  HOVER_AFTER_LANDING("SOBREVOO PÓS POUSO"),
+  HOVER_ALTITUDE("Altitude Sobrevoo"),
+  INCLINATION("Inclinação"),
+  LAND("Pousar nave"),
+  LANDING("LANDING"),
+  LIFTOFF("LIFTOFF"),
+  LOW_ORBIT("ÓRBITA BAIXA"),
+  MANEUVER("MANEUVER"),
+  MAP_MARKER("Marcador no mapa"),
+  MARKER_NAME("Nome do marcador"),
+  MAX_SPEED("Velocidade Máxima"),
+  MAX_TWR("Max_TWR"),
+  MODULO("Módulo"),
+  OPEN_PANELS("Abrir Painéis"),
+  PERIAPSIS("Periastro"),
+  QUADRATIC("Quadrática"),
+  RENDEZVOUS("Rendezvous"),
+  ROLL("Rolagem"),
+  ROVER("ROVER"),
+  ROVER_TARGET_TYPE("Tipo de Alvo do Rover"),
+  SAFE_DISTANCE("Distância Segura"),
+  SINUSOIDAL("Sinusoidal"),
+  STAGE("Usar Estágios"),
+  TARGET_VESSEL("Nave alvo"),
+  TELEMETRY("TELEMETRY");
 
-        ADJUST("Ajustar"), APOAPSIS("Apoastro"), CIRCULAR("Circular"), CREATE_MANEUVER("CRIAR_MANOBRAS"), CUBIC(
-                        "Cúbica"),
-        DIRECTION("Direção"), DOCKING("DOCKING"), EXECUTE("Executar"), EXPONENCIAL(
-                        "Exponencial"),
-        FINE_ADJUST("Ajuste Fino"), FUNCTION("Função"), HOVERING(
-                        "HOVER"),
-        HOVER_AFTER_LANDING("SOBREVOO PÓS POUSO"), HOVER_ALTITUDE(
-                        "Altitude Sobrevoo"),
-        INCLINATION("Inclinação"), LAND("Pousar nave"), LANDING(
-                        "LANDING"),
-        LIFTOFF("LIFTOFF"), LOW_ORBIT("ÓRBITA BAIXA"), MANEUVER(
-                        "MANEUVER"),
-        MAP_MARKER("Marcador no mapa"), MARKER_NAME(
-                        "Nome do marcador"),
-        MAX_SPEED(
-                        "Velocidade Máxima"),
-        MAX_TWR("Max_TWR"), MODULO(
-                        "Módulo"),
-        OPEN_PANELS(
-                        "Abrir Painéis"),
-        PERIAPSIS(
-                        "Periastro"),
-        QUADRATIC(
-                        "Quadrática"),
-        RENDEZVOUS(
-                        "Rendezvous"),
-        ROLL(
-                        "Rolagem"),
-        ROVER(
-                        "ROVER"),
-        ROVER_TARGET_TYPE(
-                        "Tipo de Alvo do Rover"),
-        SAFE_DISTANCE(
-                        "Distância Segura"),
-        SINUSOIDAL(
-                        "Sinusoidal"),
-        STAGE(
-                        "Usar Estágios"),
-        TARGET_VESSEL(
-                        "Nave alvo"),
-        TELEMETRY(
-                        "TELEMETRY");
+  final String t;
 
-        final String t;
+  Module(String t) {
+    this.t = t;
+  }
 
-        Module(String t) {
-                this.t = t;
-        }
-
-        public String get() {
-                return this.t;
-        }
+  public String get() {
+    return this.t;
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/Navigation.java b/src/main/java/com/pesterenan/utils/Navigation.java
index 5294880..1f76328 100644
--- a/src/main/java/com/pesterenan/utils/Navigation.java
+++ b/src/main/java/com/pesterenan/utils/Navigation.java
@@ -1,161 +1,178 @@
 package com.pesterenan.utils;
 
+import static krpc.client.services.SpaceCenter.*;
+
+import com.pesterenan.model.ConnectionManager;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
 import org.javatuples.Triplet;
 
-import com.pesterenan.model.ConnectionManager;
-
-import static krpc.client.services.SpaceCenter.*;
-
 public class Navigation {
 
-    public static final Triplet<Double,Double,Double> RADIAL = new Triplet<>(1.0, 0.0, 0.0);
-    public static final Triplet<Double,Double,Double> ANTI_RADIAL = new Triplet<>(-1.0, 0.0, 0.0);
-    public static final Triplet<Double,Double,Double> PROGRADE = new Triplet<>(0.0, 1.0, 0.0);
-    public static final Triplet<Double,Double,Double> RETROGRADE = new Triplet<>(0.0, -1.0, 0.0);
-    public static final Triplet<Double,Double,Double> NORMAL = new Triplet<>(0.0, 0.0, 1.0);
-    public static final Triplet<Double,Double,Double> ANTI_NORMAL = new Triplet<>(0.0, 0.0, -1.0);
-    // private Drawing drawing;
-    private Vessel currentVessel;
-    private Flight flightParameters;
-    private Stream<Double> horizontalSpeed;
-    private ReferenceFrame orbitalReference;
-    private ConnectionManager connectionManager;
+  public static final Triplet<Double, Double, Double> RADIAL = new Triplet<>(1.0, 0.0, 0.0);
+  public static final Triplet<Double, Double, Double> ANTI_RADIAL = new Triplet<>(-1.0, 0.0, 0.0);
+  public static final Triplet<Double, Double, Double> PROGRADE = new Triplet<>(0.0, 1.0, 0.0);
+  public static final Triplet<Double, Double, Double> RETROGRADE = new Triplet<>(0.0, -1.0, 0.0);
+  public static final Triplet<Double, Double, Double> NORMAL = new Triplet<>(0.0, 0.0, 1.0);
+  public static final Triplet<Double, Double, Double> ANTI_NORMAL = new Triplet<>(0.0, 0.0, -1.0);
+  // private Drawing drawing;
+  private Vessel currentVessel;
+  private Flight flightParameters;
+  private Stream<Double> horizontalSpeed;
+  private ReferenceFrame orbitalReference;
+  private ConnectionManager connectionManager;
 
-    public Navigation(ConnectionManager connectionManager, Vessel currentVessel) {
-        this.connectionManager = connectionManager;
-        this.currentVessel = currentVessel;
-        initializeParameters();
-    }
+  public Navigation(ConnectionManager connectionManager, Vessel currentVessel) {
+    this.connectionManager = connectionManager;
+    this.currentVessel = currentVessel;
+    initializeParameters();
+  }
 
-    private void initializeParameters() {
-        try {
-            // drawing = Drawing.newInstance(getConexao());
-            orbitalReference = currentVessel.getOrbit().getBody().getReferenceFrame();
-            flightParameters = currentVessel.flight(orbitalReference);
-            horizontalSpeed = connectionManager.getConnection().addStream(flightParameters, "getHorizontalSpeed");
-        } catch (RPCException | StreamException ignored) {
-        }
+  private void initializeParameters() {
+    try {
+      // drawing = Drawing.newInstance(getConexao());
+      orbitalReference = currentVessel.getOrbit().getBody().getReferenceFrame();
+      flightParameters = currentVessel.flight(orbitalReference);
+      horizontalSpeed =
+          connectionManager.getConnection().addStream(flightParameters, "getHorizontalSpeed");
+    } catch (RPCException | StreamException ignored) {
     }
+  }
 
-    public void aimAtManeuver(Node maneuver) throws RPCException {
-        aimAtDirection(connectionManager.getSpaceCenter().transformDirection(PROGRADE, maneuver.getReferenceFrame(),
-                orbitalReference));
-    }
+  public void aimAtManeuver(Node maneuver) throws RPCException {
+    aimAtDirection(
+        connectionManager
+            .getSpaceCenter()
+            .transformDirection(PROGRADE, maneuver.getReferenceFrame(), orbitalReference));
+  }
 
-    public void aimForLanding() throws RPCException, StreamException {
-        Vector currentPosition = new Vector(currentVessel.position(orbitalReference));
-        Vector retrograde = new Vector(connectionManager.getSpaceCenter().transformPosition(RETROGRADE,
-                currentVessel.getSurfaceVelocityReferenceFrame(), orbitalReference)).subtract(currentPosition);
-        Vector radial = new Vector(
-                connectionManager.getSpaceCenter().transformDirection(RADIAL, currentVessel.getSurfaceReferenceFrame(),
-                        orbitalReference));
-        double angleLimit = Utilities.remap(0, 10, 0, 0.9, horizontalSpeed.get(), true);
-        Vector landingVector = Utilities.linearInterpolation(radial, retrograde, angleLimit);
-        aimAtDirection(landingVector.toTriplet());
-    }
+  public void aimForLanding() throws RPCException, StreamException {
+    Vector currentPosition = new Vector(currentVessel.position(orbitalReference));
+    Vector retrograde =
+        new Vector(
+                connectionManager
+                    .getSpaceCenter()
+                    .transformPosition(
+                        RETROGRADE,
+                        currentVessel.getSurfaceVelocityReferenceFrame(),
+                        orbitalReference))
+            .subtract(currentPosition);
+    Vector radial =
+        new Vector(
+            connectionManager
+                .getSpaceCenter()
+                .transformDirection(
+                    RADIAL, currentVessel.getSurfaceReferenceFrame(), orbitalReference));
+    double angleLimit = Utilities.remap(0, 10, 0, 0.9, horizontalSpeed.get(), true);
+    Vector landingVector = Utilities.linearInterpolation(radial, retrograde, angleLimit);
+    aimAtDirection(landingVector.toTriplet());
+  }
 
-    // public void aimAtTarget() throws RPCException, StreamException,
-    // InterruptedException {
-    // Vector currentPosition = new Vector(naveAtual.position(pontoRefSuperficie));
-    // Vector targetPosition = new
-    // Vector(centroEspacial.getTargetVessel().position(pontoRefSuperficie));
-    // targetPosition.x = 0.0;
-    // double distanceToTarget = Vector.distance(currentPosition, targetPosition);
-    //
-    // Vector toTargetDirection = Vector.targetDirection(currentPosition,
-    // targetPosition);
-    // Vector oppositeDirection = Vector.targetOppositeDirection(currentPosition,
-    // targetPosition);
-    // Vector progradeDirection = Vector.targetDirection(currentPosition, new
-    // Vector(
-    // centroEspacial.transformPosition(PROGRADE,
-    // naveAtual.getSurfaceVelocityReferenceFrame(),
-    // pontoRefSuperficie
-    // )));
-    // Vector retrogradeDirection = Vector.targetDirection(currentPosition, new
-    // Vector(
-    // centroEspacial.transformPosition(RETROGRADE,
-    // naveAtual.getSurfaceVelocityReferenceFrame(),
-    // pontoRefSuperficie
-    // )));
-    // progradeDirection.x = 0.0;
-    // retrogradeDirection.x = 0.0;
-    // drawing.addDirection(toTargetDirection.toTriplet(), pontoRefSuperficie, 10,
-    // true);
-    // drawing.addDirection(oppositeDirection.toTriplet(), pontoRefSuperficie, 5,
-    // true);
-    // double pointingToTargetThreshold = Utilities.remap(0, 200, 0, 1,
-    // distanceToTarget, true);
-    // double speedThreshold = Utilities.remap(0, 20, 0, 1, horizontalSpeed.get(),
-    // true);
-    //
-    // Vector currentDirection =
-    // Utilities.linearInterpolation(oppositeDirection, toTargetDirection,
-    // pointingToTargetThreshold);
-    // double angleCurrentDirection =
-    // new Vector(currentDirection.z, currentDirection.y,
-    // currentDirection.x).heading();
-    // double angleProgradeDirection =
-    // new Vector(progradeDirection.z, progradeDirection.y,
-    // progradeDirection.x).heading();
-    // double deltaAngle = angleProgradeDirection - angleCurrentDirection;
-    // System.out.println(deltaAngle);
-    // if (deltaAngle > 3) {
-    // currentDirection.sum(progradeDirection).normalize();
-    // } else if (deltaAngle < -3) {
-    // currentDirection.subtract(progradeDirection).normalize();
-    // }
-    // drawing.addDirection(currentDirection.toTriplet(), pontoRefSuperficie, 25,
-    // true);
-    //
-    //
-    // Vector currentDirectionOnOrbitalRef = new Vector(
-    // centroEspacial.transformDirection(currentDirection.toTriplet(),
-    // pontoRefSuperficie,
-    // pontoRefOrbital));
-    // Vector radial = new Vector(centroEspacial.transformDirection(RADIAL,
-    // pontoRefSuperficie,
-    // pontoRefOrbital));
-    // Vector speedVector = Utilities.linearInterpolation(retrogradeDirection,
-    // progradeDirection, speedThreshold);
-    // Vector speedVectorOnOrbitalRef = new Vector(
-    // centroEspacial.transformDirection(speedVector.toTriplet(),
-    // pontoRefSuperficie,
-    // pontoRefOrbital));
-    // Vector pointingVector =
-    // Utilities.linearInterpolation(currentDirectionOnOrbitalRef,
-    // radial.sum(speedVectorOnOrbitalRef),
-    // speedThreshold
-    // );
-    // Thread.sleep(50);
-    // drawing.clear(false);
-    // aimAtDirection(pointingVector.toTriplet());
-    // }
+  // public void aimAtTarget() throws RPCException, StreamException,
+  // InterruptedException {
+  // Vector currentPosition = new Vector(naveAtual.position(pontoRefSuperficie));
+  // Vector targetPosition = new
+  // Vector(centroEspacial.getTargetVessel().position(pontoRefSuperficie));
+  // targetPosition.x = 0.0;
+  // double distanceToTarget = Vector.distance(currentPosition, targetPosition);
+  //
+  // Vector toTargetDirection = Vector.targetDirection(currentPosition,
+  // targetPosition);
+  // Vector oppositeDirection = Vector.targetOppositeDirection(currentPosition,
+  // targetPosition);
+  // Vector progradeDirection = Vector.targetDirection(currentPosition, new
+  // Vector(
+  // centroEspacial.transformPosition(PROGRADE,
+  // naveAtual.getSurfaceVelocityReferenceFrame(),
+  // pontoRefSuperficie
+  // )));
+  // Vector retrogradeDirection = Vector.targetDirection(currentPosition, new
+  // Vector(
+  // centroEspacial.transformPosition(RETROGRADE,
+  // naveAtual.getSurfaceVelocityReferenceFrame(),
+  // pontoRefSuperficie
+  // )));
+  // progradeDirection.x = 0.0;
+  // retrogradeDirection.x = 0.0;
+  // drawing.addDirection(toTargetDirection.toTriplet(), pontoRefSuperficie, 10,
+  // true);
+  // drawing.addDirection(oppositeDirection.toTriplet(), pontoRefSuperficie, 5,
+  // true);
+  // double pointingToTargetThreshold = Utilities.remap(0, 200, 0, 1,
+  // distanceToTarget, true);
+  // double speedThreshold = Utilities.remap(0, 20, 0, 1, horizontalSpeed.get(),
+  // true);
+  //
+  // Vector currentDirection =
+  // Utilities.linearInterpolation(oppositeDirection, toTargetDirection,
+  // pointingToTargetThreshold);
+  // double angleCurrentDirection =
+  // new Vector(currentDirection.z, currentDirection.y,
+  // currentDirection.x).heading();
+  // double angleProgradeDirection =
+  // new Vector(progradeDirection.z, progradeDirection.y,
+  // progradeDirection.x).heading();
+  // double deltaAngle = angleProgradeDirection - angleCurrentDirection;
+  // System.out.println(deltaAngle);
+  // if (deltaAngle > 3) {
+  // currentDirection.sum(progradeDirection).normalize();
+  // } else if (deltaAngle < -3) {
+  // currentDirection.subtract(progradeDirection).normalize();
+  // }
+  // drawing.addDirection(currentDirection.toTriplet(), pontoRefSuperficie, 25,
+  // true);
+  //
+  //
+  // Vector currentDirectionOnOrbitalRef = new Vector(
+  // centroEspacial.transformDirection(currentDirection.toTriplet(),
+  // pontoRefSuperficie,
+  // pontoRefOrbital));
+  // Vector radial = new Vector(centroEspacial.transformDirection(RADIAL,
+  // pontoRefSuperficie,
+  // pontoRefOrbital));
+  // Vector speedVector = Utilities.linearInterpolation(retrogradeDirection,
+  // progradeDirection, speedThreshold);
+  // Vector speedVectorOnOrbitalRef = new Vector(
+  // centroEspacial.transformDirection(speedVector.toTriplet(),
+  // pontoRefSuperficie,
+  // pontoRefOrbital));
+  // Vector pointingVector =
+  // Utilities.linearInterpolation(currentDirectionOnOrbitalRef,
+  // radial.sum(speedVectorOnOrbitalRef),
+  // speedThreshold
+  // );
+  // Thread.sleep(50);
+  // drawing.clear(false);
+  // aimAtDirection(pointingVector.toTriplet());
+  // }
 
-    public void aimAtPrograde() throws RPCException {
-        aimAtDirection(connectionManager.getSpaceCenter().transformDirection(PROGRADE,
-                currentVessel.getSurfaceVelocityReferenceFrame(),
-                orbitalReference));
-    }
+  public void aimAtPrograde() throws RPCException {
+    aimAtDirection(
+        connectionManager
+            .getSpaceCenter()
+            .transformDirection(
+                PROGRADE, currentVessel.getSurfaceVelocityReferenceFrame(), orbitalReference));
+  }
 
-    public void aimAtRadialOut() throws RPCException {
-        aimAtDirection(
-                connectionManager.getSpaceCenter().transformDirection(RADIAL, currentVessel.getSurfaceReferenceFrame(),
-                        orbitalReference));
-    }
+  public void aimAtRadialOut() throws RPCException {
+    aimAtDirection(
+        connectionManager
+            .getSpaceCenter()
+            .transformDirection(
+                RADIAL, currentVessel.getSurfaceReferenceFrame(), orbitalReference));
+  }
 
-    public void aimAtRetrograde() throws RPCException {
-        aimAtDirection(connectionManager.getSpaceCenter().transformDirection(RETROGRADE,
-                currentVessel.getSurfaceVelocityReferenceFrame(),
-                orbitalReference));
-    }
-
-    public void aimAtDirection(Triplet<Double,Double,Double> currentDirection) throws RPCException {
-        currentVessel.getAutoPilot().setReferenceFrame(orbitalReference);
-        currentVessel.getAutoPilot().setTargetDirection(currentDirection);
-    }
+  public void aimAtRetrograde() throws RPCException {
+    aimAtDirection(
+        connectionManager
+            .getSpaceCenter()
+            .transformDirection(
+                RETROGRADE, currentVessel.getSurfaceVelocityReferenceFrame(), orbitalReference));
+  }
 
+  public void aimAtDirection(Triplet<Double, Double, Double> currentDirection) throws RPCException {
+    currentVessel.getAutoPilot().setReferenceFrame(orbitalReference);
+    currentVessel.getAutoPilot().setTargetDirection(currentDirection);
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/PathFinding.java b/src/main/java/com/pesterenan/utils/PathFinding.java
index 8dd1a3f..bed5c53 100644
--- a/src/main/java/com/pesterenan/utils/PathFinding.java
+++ b/src/main/java/com/pesterenan/utils/PathFinding.java
@@ -3,217 +3,241 @@
 import com.pesterenan.controllers.Controller;
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
-
-import krpc.client.RPCException;
-import krpc.client.services.Drawing;
-import krpc.client.services.SpaceCenter;
-import krpc.client.services.SpaceCenter.Waypoint;
-import krpc.client.services.SpaceCenter.WaypointManager;
-import org.javatuples.Triplet;
-
 import java.io.IOException;
 import java.util.ArrayDeque;
 import java.util.ArrayList;
 import java.util.Deque;
 import java.util.List;
 import java.util.stream.Collectors;
+import krpc.client.RPCException;
+import krpc.client.services.Drawing;
+import krpc.client.services.SpaceCenter;
+import krpc.client.services.SpaceCenter.Waypoint;
+import krpc.client.services.SpaceCenter.WaypointManager;
+import org.javatuples.Triplet;
 
 public class PathFinding extends Controller {
 
-    private WaypointManager waypointManager;
-    private String waypointName;
-    private List<Waypoint> waypointsToReach;
-    private List<Vector> pathToTarget;
-    private Drawing drawing;
-    private Drawing.Polygon polygonPath;
-
-    public PathFinding(ConnectionManager connectionManager, VesselManager vesselManager) {
-        super(connectionManager, vesselManager);
-        initializeParameters();
-    }
-
-    private void initializeParameters() {
-        try {
-            waypointManager = getConnectionManager().getSpaceCenter().getWaypointManager();
-            waypointsToReach = new ArrayList<>();
-            pathToTarget = new ArrayList<>();
-            drawing = Drawing.newInstance(getConnectionManager().getConnection());
-        } catch (RPCException ignored) {
-        }
-    }
-
-    public void addWaypointsOnSameBody(String waypointName) throws RPCException {
-        this.waypointName = waypointName;
-        this.waypointsToReach = waypointManager.getWaypoints().stream().filter(this::hasSameName)
-                .collect(Collectors.toList());
-    }
-
-    private boolean hasSameName(Waypoint waypoint) {
-        try {
-            return waypoint.getName().toLowerCase().contains(waypointName.toLowerCase())
-                    && waypoint.getBody().equals(currentBody);
-        } catch (RPCException e) {
-            return false;
-        }
-    }
-
-    public Vector findNearestWaypoint() throws RPCException, IOException, InterruptedException {
-        waypointsToReach = waypointsToReach.stream().sorted((w1, w2) -> {
-            double w1Distance = 0;
-            double w2Distance = 0;
-            try {
-                w1Distance = Vector.distance(new Vector(getActiveVessel().position(orbitalReferenceFrame)),
-                        waypointPosOnSurface(w1));
-                w2Distance = Vector.distance(new Vector(getActiveVessel().position(orbitalReferenceFrame)),
-                        waypointPosOnSurface(w2));
-            } catch (RPCException e) {
-            }
-            return w1Distance > w2Distance ? 1 : -1;
-        }).collect(Collectors.toList());
-        waypointsToReach.forEach(System.out::println);
-        Waypoint currentWaypoint = waypointsToReach.get(0);
-        // for (Waypoint waypoint : waypointsToReach) {
-        // double waypointDistance = Vector.distance(new
-        // Vector(getNaveAtual().position(orbitalReferenceFrame)),
-        // waypointPosOnSurface(waypoint)
-        // );
-        // if (currentDistance > waypointDistance) {
-        // currentDistance = waypointDistance;
-        // currentWaypoint = waypoint;
-        // }
-        // }
-        return waypointPosOnSurface(currentWaypoint);
-    }
-
-    private Vector waypointPosOnSurface(Waypoint waypoint) throws RPCException {
-        return new Vector(
-                currentBody.surfacePosition(waypoint.getLatitude(), waypoint.getLongitude(), orbitalReferenceFrame));
-    }
-
-    public boolean isPathToTargetEmpty() {
-        return pathToTarget.isEmpty();
-    }
-
-    public boolean isWaypointsToReachEmpty() {
-        boolean allFromContract = waypointsToReach.stream().allMatch(v -> {
-            try {
-                return v.getHasContract();
-            } catch (RPCException ignored) {
-            }
-            return false;
-        });
-        return waypointsToReach.isEmpty() || allFromContract;
-    }
-
-    public Vector getPathsFirstPoint() {
-        return pathToTarget.get(0);
-    }
-
-    public void removePathsCurrentPoint() {
-        if (isPathToTargetEmpty()) {
-            return;
-        }
-        pathToTarget.remove(0);
-    }
-
-    public void removeWaypointFromList() throws RPCException {
-        if (waypointsToReach.isEmpty()) {
-            return;
-        }
-        waypointsToReach.remove(0);
-    }
-
-    /**
-     * Builds the path to the targetPosition, on the Celestial Body Reference (
-     * Orbital Ref )
-     *
-     * @param targetPosition
-     *            the target pos to build the path to
-     * @throws IOException
-     * @throws RPCException
-     * @throws InterruptedException
-     */
-    public void buildPathToTarget(Vector targetPosition) throws IOException, RPCException, InterruptedException {
-        // Get current rover Position on Orbital Ref, transform to Surf Ref and add 20
-        // centimeters on height:
-        Vector roverHeight = new Vector(0.2, 0.0, 0.0);
-        Vector currentRoverPos = transformSurfToOrb(
-                new Vector(getActiveVessel().position(surfaceReferenceFrame)).sum(roverHeight));
-        // Calculate distance from rover to target on Orbital Ref:
-        double distanceToTarget = Vector.distance(currentRoverPos, targetPosition);
-        // Add rover pos as first point, on Orbital Ref
-        pathToTarget.add(currentRoverPos);
-        // Calculate the next points positions and add to the list on Orbital Ref
-        int index = 0;
-        while (distanceToTarget > 50) {
-            if (Thread.interrupted()) {
-                throw new InterruptedException();
-            }
-            Vector currentPoint = pathToTarget.get(index);
-            Vector targetDirection = transformOrbToSurf(targetPosition).subtract(transformOrbToSurf(currentPoint))
-                    .normalize();
-            Vector nextPoint = transformSurfToOrb(
-                    calculateNextPoint(transformOrbToSurf(currentPoint), targetDirection));
-            pathToTarget.add(nextPoint);
-            index++;
-            double distanceBetweenPoints = Vector.distance(transformOrbToSurf(currentPoint),
-                    transformOrbToSurf(nextPoint));
-            distanceToTarget -= distanceBetweenPoints;
-        }
-        pathToTarget.add(getPosOnSurface(targetPosition));
-        drawPathToTarget(pathToTarget);
-    }
-
-    private void drawPathToTarget(List<Vector> path) throws RPCException {
-        Deque<Triplet<Double,Double,Double>> drawablePath = path.stream().map(Vector::toTriplet)
-                .collect(Collectors.toCollection(ArrayDeque::new));
-        drawablePath.offerFirst(new Triplet<>(0.0, 0.0, 0.0));
-        drawablePath.offerLast(new Triplet<>(0.0, 0.0, 0.0));
-        polygonPath = drawing.addPolygon(drawablePath.stream().collect(Collectors.toList()), orbitalReferenceFrame,
-                true);
-        polygonPath.setThickness(0.5f);
-        polygonPath.setColor(new Triplet<>(1.0, 0.5, 0.0));
-    }
-
-    public void removeDrawnPath() {
-        try {
-            polygonPath.remove();
-        } catch (RPCException ignored) {
-        }
-    }
-
-    private Vector calculateNextPoint(Vector currentPoint, Vector targetDirection) throws RPCException, IOException {
-        // PONTO REF SUPERFICIE: X = CIMA, Y = NORTE, Z = LESTE;
-        double stepDistance = 100.0;
-        // Calculate the next point position on surface:
-        Vector nextPoint = getPosOnSurface(
-                transformSurfToOrb(currentPoint.sum(targetDirection.multiply(stepDistance))));
-        return transformOrbToSurf(nextPoint).sum(new Vector(0.2, 0.0, 0.0));
-    }
-
-    public double raycastDistance(Vector currentPoint, Vector targetDirection, SpaceCenter.ReferenceFrame reference,
-            double searchDistance) throws RPCException {
-        return Math.min(
-                getConnectionManager().getSpaceCenter().raycastDistance(currentPoint.toTriplet(),
-                        targetDirection.toTriplet(), reference),
-                searchDistance);
-    }
-
-    private Vector getPosOnSurface(Vector vector) throws RPCException {
-        return new Vector(currentBody.surfacePosition(
-                currentBody.latitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame),
-                currentBody.longitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame), orbitalReferenceFrame));
-    }
-
-    private Vector transformSurfToOrb(Vector vector) throws IOException, RPCException {
-        return new Vector(
-                getConnectionManager().getSpaceCenter().transformPosition(vector.toTriplet(), surfaceReferenceFrame,
-                        orbitalReferenceFrame));
-    }
-
-    private Vector transformOrbToSurf(Vector vector) throws IOException, RPCException {
-        return new Vector(
-                getConnectionManager().getSpaceCenter().transformPosition(vector.toTriplet(), orbitalReferenceFrame,
-                        surfaceReferenceFrame));
-    }
+  private WaypointManager waypointManager;
+  private String waypointName;
+  private List<Waypoint> waypointsToReach;
+  private List<Vector> pathToTarget;
+  private Drawing drawing;
+  private Drawing.Polygon polygonPath;
+
+  public PathFinding(ConnectionManager connectionManager, VesselManager vesselManager) {
+    super(connectionManager, vesselManager);
+    initializeParameters();
+  }
+
+  private void initializeParameters() {
+    try {
+      waypointManager = getConnectionManager().getSpaceCenter().getWaypointManager();
+      waypointsToReach = new ArrayList<>();
+      pathToTarget = new ArrayList<>();
+      drawing = Drawing.newInstance(getConnectionManager().getConnection());
+    } catch (RPCException ignored) {
+    }
+  }
+
+  public void addWaypointsOnSameBody(String waypointName) throws RPCException {
+    this.waypointName = waypointName;
+    this.waypointsToReach =
+        waypointManager.getWaypoints().stream()
+            .filter(this::hasSameName)
+            .collect(Collectors.toList());
+  }
+
+  private boolean hasSameName(Waypoint waypoint) {
+    try {
+      return waypoint.getName().toLowerCase().contains(waypointName.toLowerCase())
+          && waypoint.getBody().equals(currentBody);
+    } catch (RPCException e) {
+      return false;
+    }
+  }
+
+  public Vector findNearestWaypoint() throws RPCException, IOException, InterruptedException {
+    waypointsToReach =
+        waypointsToReach.stream()
+            .sorted(
+                (w1, w2) -> {
+                  double w1Distance = 0;
+                  double w2Distance = 0;
+                  try {
+                    w1Distance =
+                        Vector.distance(
+                            new Vector(getActiveVessel().position(orbitalReferenceFrame)),
+                            waypointPosOnSurface(w1));
+                    w2Distance =
+                        Vector.distance(
+                            new Vector(getActiveVessel().position(orbitalReferenceFrame)),
+                            waypointPosOnSurface(w2));
+                  } catch (RPCException e) {
+                  }
+                  return w1Distance > w2Distance ? 1 : -1;
+                })
+            .collect(Collectors.toList());
+    waypointsToReach.forEach(System.out::println);
+    Waypoint currentWaypoint = waypointsToReach.get(0);
+    // for (Waypoint waypoint : waypointsToReach) {
+    // double waypointDistance = Vector.distance(new
+    // Vector(getNaveAtual().position(orbitalReferenceFrame)),
+    // waypointPosOnSurface(waypoint)
+    // );
+    // if (currentDistance > waypointDistance) {
+    // currentDistance = waypointDistance;
+    // currentWaypoint = waypoint;
+    // }
+    // }
+    return waypointPosOnSurface(currentWaypoint);
+  }
+
+  private Vector waypointPosOnSurface(Waypoint waypoint) throws RPCException {
+    return new Vector(
+        currentBody.surfacePosition(
+            waypoint.getLatitude(), waypoint.getLongitude(), orbitalReferenceFrame));
+  }
+
+  public boolean isPathToTargetEmpty() {
+    return pathToTarget.isEmpty();
+  }
+
+  public boolean isWaypointsToReachEmpty() {
+    boolean allFromContract =
+        waypointsToReach.stream()
+            .allMatch(
+                v -> {
+                  try {
+                    return v.getHasContract();
+                  } catch (RPCException ignored) {
+                  }
+                  return false;
+                });
+    return waypointsToReach.isEmpty() || allFromContract;
+  }
+
+  public Vector getPathsFirstPoint() {
+    return pathToTarget.get(0);
+  }
+
+  public void removePathsCurrentPoint() {
+    if (isPathToTargetEmpty()) {
+      return;
+    }
+    pathToTarget.remove(0);
+  }
+
+  public void removeWaypointFromList() throws RPCException {
+    if (waypointsToReach.isEmpty()) {
+      return;
+    }
+    waypointsToReach.remove(0);
+  }
+
+  /**
+   * Builds the path to the targetPosition, on the Celestial Body Reference ( Orbital Ref )
+   *
+   * @param targetPosition the target pos to build the path to
+   * @throws IOException
+   * @throws RPCException
+   * @throws InterruptedException
+   */
+  public void buildPathToTarget(Vector targetPosition)
+      throws IOException, RPCException, InterruptedException {
+    // Get current rover Position on Orbital Ref, transform to Surf Ref and add 20
+    // centimeters on height:
+    Vector roverHeight = new Vector(0.2, 0.0, 0.0);
+    Vector currentRoverPos =
+        transformSurfToOrb(
+            new Vector(getActiveVessel().position(surfaceReferenceFrame)).sum(roverHeight));
+    // Calculate distance from rover to target on Orbital Ref:
+    double distanceToTarget = Vector.distance(currentRoverPos, targetPosition);
+    // Add rover pos as first point, on Orbital Ref
+    pathToTarget.add(currentRoverPos);
+    // Calculate the next points positions and add to the list on Orbital Ref
+    int index = 0;
+    while (distanceToTarget > 50) {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      Vector currentPoint = pathToTarget.get(index);
+      Vector targetDirection =
+          transformOrbToSurf(targetPosition).subtract(transformOrbToSurf(currentPoint)).normalize();
+      Vector nextPoint =
+          transformSurfToOrb(calculateNextPoint(transformOrbToSurf(currentPoint), targetDirection));
+      pathToTarget.add(nextPoint);
+      index++;
+      double distanceBetweenPoints =
+          Vector.distance(transformOrbToSurf(currentPoint), transformOrbToSurf(nextPoint));
+      distanceToTarget -= distanceBetweenPoints;
+    }
+    pathToTarget.add(getPosOnSurface(targetPosition));
+    drawPathToTarget(pathToTarget);
+  }
+
+  private void drawPathToTarget(List<Vector> path) throws RPCException {
+    Deque<Triplet<Double, Double, Double>> drawablePath =
+        path.stream().map(Vector::toTriplet).collect(Collectors.toCollection(ArrayDeque::new));
+    drawablePath.offerFirst(new Triplet<>(0.0, 0.0, 0.0));
+    drawablePath.offerLast(new Triplet<>(0.0, 0.0, 0.0));
+    polygonPath =
+        drawing.addPolygon(
+            drawablePath.stream().collect(Collectors.toList()), orbitalReferenceFrame, true);
+    polygonPath.setThickness(0.5f);
+    polygonPath.setColor(new Triplet<>(1.0, 0.5, 0.0));
+  }
+
+  public void removeDrawnPath() {
+    try {
+      polygonPath.remove();
+    } catch (RPCException ignored) {
+    }
+  }
+
+  private Vector calculateNextPoint(Vector currentPoint, Vector targetDirection)
+      throws RPCException, IOException {
+    // PONTO REF SUPERFICIE: X = CIMA, Y = NORTE, Z = LESTE;
+    double stepDistance = 100.0;
+    // Calculate the next point position on surface:
+    Vector nextPoint =
+        getPosOnSurface(
+            transformSurfToOrb(currentPoint.sum(targetDirection.multiply(stepDistance))));
+    return transformOrbToSurf(nextPoint).sum(new Vector(0.2, 0.0, 0.0));
+  }
+
+  public double raycastDistance(
+      Vector currentPoint,
+      Vector targetDirection,
+      SpaceCenter.ReferenceFrame reference,
+      double searchDistance)
+      throws RPCException {
+    return Math.min(
+        getConnectionManager()
+            .getSpaceCenter()
+            .raycastDistance(currentPoint.toTriplet(), targetDirection.toTriplet(), reference),
+        searchDistance);
+  }
+
+  private Vector getPosOnSurface(Vector vector) throws RPCException {
+    return new Vector(
+        currentBody.surfacePosition(
+            currentBody.latitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame),
+            currentBody.longitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame),
+            orbitalReferenceFrame));
+  }
+
+  private Vector transformSurfToOrb(Vector vector) throws IOException, RPCException {
+    return new Vector(
+        getConnectionManager()
+            .getSpaceCenter()
+            .transformPosition(vector.toTriplet(), surfaceReferenceFrame, orbitalReferenceFrame));
+  }
+
+  private Vector transformOrbToSurf(Vector vector) throws IOException, RPCException {
+    return new Vector(
+        getConnectionManager()
+            .getSpaceCenter()
+            .transformPosition(vector.toTriplet(), orbitalReferenceFrame, surfaceReferenceFrame));
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/Telemetry.java b/src/main/java/com/pesterenan/utils/Telemetry.java
index ab46f77..96975ec 100644
--- a/src/main/java/com/pesterenan/utils/Telemetry.java
+++ b/src/main/java/com/pesterenan/utils/Telemetry.java
@@ -1,5 +1,10 @@
 package com.pesterenan.utils;
 
 public enum Telemetry {
-    ALT_SURF, ALTITUDE, APOAPSIS, PERIAPSIS, HORZ_SPEED, VERT_SPEED,
+  ALT_SURF,
+  ALTITUDE,
+  APOAPSIS,
+  PERIAPSIS,
+  HORZ_SPEED,
+  VERT_SPEED,
 }
diff --git a/src/main/java/com/pesterenan/utils/Utilities.java b/src/main/java/com/pesterenan/utils/Utilities.java
index a310da6..1ef0687 100644
--- a/src/main/java/com/pesterenan/utils/Utilities.java
+++ b/src/main/java/com/pesterenan/utils/Utilities.java
@@ -4,79 +4,90 @@
 
 public class Utilities {
 
-    public static double linearInterpolation(double start, double end, double value) {
-        return (1.0 - value) * start + value * end;
-    }
+  public static double linearInterpolation(double start, double end, double value) {
+    return (1.0 - value) * start + value * end;
+  }
 
-    public static Vector linearInterpolation(Vector start, Vector end, double value) {
-        double x = linearInterpolation(start.x, end.x, value);
-        double y = linearInterpolation(start.y, end.y, value);
-        double z = linearInterpolation(start.z, end.z, value);
-        return new Vector(x, y, z);
-    }
+  public static Vector linearInterpolation(Vector start, Vector end, double value) {
+    double x = linearInterpolation(start.x, end.x, value);
+    double y = linearInterpolation(start.y, end.y, value);
+    double z = linearInterpolation(start.z, end.z, value);
+    return new Vector(x, y, z);
+  }
 
-    public static double inverseLinearInterpolation(double start, double end, double value) {
-        return (value - start) / (end - start);
-    }
+  public static double inverseLinearInterpolation(double start, double end, double value) {
+    return (value - start) / (end - start);
+  }
 
-    public static Vector inverseLinearInterpolation(Vector start, Vector end, double value) {
-        double x = inverseLinearInterpolation(start.x, end.x, value);
-        double y = inverseLinearInterpolation(start.y, end.y, value);
-        double z = inverseLinearInterpolation(start.z, end.z, value);
-        return new Vector(x, y, z);
-    }
+  public static Vector inverseLinearInterpolation(Vector start, Vector end, double value) {
+    double x = inverseLinearInterpolation(start.x, end.x, value);
+    double y = inverseLinearInterpolation(start.y, end.y, value);
+    double z = inverseLinearInterpolation(start.z, end.z, value);
+    return new Vector(x, y, z);
+  }
 
-    public static double remap(double inputMin, double inputMax, double outputMin, double outputMax, double value,
-            boolean clampOutput) {
-        double between = inverseLinearInterpolation(inputMin, inputMax, value);
-        double remappedOutput = linearInterpolation(outputMin, outputMax, between);
-        return clampOutput ? clamp(remappedOutput, outputMin, outputMax) : remappedOutput;
-    }
+  public static double remap(
+      double inputMin,
+      double inputMax,
+      double outputMin,
+      double outputMax,
+      double value,
+      boolean clampOutput) {
+    double between = inverseLinearInterpolation(inputMin, inputMax, value);
+    double remappedOutput = linearInterpolation(outputMin, outputMax, between);
+    return clampOutput ? clamp(remappedOutput, outputMin, outputMax) : remappedOutput;
+  }
 
-    public static double clamp(double value, double minimum, double maximum) {
-        return Math.max(Math.min(value, maximum), minimum);
-    }
+  public static double clamp(double value, double minimum, double maximum) {
+    return Math.max(Math.min(value, maximum), minimum);
+  }
 
-    // Easing functions
-    public static double easeInCirc(double value) {
-        return 1 - Math.sqrt(1 - Math.pow(clamp(value, 0, 1), 2));
-    }
+  // Easing functions
+  public static double easeInCirc(double value) {
+    return 1 - Math.sqrt(1 - Math.pow(clamp(value, 0, 1), 2));
+  }
 
-    public static double easeInSine(double value) {
-        return 1 - Math.cos((value * Math.PI) / 2);
-    }
+  public static double easeInSine(double value) {
+    return 1 - Math.cos((value * Math.PI) / 2);
+  }
 
-    public static double easeInQuad(double value) {
-        return Math.pow(value, 2);
-    }
+  public static double easeInQuad(double value) {
+    return Math.pow(value, 2);
+  }
 
-    public static double easeInCubic(double value) {
-        return Math.pow(value, 3);
-    }
+  public static double easeInCubic(double value) {
+    return Math.pow(value, 3);
+  }
 
-    public static double easeInExpo(double value) {
-        return value == 0 ? 0 : Math.pow(2, 10 * value - 10);
-    }
+  public static double easeInExpo(double value) {
+    return value == 0 ? 0 : Math.pow(2, 10 * value - 10);
+  }
 
-    public static String convertToMetersMagnitudes(double meters) {
-        String decimalPlaces = "%.2f"; //$NON-NLS-1$
-        if (meters >= 1000000000) {
-            return String.format(decimalPlaces + "Gm", meters / 1000000000); //$NON-NLS-1$
-        } else if (meters >= 1000000) {
-            return String.format(decimalPlaces + "Mm", meters / 1000000); //$NON-NLS-1$
-        } else if (meters >= 1000) {
-            return String.format(decimalPlaces + "km", meters / 1000); //$NON-NLS-1$
-        } else {
-            return String.format(decimalPlaces + "m", meters); //$NON-NLS-1$
-        }
+  public static String convertToMetersMagnitudes(double meters) {
+    String decimalPlaces = "%.2f"; // $NON-NLS-1$
+    if (meters >= 1000000000) {
+      return String.format(decimalPlaces + "Gm", meters / 1000000000); // $NON-NLS-1$
+    } else if (meters >= 1000000) {
+      return String.format(decimalPlaces + "Mm", meters / 1000000); // $NON-NLS-1$
+    } else if (meters >= 1000) {
+      return String.format(decimalPlaces + "km", meters / 1000); // $NON-NLS-1$
+    } else {
+      return String.format(decimalPlaces + "m", meters); // $NON-NLS-1$
     }
+  }
 
-    public String formatElapsedTime(Double totalSeconds) {
-        int years = (totalSeconds.intValue() / 9201600);
-        int days = (totalSeconds.intValue() / 21600) % 426;
-        int hours = (totalSeconds.intValue() / 3600) % 6;
-        int minutes = (totalSeconds.intValue() % 3600) / 60;
-        int seconds = totalSeconds.intValue() % 60;
-        return String.format(Bundle.getString("pnl_tel_lbl_date_template"), years, days, hours, minutes, seconds); // $NON-NLS-1$
-    }
+  public String formatElapsedTime(Double totalSeconds) {
+    int years = (totalSeconds.intValue() / 9201600);
+    int days = (totalSeconds.intValue() / 21600) % 426;
+    int hours = (totalSeconds.intValue() / 3600) % 6;
+    int minutes = (totalSeconds.intValue() % 3600) / 60;
+    int seconds = totalSeconds.intValue() % 60;
+    return String.format(
+        Bundle.getString("pnl_tel_lbl_date_template"),
+        years,
+        days,
+        hours,
+        minutes,
+        seconds); // $NON-NLS-1$
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/Vector.java b/src/main/java/com/pesterenan/utils/Vector.java
index 2919433..975b8c6 100644
--- a/src/main/java/com/pesterenan/utils/Vector.java
+++ b/src/main/java/com/pesterenan/utils/Vector.java
@@ -4,234 +4,212 @@
 
 public class Vector {
 
-    public double x = 0;
-    public double y = 0;
-    public double z = 0;
-
-    public Vector() {
-
-    }
-
-    /**
-     * Cria um vetor informando valores X,Y,Z manualmente
-     *
-     * @param X
-     *            - Valor eixo X
-     * @param Y
-     *            - Valor eixo Y
-     * @param Z
-     *            - Valor eixo Z
-     */
-    public Vector(double X, double Y, double Z) {
-        this.x = X;
-        this.y = Y;
-        this.z = Z;
-    }
-
-    /**
-     * Cria um vetor a partir de outro Vetor
-     *
-     * @param newVector
-     *            - Outro Vetor
-     */
-    public Vector(Vector newVector) {
-        this.x = newVector.x;
-        this.y = newVector.y;
-        this.z = newVector.z;
-    }
-
-    /**
-     * Cria um vetor com valores de uma tupla (Triplet)
-     *
-     * @param triplet
-     *            - Triplet com valores X,Y,Z em conjunto
-     */
-    public Vector(Triplet<Double,Double,Double> triplet) {
-        this.x = triplet.getValue0();
-        this.y = triplet.getValue1();
-        this.z = triplet.getValue2();
-    }
-
-    /**
-     * Calcula o ângulo do vetor de direção informado
-     *
-     * @return - O ângulo da direção desse vetor, entre -180 a 180 graus.
-     */
-    public double heading() {
-        return Math.toDegrees(Math.atan2(this.y, this.x));
-    }
-
-    public static double distance(Vector start, Vector end) {
-        return end.subtract(start).magnitude();
-    }
-
-    /**
-     * Calcula o Vetor da direção do ponto de origem até o alvo.
-     *
-     * @param start
-     *            - Vetor contendo os componentes da posição do ponto de origem.
-     * @param end
-     *            - Vetor contendo os componentes da posição do alvo.
-     * @return - Vetor com a soma dos valores do ponto de origem com os valores do
-     *         alvo.
-     */
-    public static Vector targetDirection(Vector start, Vector end) {
-        return end.subtract(start).normalize();
-    }
-
-    /**
-     * Calcula o Vetor da direção CONTRÁRIA do ponto de origem até o alvo.
-     *
-     * @param start
-     *            - Tupla contendo os componentes da posição do ponto de origem.
-     * @param end
-     *            - Tupla contendo os componentes da posição do alvo.
-     * @return - Vetor inverso, com a soma dos valores do ponto de origem com o
-     *         negativo dos valores do alvo.
-     */
-    public static Vector targetOppositeDirection(Vector start, Vector end) {
-        return end.subtract(start).multiply(-1).normalize();
-    }
-
-    /**
-     * Retorna um String com os valores do Vetor
-     *
-     * @return ex: "(X: 3.0, Y: 4.0, Z: 5.0)"
-     */
-    @Override
-    public String toString() {
-        return String.format("( X: %.2f Y: %.2f Z: %.2f)", this.x, this.y, this.z);
-    }
-
-    /**
-     * Modifica um vetor informando novos valores X,Y,Z
-     *
-     * @param X
-     *            - Valor eixo X
-     * @param Y
-     *            - Valor eixo Y
-     * @param Z
-     *            - Valor eixo Z
-     */
-    public void setVector(double X, double Y, double Z) {
-        this.x = X;
-        this.y = Y;
-        this.z = Z;
-    }
-
-    /**
-     * @return Retorna um novo Vetor com os valores X e Y invertidos
-     */
-    public Vector invertXY() {
-        return new Vector(y, x, z);
-    }
-
-    /**
-     * Magnitude do Vetor
-     *
-     * @return Retorna a magnitude (comprimento) do Vetor no eixo X e Y.
-     */
-    public double magnitudeXY() {
-        return Math.sqrt(x * x + y * y);
-    }
-
-    /**
-     * Magnitude do Vetor
-     *
-     * @return Retorna a magnitude (comprimento) do Vetor em todos os eixos.
-     */
-    public double magnitude() {
-        return Math.sqrt(x * x + y * y + z * z);
-    }
-
-    /**
-     * Normalizar Vetor
-     *
-     * @return Retorna um novo Vetor normalizado (magnitude de 1).
-     */
-    public Vector normalize() {
-        double m = magnitude();
-        if (m != 0) {
-            return new Vector(x / m, y / m, z / m);
-        }
-        return new Vector(x, y, z);
-    }
-
-    /**
-     * Soma os componentes de outro vetor com o vetor informado
-     *
-     * @param otherVector
-     *            - Vetor para somar os componentes
-     * @return Novo vetor com a soma dos componentes dos dois
-     */
-
-    public double dotProduct(Vector otherVector) {
-        return (x * otherVector.x + y * otherVector.y + z * otherVector.z);
-    }
-
-    public double determinant(Vector otherVector) {
-        return (x * otherVector.z - y * otherVector.y - z * otherVector.x);
-    }
-
-    /**
-     * Soma os componentes de outro vetor com o vetor informado
-     *
-     * @param otherVector
-     *            - Vetor para somar os componentes
-     * @return Novo vetor com a soma dos componentes dos dois
-     */
-    public Vector sum(Vector otherVector) {
-        return new Vector(x + otherVector.x, y + otherVector.y, z + otherVector.z);
-    }
-
-    /**
-     * Subtrai os componentes de outro vetor com o vetor informado
-     *
-     * @param otherVector
-     *            - Vetor para subtrair os componentes
-     * @return Novo vetor com a subtração dos componentes dos dois
-     */
-    public Vector subtract(Vector otherVector) {
-        return new Vector(x - otherVector.x, y - otherVector.y, z - otherVector.z);
-    }
-
-    /**
-     * Multiplica os componentes desse vetor por uma escalar
-     *
-     * @param scalar
-     *            - Fator para multiplicar os componentes
-     * @return Novo vetor com os componentes multiplicados pela escalar. Caso a
-     *         escalar informada for 0, o Vetor retornado terá 0 como seus
-     *         componentes.
-     */
-    public Vector multiply(double scalar) {
-        if (scalar != 0) {
-            return new Vector(x * scalar, y * scalar, z * scalar);
-        }
-        return new Vector(0, 0, 0);
-    }
-
-    /**
-     * Divide os componentes desse vetor por uma escalar
-     *
-     * @param scalar
-     *            - Fator para dividir os componentes
-     * @return Novo vetor com os componentes divididos pela escalar. Caso a escalar
-     *         informada for 0, o Vetor retornado terá 0 como seus componentes.
-     */
-    public Vector divide(double scalar) {
-        if (scalar != 0) {
-            return new Vector(x / scalar, y / scalar, z / scalar);
-        }
-        return new Vector(0, 0, 0);
-    }
-
-    /**
-     * Transforma um Vetor em uma tupla com os valores.
-     *
-     * @return - Nova tupla contendo os valores do vetor em seus componentes.
-     */
-    public Triplet<Double,Double,Double> toTriplet() {
-        return new Triplet<>(this.x, this.y, this.z);
-    }
+  public double x = 0;
+  public double y = 0;
+  public double z = 0;
+
+  public Vector() {}
+
+  /**
+   * Cria um vetor informando valores X,Y,Z manualmente
+   *
+   * @param X - Valor eixo X
+   * @param Y - Valor eixo Y
+   * @param Z - Valor eixo Z
+   */
+  public Vector(double X, double Y, double Z) {
+    this.x = X;
+    this.y = Y;
+    this.z = Z;
+  }
+
+  /**
+   * Cria um vetor a partir de outro Vetor
+   *
+   * @param newVector - Outro Vetor
+   */
+  public Vector(Vector newVector) {
+    this.x = newVector.x;
+    this.y = newVector.y;
+    this.z = newVector.z;
+  }
+
+  /**
+   * Cria um vetor com valores de uma tupla (Triplet)
+   *
+   * @param triplet - Triplet com valores X,Y,Z em conjunto
+   */
+  public Vector(Triplet<Double, Double, Double> triplet) {
+    this.x = triplet.getValue0();
+    this.y = triplet.getValue1();
+    this.z = triplet.getValue2();
+  }
+
+  /**
+   * Calcula o ângulo do vetor de direção informado
+   *
+   * @return - O ângulo da direção desse vetor, entre -180 a 180 graus.
+   */
+  public double heading() {
+    return Math.toDegrees(Math.atan2(this.y, this.x));
+  }
+
+  public static double distance(Vector start, Vector end) {
+    return end.subtract(start).magnitude();
+  }
+
+  /**
+   * Calcula o Vetor da direção do ponto de origem até o alvo.
+   *
+   * @param start - Vetor contendo os componentes da posição do ponto de origem.
+   * @param end - Vetor contendo os componentes da posição do alvo.
+   * @return - Vetor com a soma dos valores do ponto de origem com os valores do alvo.
+   */
+  public static Vector targetDirection(Vector start, Vector end) {
+    return end.subtract(start).normalize();
+  }
+
+  /**
+   * Calcula o Vetor da direção CONTRÁRIA do ponto de origem até o alvo.
+   *
+   * @param start - Tupla contendo os componentes da posição do ponto de origem.
+   * @param end - Tupla contendo os componentes da posição do alvo.
+   * @return - Vetor inverso, com a soma dos valores do ponto de origem com o negativo dos valores
+   *     do alvo.
+   */
+  public static Vector targetOppositeDirection(Vector start, Vector end) {
+    return end.subtract(start).multiply(-1).normalize();
+  }
+
+  /**
+   * Retorna um String com os valores do Vetor
+   *
+   * @return ex: "(X: 3.0, Y: 4.0, Z: 5.0)"
+   */
+  @Override
+  public String toString() {
+    return String.format("( X: %.2f Y: %.2f Z: %.2f)", this.x, this.y, this.z);
+  }
+
+  /**
+   * Modifica um vetor informando novos valores X,Y,Z
+   *
+   * @param X - Valor eixo X
+   * @param Y - Valor eixo Y
+   * @param Z - Valor eixo Z
+   */
+  public void setVector(double X, double Y, double Z) {
+    this.x = X;
+    this.y = Y;
+    this.z = Z;
+  }
+
+  /**
+   * @return Retorna um novo Vetor com os valores X e Y invertidos
+   */
+  public Vector invertXY() {
+    return new Vector(y, x, z);
+  }
+
+  /**
+   * Magnitude do Vetor
+   *
+   * @return Retorna a magnitude (comprimento) do Vetor no eixo X e Y.
+   */
+  public double magnitudeXY() {
+    return Math.sqrt(x * x + y * y);
+  }
+
+  /**
+   * Magnitude do Vetor
+   *
+   * @return Retorna a magnitude (comprimento) do Vetor em todos os eixos.
+   */
+  public double magnitude() {
+    return Math.sqrt(x * x + y * y + z * z);
+  }
+
+  /**
+   * Normalizar Vetor
+   *
+   * @return Retorna um novo Vetor normalizado (magnitude de 1).
+   */
+  public Vector normalize() {
+    double m = magnitude();
+    if (m != 0) {
+      return new Vector(x / m, y / m, z / m);
+    }
+    return new Vector(x, y, z);
+  }
+
+  /**
+   * Soma os componentes de outro vetor com o vetor informado
+   *
+   * @param otherVector - Vetor para somar os componentes
+   * @return Novo vetor com a soma dos componentes dos dois
+   */
+  public double dotProduct(Vector otherVector) {
+    return (x * otherVector.x + y * otherVector.y + z * otherVector.z);
+  }
+
+  public double determinant(Vector otherVector) {
+    return (x * otherVector.z - y * otherVector.y - z * otherVector.x);
+  }
+
+  /**
+   * Soma os componentes de outro vetor com o vetor informado
+   *
+   * @param otherVector - Vetor para somar os componentes
+   * @return Novo vetor com a soma dos componentes dos dois
+   */
+  public Vector sum(Vector otherVector) {
+    return new Vector(x + otherVector.x, y + otherVector.y, z + otherVector.z);
+  }
+
+  /**
+   * Subtrai os componentes de outro vetor com o vetor informado
+   *
+   * @param otherVector - Vetor para subtrair os componentes
+   * @return Novo vetor com a subtração dos componentes dos dois
+   */
+  public Vector subtract(Vector otherVector) {
+    return new Vector(x - otherVector.x, y - otherVector.y, z - otherVector.z);
+  }
+
+  /**
+   * Multiplica os componentes desse vetor por uma escalar
+   *
+   * @param scalar - Fator para multiplicar os componentes
+   * @return Novo vetor com os componentes multiplicados pela escalar. Caso a escalar informada for
+   *     0, o Vetor retornado terá 0 como seus componentes.
+   */
+  public Vector multiply(double scalar) {
+    if (scalar != 0) {
+      return new Vector(x * scalar, y * scalar, z * scalar);
+    }
+    return new Vector(0, 0, 0);
+  }
+
+  /**
+   * Divide os componentes desse vetor por uma escalar
+   *
+   * @param scalar - Fator para dividir os componentes
+   * @return Novo vetor com os componentes divididos pela escalar. Caso a escalar informada for 0, o
+   *     Vetor retornado terá 0 como seus componentes.
+   */
+  public Vector divide(double scalar) {
+    if (scalar != 0) {
+      return new Vector(x / scalar, y / scalar, z / scalar);
+    }
+    return new Vector(0, 0, 0);
+  }
+
+  /**
+   * Transforma um Vetor em uma tupla com os valores.
+   *
+   * @return - Nova tupla contendo os valores do vetor em seus componentes.
+   */
+  public Triplet<Double, Double, Double> toTriplet() {
+    return new Triplet<>(this.x, this.y, this.z);
+  }
 }
diff --git a/src/main/java/com/pesterenan/utils/VersionUtil.java b/src/main/java/com/pesterenan/utils/VersionUtil.java
index 728153b..053d9a9 100644
--- a/src/main/java/com/pesterenan/utils/VersionUtil.java
+++ b/src/main/java/com/pesterenan/utils/VersionUtil.java
@@ -3,28 +3,29 @@
 import java.io.File;
 import java.io.FileReader;
 import java.io.InputStreamReader;
-
 import org.apache.maven.model.Model;
 import org.apache.maven.model.io.xpp3.MavenXpp3Reader;
 
 public class VersionUtil {
-    public static String getVersion() {
-        String version = "N/A";
-        MavenXpp3Reader reader = new MavenXpp3Reader();
-        Model model;
-        try {
-            if ((new File("pom.xml")).exists()) {
-                model = reader.read(new FileReader("pom.xml"));
-            } else {
-                model = reader.read(new InputStreamReader(
-                        VersionUtil.class.getResourceAsStream("/META-INF/maven/com.pesterenan/MechPeste/pom.xml")));
-            }
-            version = model.getVersion();
-            return version;
-        } catch (Exception e) {
-            e.printStackTrace();
-
-        }
-        return version;
+  public static String getVersion() {
+    String version = "N/A";
+    MavenXpp3Reader reader = new MavenXpp3Reader();
+    Model model;
+    try {
+      if ((new File("pom.xml")).exists()) {
+        model = reader.read(new FileReader("pom.xml"));
+      } else {
+        model =
+            reader.read(
+                new InputStreamReader(
+                    VersionUtil.class.getResourceAsStream(
+                        "/META-INF/maven/com.pesterenan/MechPeste/pom.xml")));
+      }
+      version = model.getVersion();
+      return version;
+    } catch (Exception e) {
+      e.printStackTrace();
     }
+    return version;
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/AboutJFrame.java b/src/main/java/com/pesterenan/views/AboutJFrame.java
index e3a5919..1466bf2 100644
--- a/src/main/java/com/pesterenan/views/AboutJFrame.java
+++ b/src/main/java/com/pesterenan/views/AboutJFrame.java
@@ -1,7 +1,11 @@
 package com.pesterenan.views;
 
-import java.awt.Font;
+import static com.pesterenan.views.MainGui.BTN_DIMENSION;
+import static com.pesterenan.views.MainGui.centerDialogOnScreen;
+import static com.pesterenan.views.MainGui.createMarginComponent;
 
+import com.pesterenan.utils.VersionUtil;
+import java.awt.Font;
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
@@ -9,75 +13,72 @@
 import javax.swing.JLabel;
 import javax.swing.JPanel;
 
-import com.pesterenan.utils.VersionUtil;
-
-import static com.pesterenan.views.MainGui.BTN_DIMENSION;
-import static com.pesterenan.views.MainGui.centerDialogOnScreen;
-import static com.pesterenan.views.MainGui.createMarginComponent;
-
 public class AboutJFrame extends JDialog implements UIMethods {
 
-    private static final long serialVersionUID = 0L;
-    private JLabel lblMechpeste, lblAboutInfo;
-    private JButton btnOk;
+  private static final long serialVersionUID = 0L;
+  private JLabel lblMechpeste, lblAboutInfo;
+  private JButton btnOk;
 
-    public AboutJFrame() {
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
+  public AboutJFrame() {
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
 
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblMechpeste = new JLabel("MechPeste - v." + VersionUtil.getVersion());
-        lblAboutInfo = new JLabel(
-                "<html>Esse app foi desenvolvido com o intuito de auxiliar o controle de naves<br>no game Kerbal Space Program.<br><br>"
-                        + "Não há garantias sobre o controle exato do app, portanto fique atento <br>"
-                        + "para retomar o controle quando necessário.<br><br>" + "Feito por: Renan Torres<br>"
-                        + "Visite meu canal no Youtube! - https://www.youtube.com/@Pesterenan</html>");
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblMechpeste = new JLabel("MechPeste - v." + VersionUtil.getVersion());
+    lblAboutInfo =
+        new JLabel(
+            "<html>Esse app foi desenvolvido com o intuito de auxiliar o controle de naves<br>no game Kerbal Space Program.<br><br>"
+                + "Não há garantias sobre o controle exato do app, portanto fique atento <br>"
+                + "para retomar o controle quando necessário.<br><br>"
+                + "Feito por: Renan Torres<br>"
+                + "Visite meu canal no Youtube! - https://www.youtube.com/@Pesterenan</html>");
 
-        // Buttons:
-        btnOk = new JButton("OK");
-    }
+    // Buttons:
+    btnOk = new JButton("OK");
+  }
 
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setTitle("MechPeste - por Pesterenan");
-        setBounds(centerDialogOnScreen());
-        setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE);
-        setResizable(false);
-        setAlwaysOnTop(true);
-        setModalityType(ModalityType.APPLICATION_MODAL);
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setTitle("MechPeste - por Pesterenan");
+    setBounds(centerDialogOnScreen());
+    setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE);
+    setResizable(false);
+    setAlwaysOnTop(true);
+    setModalityType(ModalityType.APPLICATION_MODAL);
 
-        // Setting-up components:
-        lblMechpeste.setFont(new Font("Trajan Pro", Font.BOLD, 18));
-        lblMechpeste.setAlignmentX(CENTER_ALIGNMENT);
-        lblAboutInfo.setAlignmentX(CENTER_ALIGNMENT);
+    // Setting-up components:
+    lblMechpeste.setFont(new Font("Trajan Pro", Font.BOLD, 18));
+    lblMechpeste.setAlignmentX(CENTER_ALIGNMENT);
+    lblAboutInfo.setAlignmentX(CENTER_ALIGNMENT);
 
-        btnOk.addActionListener(e -> {
-            this.dispose();
+    btnOk.addActionListener(
+        e -> {
+          this.dispose();
         });
-        btnOk.setPreferredSize(BTN_DIMENSION);
-        btnOk.setMaximumSize(BTN_DIMENSION);
-        btnOk.setAlignmentX(CENTER_ALIGNMENT);
-    }
+    btnOk.setPreferredSize(BTN_DIMENSION);
+    btnOk.setMaximumSize(BTN_DIMENSION);
+    btnOk.setAlignmentX(CENTER_ALIGNMENT);
+  }
 
-    @Override
-    public void layoutComponents() {
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
-        pnlMain.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
-        pnlMain.add(createMarginComponent(10, 10));
-        pnlMain.add(lblMechpeste);
-        pnlMain.add(createMarginComponent(10, 10));
-        pnlMain.add(lblAboutInfo);
-        pnlMain.add(Box.createVerticalGlue());
-        pnlMain.add(btnOk);
-        pnlMain.add(createMarginComponent(10, 10));
+  @Override
+  public void layoutComponents() {
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
+    pnlMain.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
+    pnlMain.add(createMarginComponent(10, 10));
+    pnlMain.add(lblMechpeste);
+    pnlMain.add(createMarginComponent(10, 10));
+    pnlMain.add(lblAboutInfo);
+    pnlMain.add(Box.createVerticalGlue());
+    pnlMain.add(btnOk);
+    pnlMain.add(createMarginComponent(10, 10));
 
-        getContentPane().add(pnlMain);
-        setVisible(true);
-    }
+    getContentPane().add(pnlMain);
+    setVisible(true);
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/ChangeVesselDialog.java b/src/main/java/com/pesterenan/views/ChangeVesselDialog.java
index 328ae06..507986e 100644
--- a/src/main/java/com/pesterenan/views/ChangeVesselDialog.java
+++ b/src/main/java/com/pesterenan/views/ChangeVesselDialog.java
@@ -2,8 +2,8 @@
 
 import static com.pesterenan.views.MainGui.BTN_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
 import java.awt.event.ActionEvent;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.ButtonGroup;
@@ -18,149 +18,148 @@
 import javax.swing.border.TitledBorder;
 import javax.swing.event.ListSelectionEvent;
 
-import com.pesterenan.model.VesselManager;
-
 public class ChangeVesselDialog extends JDialog implements UIMethods {
 
-    private static final long serialVersionUID = 1L;
-    private JLabel lblPanelInfo, lblVesselStatus;
-    private JList<String> listActiveVessels;
-    private JButton btnChangeToVessel;
-    private JRadioButton rbClosestVessels, rbOnSameBody, rbAllVessels;
-    private VesselManager vesselManager;
-
-    public ChangeVesselDialog(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblPanelInfo = new JLabel("Use esse painel para verificar e trocar para as naves próximas.");
-        lblVesselStatus = new JLabel("Selecione uma nave na lista.");
-
-        // Buttons:
-        btnChangeToVessel = new JButton("Mudar para");
-        rbClosestVessels = new JRadioButton("Naves próximas (10km)");
-        rbOnSameBody = new JRadioButton("No mesmo corpo celeste");
-        rbAllVessels = new JRadioButton("Todas as naves");
-
-        // Misc:
-        listActiveVessels = new JList<>(vesselManager.getActiveVessels("closest"));
-        listActiveVessels.setToolTipText("Aqui são mostradas as naves próximas de acordo com o filtro da esquerda.");
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setTitle("Troca de naves");
-        setBounds(MainGui.centerDialogOnScreen());
-        setModal(true);
-        setModalityType(ModalityType.MODELESS);
-        setResizable(false);
-        setAlwaysOnTop(true);
-
-        // Setting-up components:
-        btnChangeToVessel.addActionListener(this::handleChangeToVessel);
-        btnChangeToVessel.setPreferredSize(BTN_DIMENSION);
-        btnChangeToVessel.setMaximumSize(BTN_DIMENSION);
-
-        rbClosestVessels.setSelected(true);
-        rbClosestVessels.addActionListener(this::handleBuildVesselList);
-        rbOnSameBody.addActionListener(this::handleBuildVesselList);
-        rbAllVessels.addActionListener(this::handleBuildVesselList);
-        rbClosestVessels.setActionCommand("closest");
-        rbOnSameBody.setActionCommand("samebody");
-        rbAllVessels.setActionCommand("all");
-
-        ButtonGroup rbBtnGroup = new ButtonGroup();
-        rbBtnGroup.add(rbClosestVessels);
-        rbBtnGroup.add(rbOnSameBody);
-        rbBtnGroup.add(rbAllVessels);
-
-        listActiveVessels.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
-        listActiveVessels.addListSelectionListener(e -> handleListActiveVesselsValueChanged(e));
+  private static final long serialVersionUID = 1L;
+  private JLabel lblPanelInfo, lblVesselStatus;
+  private JList<String> listActiveVessels;
+  private JButton btnChangeToVessel;
+  private JRadioButton rbClosestVessels, rbOnSameBody, rbAllVessels;
+  private VesselManager vesselManager;
+
+  public ChangeVesselDialog(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblPanelInfo = new JLabel("Use esse painel para verificar e trocar para as naves próximas.");
+    lblVesselStatus = new JLabel("Selecione uma nave na lista.");
+
+    // Buttons:
+    btnChangeToVessel = new JButton("Mudar para");
+    rbClosestVessels = new JRadioButton("Naves próximas (10km)");
+    rbOnSameBody = new JRadioButton("No mesmo corpo celeste");
+    rbAllVessels = new JRadioButton("Todas as naves");
+
+    // Misc:
+    listActiveVessels = new JList<>(vesselManager.getActiveVessels("closest"));
+    listActiveVessels.setToolTipText(
+        "Aqui são mostradas as naves próximas de acordo com o filtro da esquerda.");
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setTitle("Troca de naves");
+    setBounds(MainGui.centerDialogOnScreen());
+    setModal(true);
+    setModalityType(ModalityType.MODELESS);
+    setResizable(false);
+    setAlwaysOnTop(true);
+
+    // Setting-up components:
+    btnChangeToVessel.addActionListener(this::handleChangeToVessel);
+    btnChangeToVessel.setPreferredSize(BTN_DIMENSION);
+    btnChangeToVessel.setMaximumSize(BTN_DIMENSION);
+
+    rbClosestVessels.setSelected(true);
+    rbClosestVessels.addActionListener(this::handleBuildVesselList);
+    rbOnSameBody.addActionListener(this::handleBuildVesselList);
+    rbAllVessels.addActionListener(this::handleBuildVesselList);
+    rbClosestVessels.setActionCommand("closest");
+    rbOnSameBody.setActionCommand("samebody");
+    rbAllVessels.setActionCommand("all");
+
+    ButtonGroup rbBtnGroup = new ButtonGroup();
+    rbBtnGroup.add(rbClosestVessels);
+    rbBtnGroup.add(rbOnSameBody);
+    rbBtnGroup.add(rbAllVessels);
+
+    listActiveVessels.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
+    listActiveVessels.addListSelectionListener(e -> handleListActiveVesselsValueChanged(e));
+  }
+
+  @Override
+  public void layoutComponents() {
+
+    JPanel pnlSearchArea = new JPanel();
+    pnlSearchArea.setBorder(new TitledBorder(null, "\u00C1rea de procura:"));
+    pnlSearchArea.setLayout(new BoxLayout(pnlSearchArea, BoxLayout.Y_AXIS));
+    pnlSearchArea.add(rbClosestVessels);
+    pnlSearchArea.add(rbOnSameBody);
+    pnlSearchArea.add(rbAllVessels);
+
+    JPanel pnlOptions = new JPanel();
+    pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
+    pnlOptions.add(pnlSearchArea);
+    pnlOptions.add(Box.createVerticalStrut(10));
+    pnlOptions.add(btnChangeToVessel);
+    btnChangeToVessel.setAlignmentX(LEFT_ALIGNMENT);
+    pnlSearchArea.setAlignmentX(LEFT_ALIGNMENT);
+
+    JPanel pnlScroll = new JPanel();
+    pnlScroll.setLayout(new BoxLayout(pnlScroll, BoxLayout.Y_AXIS));
+    JScrollPane scrollPane = new JScrollPane();
+    scrollPane.setViewportView(listActiveVessels);
+    pnlScroll.add(Box.createVerticalStrut(6));
+    pnlScroll.add(scrollPane);
+    pnlScroll.add(Box.createHorizontalStrut(190));
+
+    JPanel pnlOptionsAndList = new JPanel();
+    pnlOptionsAndList.setLayout(new BoxLayout(pnlOptionsAndList, BoxLayout.X_AXIS));
+    pnlOptions.setAlignmentY(TOP_ALIGNMENT);
+    pnlScroll.setAlignmentY(TOP_ALIGNMENT);
+    pnlOptionsAndList.add(pnlOptions);
+    pnlOptionsAndList.add(Box.createHorizontalStrut(5));
+    pnlOptionsAndList.add(pnlScroll);
+
+    JPanel pnlStatus = new JPanel();
+    pnlStatus.setLayout(new BoxLayout(pnlStatus, BoxLayout.X_AXIS));
+    pnlStatus.add(lblVesselStatus);
+    pnlStatus.add(Box.createHorizontalGlue());
+    pnlStatus.add(Box.createVerticalStrut(10));
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
+    pnlMain.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
+    lblPanelInfo.setAlignmentX(CENTER_ALIGNMENT);
+    pnlMain.add(lblPanelInfo);
+    pnlOptionsAndList.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlOptionsAndList);
+    pnlMain.add(Box.createVerticalStrut(5));
+    pnlMain.add(pnlStatus);
+    pnlMain.add(Box.createVerticalStrut(10));
+
+    getContentPane().add(pnlMain);
+    setVisible(true);
+  }
+
+  protected void handleChangeToVessel(ActionEvent e) {
+    if (listActiveVessels.getSelectedIndex() == -1) {
+      return;
     }
-
-    @Override
-    public void layoutComponents() {
-
-        JPanel pnlSearchArea = new JPanel();
-        pnlSearchArea.setBorder(new TitledBorder(null, "\u00C1rea de procura:"));
-        pnlSearchArea.setLayout(new BoxLayout(pnlSearchArea, BoxLayout.Y_AXIS));
-        pnlSearchArea.add(rbClosestVessels);
-        pnlSearchArea.add(rbOnSameBody);
-        pnlSearchArea.add(rbAllVessels);
-
-        JPanel pnlOptions = new JPanel();
-        pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
-        pnlOptions.add(pnlSearchArea);
-        pnlOptions.add(Box.createVerticalStrut(10));
-        pnlOptions.add(btnChangeToVessel);
-        btnChangeToVessel.setAlignmentX(LEFT_ALIGNMENT);
-        pnlSearchArea.setAlignmentX(LEFT_ALIGNMENT);
-
-        JPanel pnlScroll = new JPanel();
-        pnlScroll.setLayout(new BoxLayout(pnlScroll, BoxLayout.Y_AXIS));
-        JScrollPane scrollPane = new JScrollPane();
-        scrollPane.setViewportView(listActiveVessels);
-        pnlScroll.add(Box.createVerticalStrut(6));
-        pnlScroll.add(scrollPane);
-        pnlScroll.add(Box.createHorizontalStrut(190));
-
-        JPanel pnlOptionsAndList = new JPanel();
-        pnlOptionsAndList.setLayout(new BoxLayout(pnlOptionsAndList, BoxLayout.X_AXIS));
-        pnlOptions.setAlignmentY(TOP_ALIGNMENT);
-        pnlScroll.setAlignmentY(TOP_ALIGNMENT);
-        pnlOptionsAndList.add(pnlOptions);
-        pnlOptionsAndList.add(Box.createHorizontalStrut(5));
-        pnlOptionsAndList.add(pnlScroll);
-
-        JPanel pnlStatus = new JPanel();
-        pnlStatus.setLayout(new BoxLayout(pnlStatus, BoxLayout.X_AXIS));
-        pnlStatus.add(lblVesselStatus);
-        pnlStatus.add(Box.createHorizontalGlue());
-        pnlStatus.add(Box.createVerticalStrut(10));
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
-        pnlMain.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
-        lblPanelInfo.setAlignmentX(CENTER_ALIGNMENT);
-        pnlMain.add(lblPanelInfo);
-        pnlOptionsAndList.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlOptionsAndList);
-        pnlMain.add(Box.createVerticalStrut(5));
-        pnlMain.add(pnlStatus);
-        pnlMain.add(Box.createVerticalStrut(10));
-
-        getContentPane().add(pnlMain);
-        setVisible(true);
-    }
-
-    protected void handleChangeToVessel(ActionEvent e) {
-        if (listActiveVessels.getSelectedIndex() == -1) {
-            return;
-        }
-        int vesselHashCode = Integer.parseInt(listActiveVessels.getSelectedValue().split(" - ")[0]);
-        vesselManager.changeToVessel(vesselHashCode);
-    }
-
-    protected void handleBuildVesselList(ActionEvent e) {
-        listActiveVessels.setModel(vesselManager.getActiveVessels(e.getActionCommand()));
-    }
-
-    protected void handleListActiveVesselsValueChanged(ListSelectionEvent e) {
-        String selectedValue = listActiveVessels.getSelectedValue();
-        if (selectedValue == null) {
-            lblVesselStatus.setText("Selecione uma nave da lista.");
-            btnChangeToVessel.setEnabled(false);
-            return;
-        }
-        int vesselId = Integer.parseInt(selectedValue.split(" - ")[0]);
-        lblVesselStatus.setText(vesselManager.getVesselInfo(vesselId));
-        btnChangeToVessel.setEnabled(true);
+    int vesselHashCode = Integer.parseInt(listActiveVessels.getSelectedValue().split(" - ")[0]);
+    vesselManager.changeToVessel(vesselHashCode);
+  }
+
+  protected void handleBuildVesselList(ActionEvent e) {
+    listActiveVessels.setModel(vesselManager.getActiveVessels(e.getActionCommand()));
+  }
+
+  protected void handleListActiveVesselsValueChanged(ListSelectionEvent e) {
+    String selectedValue = listActiveVessels.getSelectedValue();
+    if (selectedValue == null) {
+      lblVesselStatus.setText("Selecione uma nave da lista.");
+      btnChangeToVessel.setEnabled(false);
+      return;
     }
+    int vesselId = Integer.parseInt(selectedValue.split(" - ")[0]);
+    lblVesselStatus.setText(vesselManager.getVesselInfo(vesselId));
+    btnChangeToVessel.setEnabled(true);
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/CreateManeuverJPanel.java b/src/main/java/com/pesterenan/views/CreateManeuverJPanel.java
index 8fc1eab..28a1bf8 100644
--- a/src/main/java/com/pesterenan/views/CreateManeuverJPanel.java
+++ b/src/main/java/com/pesterenan/views/CreateManeuverJPanel.java
@@ -3,6 +3,10 @@
 import static com.pesterenan.views.MainGui.BTN_DIMENSION;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.MechPeste;
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.ControlePID;
 import java.awt.BorderLayout;
 import java.awt.Component;
 import java.awt.Dimension;
@@ -13,7 +17,6 @@
 import java.util.HashMap;
 import java.util.Locale;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.ButtonGroup;
@@ -27,12 +30,6 @@
 import javax.swing.ListModel;
 import javax.swing.ListSelectionModel;
 import javax.swing.border.TitledBorder;
-
-import com.pesterenan.MechPeste;
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.ControlePID;
-
 import krpc.client.RPCException;
 import krpc.client.services.SpaceCenter.Node;
 import krpc.client.services.SpaceCenter.Orbit;
@@ -41,420 +38,426 @@
 
 public class CreateManeuverJPanel extends JPanel implements ActionListener, UIMethods {
 
-    private static JLabel lblManeuverInfo;
-    private static JButton btnCreateManeuver, btnDeleteManeuver, btnBack, btnAp, btnPe, btnAN, btnDN;
-    private static JButton btnIncrease, btnDecrease, btnNextOrbit, btnPrevOrbit;
-    private static JSlider sldScale;
-    private static JList<String> listCurrentManeuvers;
-    private static int selectedManeuverIndex = 0;
-    private static JRadioButton rbPrograde, rbNormal, rbRadial, rbTime;
-    private static ButtonGroup bgManeuverType;
-    private static Map<Integer,Float> sliderValues = new HashMap<>();
-    private final ControlePID ctrlManeuver = new ControlePID();
-    private VesselManager vesselManager;
-    private StatusDisplay statusDisplay;
-
-    public CreateManeuverJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblManeuverInfo = new JLabel("");
-
-        // Buttons:
-        btnCreateManeuver = new JButton("Criar");
-        btnDeleteManeuver = new JButton("Apagar");
-        btnAp = new JButton("AP");
-        btnPe = new JButton("PE");
-        btnAN = new JButton("NA");
-        btnDN = new JButton("ND");
-        btnBack = new JButton(Bundle.getString("pnl_mnv_btn_back"));
-        btnIncrease = new JButton("+");
-        btnDecrease = new JButton("-");
-        btnNextOrbit = new JButton(">");
-        btnPrevOrbit = new JButton("<");
-
-        // Radio buttons:
-        rbPrograde = new JRadioButton("Pro");
-        rbNormal = new JRadioButton("Nor");
-        rbRadial = new JRadioButton("Rad");
-        rbTime = new JRadioButton("Tmp");
-
-        // Misc:
-        listCurrentManeuvers = new JList<>();
-        sldScale = new JSlider(JSlider.VERTICAL, 0, 5, 2);
-        bgManeuverType = new ButtonGroup();
-        sliderValues.put(0, 0.01f);
-        sliderValues.put(1, 0.1f);
-        sliderValues.put(2, 1f);
-        sliderValues.put(3, 10f);
-        sliderValues.put(4, 100f);
-        sliderValues.put(5, 1000f);
-
-        ctrlManeuver.setOutput(-100, 100);
-    }
-
-    @Override
-    public void setupComponents() {
-        // Setting-up components:
-        btnCreateManeuver.addActionListener(this);
-        btnCreateManeuver.setMaximumSize(BTN_DIMENSION);
-        btnCreateManeuver.setPreferredSize(BTN_DIMENSION);
-        btnDeleteManeuver.addActionListener(this);
-        btnDeleteManeuver.setMaximumSize(BTN_DIMENSION);
-        btnDeleteManeuver.setPreferredSize(BTN_DIMENSION);
-        btnAp.addActionListener(this);
-        btnAp.setActionCommand("apoapsis");
-        btnPe.addActionListener(this);
-        btnPe.setActionCommand("periapsis");
-        btnAN.addActionListener(this);
-        btnAN.setActionCommand("ascending");
-        btnDN.addActionListener(this);
-        btnDN.setActionCommand("descending");
-        btnBack.addActionListener(this);
-        btnBack.setMaximumSize(BTN_DIMENSION);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-        btnIncrease.setActionCommand("increase");
-        btnIncrease.addActionListener(this);
-        btnIncrease.addMouseWheelListener(e -> {
-            int rotation = e.getWheelRotation();
-            if (rotation > 0) {
-                changeManeuverDeltaV(btnDecrease.getActionCommand());
-            } else {
-                changeManeuverDeltaV(btnIncrease.getActionCommand());
-            }
+  private static JLabel lblManeuverInfo;
+  private static JButton btnCreateManeuver, btnDeleteManeuver, btnBack, btnAp, btnPe, btnAN, btnDN;
+  private static JButton btnIncrease, btnDecrease, btnNextOrbit, btnPrevOrbit;
+  private static JSlider sldScale;
+  private static JList<String> listCurrentManeuvers;
+  private static int selectedManeuverIndex = 0;
+  private static JRadioButton rbPrograde, rbNormal, rbRadial, rbTime;
+  private static ButtonGroup bgManeuverType;
+  private static Map<Integer, Float> sliderValues = new HashMap<>();
+  private final ControlePID ctrlManeuver = new ControlePID();
+  private VesselManager vesselManager;
+  private StatusDisplay statusDisplay;
+
+  public CreateManeuverJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblManeuverInfo = new JLabel("");
+
+    // Buttons:
+    btnCreateManeuver = new JButton("Criar");
+    btnDeleteManeuver = new JButton("Apagar");
+    btnAp = new JButton("AP");
+    btnPe = new JButton("PE");
+    btnAN = new JButton("NA");
+    btnDN = new JButton("ND");
+    btnBack = new JButton(Bundle.getString("pnl_mnv_btn_back"));
+    btnIncrease = new JButton("+");
+    btnDecrease = new JButton("-");
+    btnNextOrbit = new JButton(">");
+    btnPrevOrbit = new JButton("<");
+
+    // Radio buttons:
+    rbPrograde = new JRadioButton("Pro");
+    rbNormal = new JRadioButton("Nor");
+    rbRadial = new JRadioButton("Rad");
+    rbTime = new JRadioButton("Tmp");
+
+    // Misc:
+    listCurrentManeuvers = new JList<>();
+    sldScale = new JSlider(JSlider.VERTICAL, 0, 5, 2);
+    bgManeuverType = new ButtonGroup();
+    sliderValues.put(0, 0.01f);
+    sliderValues.put(1, 0.1f);
+    sliderValues.put(2, 1f);
+    sliderValues.put(3, 10f);
+    sliderValues.put(4, 100f);
+    sliderValues.put(5, 1000f);
+
+    ctrlManeuver.setOutput(-100, 100);
+  }
+
+  @Override
+  public void setupComponents() {
+    // Setting-up components:
+    btnCreateManeuver.addActionListener(this);
+    btnCreateManeuver.setMaximumSize(BTN_DIMENSION);
+    btnCreateManeuver.setPreferredSize(BTN_DIMENSION);
+    btnDeleteManeuver.addActionListener(this);
+    btnDeleteManeuver.setMaximumSize(BTN_DIMENSION);
+    btnDeleteManeuver.setPreferredSize(BTN_DIMENSION);
+    btnAp.addActionListener(this);
+    btnAp.setActionCommand("apoapsis");
+    btnPe.addActionListener(this);
+    btnPe.setActionCommand("periapsis");
+    btnAN.addActionListener(this);
+    btnAN.setActionCommand("ascending");
+    btnDN.addActionListener(this);
+    btnDN.setActionCommand("descending");
+    btnBack.addActionListener(this);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+    btnIncrease.setActionCommand("increase");
+    btnIncrease.addActionListener(this);
+    btnIncrease.addMouseWheelListener(
+        e -> {
+          int rotation = e.getWheelRotation();
+          if (rotation > 0) {
+            changeManeuverDeltaV(btnDecrease.getActionCommand());
+          } else {
+            changeManeuverDeltaV(btnIncrease.getActionCommand());
+          }
         });
-        btnIncrease.setMaximumSize(new Dimension(70, 26));
-        btnIncrease.setPreferredSize(new Dimension(70, 26));
-        btnIncrease.setMargin(new Insets(0, 0, 0, 0));
-        btnDecrease.setActionCommand("decrease");
-        btnDecrease.addActionListener(this);
-        btnDecrease.addMouseWheelListener(e -> {
-            int rotation = e.getWheelRotation();
-            if (rotation > 0) {
-                changeManeuverDeltaV(btnIncrease.getActionCommand());
-            } else {
-                changeManeuverDeltaV(btnDecrease.getActionCommand());
-            }
+    btnIncrease.setMaximumSize(new Dimension(70, 26));
+    btnIncrease.setPreferredSize(new Dimension(70, 26));
+    btnIncrease.setMargin(new Insets(0, 0, 0, 0));
+    btnDecrease.setActionCommand("decrease");
+    btnDecrease.addActionListener(this);
+    btnDecrease.addMouseWheelListener(
+        e -> {
+          int rotation = e.getWheelRotation();
+          if (rotation > 0) {
+            changeManeuverDeltaV(btnIncrease.getActionCommand());
+          } else {
+            changeManeuverDeltaV(btnDecrease.getActionCommand());
+          }
         });
-        btnDecrease.setMaximumSize(new Dimension(70, 26));
-        btnDecrease.setPreferredSize(new Dimension(70, 26));
-        btnDecrease.setMargin(new Insets(0, 0, 0, 0));
-        btnNextOrbit.setActionCommand("next_orbit");
-        btnNextOrbit.addActionListener(this);
-        btnNextOrbit.setMaximumSize(new Dimension(35, 26));
-        btnNextOrbit.setPreferredSize(new Dimension(35, 26));
-        btnNextOrbit.setMargin(new Insets(0, 0, 0, 0));
-        btnPrevOrbit.setActionCommand("prev_orbit");
-        btnPrevOrbit.addActionListener(this);
-        btnPrevOrbit.setMaximumSize(new Dimension(35, 26));
-        btnPrevOrbit.setPreferredSize(new Dimension(35, 26));
-        btnPrevOrbit.setMargin(new Insets(0, 0, 0, 0));
-
-        rbPrograde.setActionCommand("prograde");
-        rbPrograde.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
-        rbNormal.setActionCommand("normal");
-        rbNormal.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
-        rbRadial.setActionCommand("radial");
-        rbRadial.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
-        rbTime.setActionCommand("time");
-        rbTime.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
-        bgManeuverType.add(rbPrograde);
-        bgManeuverType.add(rbNormal);
-        bgManeuverType.add(rbRadial);
-        bgManeuverType.add(rbTime);
-        bgManeuverType.setSelected(rbPrograde.getModel(), true);
-
-        listCurrentManeuvers.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
-        listCurrentManeuvers.addListSelectionListener(e -> selectedManeuverIndex = e.getFirstIndex());
-
-        sldScale.setSnapToTicks(true);
-        sldScale.setPaintTicks(true);
-        sldScale.setMajorTickSpacing(1);
-        sldScale.setMinorTickSpacing(1);
-        sldScale.setPaintLabels(false);
-        sldScale.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
-        sldScale.addMouseWheelListener(e -> {
-            int rotation = e.getWheelRotation();
-            if (rotation < 0) {
-                sldScale.setValue(sldScale.getValue() + sldScale.getMinorTickSpacing());
-            } else {
-                sldScale.setValue(sldScale.getValue() - sldScale.getMinorTickSpacing());
-            }
+    btnDecrease.setMaximumSize(new Dimension(70, 26));
+    btnDecrease.setPreferredSize(new Dimension(70, 26));
+    btnDecrease.setMargin(new Insets(0, 0, 0, 0));
+    btnNextOrbit.setActionCommand("next_orbit");
+    btnNextOrbit.addActionListener(this);
+    btnNextOrbit.setMaximumSize(new Dimension(35, 26));
+    btnNextOrbit.setPreferredSize(new Dimension(35, 26));
+    btnNextOrbit.setMargin(new Insets(0, 0, 0, 0));
+    btnPrevOrbit.setActionCommand("prev_orbit");
+    btnPrevOrbit.addActionListener(this);
+    btnPrevOrbit.setMaximumSize(new Dimension(35, 26));
+    btnPrevOrbit.setPreferredSize(new Dimension(35, 26));
+    btnPrevOrbit.setMargin(new Insets(0, 0, 0, 0));
+
+    rbPrograde.setActionCommand("prograde");
+    rbPrograde.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
+    rbNormal.setActionCommand("normal");
+    rbNormal.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
+    rbRadial.setActionCommand("radial");
+    rbRadial.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
+    rbTime.setActionCommand("time");
+    rbTime.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
+    bgManeuverType.add(rbPrograde);
+    bgManeuverType.add(rbNormal);
+    bgManeuverType.add(rbRadial);
+    bgManeuverType.add(rbTime);
+    bgManeuverType.setSelected(rbPrograde.getModel(), true);
+
+    listCurrentManeuvers.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
+    listCurrentManeuvers.addListSelectionListener(e -> selectedManeuverIndex = e.getFirstIndex());
+
+    sldScale.setSnapToTicks(true);
+    sldScale.setPaintTicks(true);
+    sldScale.setMajorTickSpacing(1);
+    sldScale.setMinorTickSpacing(1);
+    sldScale.setPaintLabels(false);
+    sldScale.addChangeListener(e -> handleChangeButtonText(sldScale.getValue()));
+    sldScale.addMouseWheelListener(
+        e -> {
+          int rotation = e.getWheelRotation();
+          if (rotation < 0) {
+            sldScale.setValue(sldScale.getValue() + sldScale.getMinorTickSpacing());
+          } else {
+            sldScale.setValue(sldScale.getValue() - sldScale.getMinorTickSpacing());
+          }
         });
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    JPanel pnlPositionManeuver = new JPanel();
+    pnlPositionManeuver.setLayout(new BoxLayout(pnlPositionManeuver, BoxLayout.X_AXIS));
+    pnlPositionManeuver.setBorder(new TitledBorder("Posicionar manobra no:"));
+    pnlPositionManeuver.add(Box.createHorizontalGlue());
+    pnlPositionManeuver.add(btnAp);
+    pnlPositionManeuver.add(btnPe);
+    pnlPositionManeuver.add(btnAN);
+    pnlPositionManeuver.add(btnDN);
+    pnlPositionManeuver.add(Box.createHorizontalGlue());
+
+    JPanel pnlRadioButtons = new JPanel(new GridLayout(4, 1));
+    pnlRadioButtons.setMaximumSize(new Dimension(50, 100));
+    pnlRadioButtons.add(rbPrograde);
+    pnlRadioButtons.add(rbNormal);
+    pnlRadioButtons.add(rbRadial);
+    pnlRadioButtons.add(rbTime);
+
+    JPanel pnlSlider = new JPanel();
+    pnlSlider.setLayout(new BoxLayout(pnlSlider, BoxLayout.Y_AXIS));
+    pnlSlider.setAlignmentX(Component.LEFT_ALIGNMENT);
+    pnlSlider.setBorder(new TitledBorder("Escala:"));
+    pnlSlider.add(sldScale);
+    pnlSlider.add(Box.createHorizontalStrut(40));
+
+    JPanel pnlOrbitControl = new JPanel();
+    pnlOrbitControl.setLayout(new BoxLayout(pnlOrbitControl, BoxLayout.X_AXIS));
+    pnlOrbitControl.setAlignmentX(Component.LEFT_ALIGNMENT);
+    pnlOrbitControl.add(btnPrevOrbit);
+    pnlOrbitControl.add(btnNextOrbit);
+
+    JPanel pnlManeuverButtons = new JPanel();
+    pnlManeuverButtons.setLayout(new BoxLayout(pnlManeuverButtons, BoxLayout.Y_AXIS));
+    pnlManeuverButtons.setAlignmentX(Component.LEFT_ALIGNMENT);
+    pnlManeuverButtons.add(btnIncrease);
+    pnlManeuverButtons.add(pnlOrbitControl);
+    pnlManeuverButtons.add(btnDecrease);
+
+    JPanel pnlManeuverController = new JPanel();
+    pnlManeuverController.setLayout(new BoxLayout(pnlManeuverController, BoxLayout.X_AXIS));
+    pnlManeuverController.setBorder(new TitledBorder("Controlador de Manobra:"));
+    pnlManeuverController.setMaximumSize(new Dimension(180, 300));
+    pnlManeuverController.add(pnlRadioButtons);
+    pnlManeuverController.add(pnlSlider);
+    pnlManeuverController.add(pnlManeuverButtons);
+
+    JPanel pnlManeuverInfo = new JPanel();
+    pnlManeuverInfo.setLayout(new BoxLayout(pnlManeuverInfo, BoxLayout.Y_AXIS));
+    pnlManeuverInfo.setBorder(new TitledBorder("Info. Manobra:"));
+    pnlManeuverInfo.setMaximumSize(new Dimension(300, 300));
+
+    JPanel pnlMCpnlAP = new JPanel();
+    pnlMCpnlAP.setLayout(new BoxLayout(pnlMCpnlAP, BoxLayout.X_AXIS));
+    pnlMCpnlAP.add(pnlManeuverController);
+    pnlMCpnlAP.add(pnlManeuverInfo);
+
+    JPanel pnlControls = new JPanel();
+    pnlControls.setLayout(new BoxLayout(pnlControls, BoxLayout.Y_AXIS));
+    pnlControls.add(pnlPositionManeuver);
+    pnlControls.add(pnlMCpnlAP);
+
+    JPanel pnlManeuverList = new JPanel();
+    pnlManeuverList.setLayout(new BoxLayout(pnlManeuverList, BoxLayout.Y_AXIS));
+    JScrollPane scrollPane = new JScrollPane();
+    scrollPane.setViewportView(listCurrentManeuvers);
+    pnlManeuverList.add(scrollPane);
+    pnlManeuverList.add(btnCreateManeuver);
+    pnlManeuverList.add(btnDeleteManeuver);
+
+    JPanel pnlOptions = new JPanel();
+    pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
+    pnlOptions.setBorder(new TitledBorder("Lista de Manobras:"));
+    pnlOptions.add(pnlManeuverList);
+    pnlOptions.setPreferredSize(new Dimension(110, 300));
+    pnlOptions.setMaximumSize(new Dimension(110, 300));
+
+    JPanel pnlOptionsAndList = new JPanel();
+    pnlOptionsAndList.setLayout(new BoxLayout(pnlOptionsAndList, BoxLayout.X_AXIS));
+    pnlControls.setAlignmentY(TOP_ALIGNMENT);
+    pnlOptions.setAlignmentY(TOP_ALIGNMENT);
+    pnlOptionsAndList.add(pnlOptions);
+    pnlOptionsAndList.add(Box.createHorizontalStrut(5));
+    pnlOptionsAndList.add(pnlControls);
+
+    JPanel pnlBackButton = new JPanel();
+    pnlBackButton.setLayout(new BoxLayout(pnlBackButton, BoxLayout.X_AXIS));
+    pnlBackButton.add(lblManeuverInfo);
+    pnlBackButton.add(Box.createHorizontalGlue());
+    pnlBackButton.add(btnBack);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlMain.add(pnlOptionsAndList);
+
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlBackButton, BorderLayout.SOUTH);
+  }
+
+  public void updatePanel(ListModel<String> list) {
+    try {
+      boolean hasManeuverNodes = list.getSize() > 0;
+      boolean hasTargetVessel = vesselManager.getSpaceCenter().getTargetVessel() != null;
+      listCurrentManeuvers.setModel(list);
+      listCurrentManeuvers.setSelectedIndex(selectedManeuverIndex);
+      btnDeleteManeuver.setEnabled(hasManeuverNodes);
+      btnAp.setEnabled(hasManeuverNodes);
+      btnPe.setEnabled(hasManeuverNodes);
+      btnAN.setEnabled(hasManeuverNodes && hasTargetVessel);
+      btnDN.setEnabled(hasManeuverNodes && hasTargetVessel);
+      btnIncrease.setEnabled(hasManeuverNodes);
+      btnDecrease.setEnabled(hasManeuverNodes);
+      btnNextOrbit.setEnabled(hasManeuverNodes);
+      btnPrevOrbit.setEnabled(hasManeuverNodes);
+      lblManeuverInfo.setText(listCurrentManeuvers.getSelectedValue());
+    } catch (RPCException ignored) {
     }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        JPanel pnlPositionManeuver = new JPanel();
-        pnlPositionManeuver.setLayout(new BoxLayout(pnlPositionManeuver, BoxLayout.X_AXIS));
-        pnlPositionManeuver.setBorder(new TitledBorder("Posicionar manobra no:"));
-        pnlPositionManeuver.add(Box.createHorizontalGlue());
-        pnlPositionManeuver.add(btnAp);
-        pnlPositionManeuver.add(btnPe);
-        pnlPositionManeuver.add(btnAN);
-        pnlPositionManeuver.add(btnDN);
-        pnlPositionManeuver.add(Box.createHorizontalGlue());
-
-        JPanel pnlRadioButtons = new JPanel(new GridLayout(4, 1));
-        pnlRadioButtons.setMaximumSize(new Dimension(50, 100));
-        pnlRadioButtons.add(rbPrograde);
-        pnlRadioButtons.add(rbNormal);
-        pnlRadioButtons.add(rbRadial);
-        pnlRadioButtons.add(rbTime);
-
-        JPanel pnlSlider = new JPanel();
-        pnlSlider.setLayout(new BoxLayout(pnlSlider, BoxLayout.Y_AXIS));
-        pnlSlider.setAlignmentX(Component.LEFT_ALIGNMENT);
-        pnlSlider.setBorder(new TitledBorder("Escala:"));
-        pnlSlider.add(sldScale);
-        pnlSlider.add(Box.createHorizontalStrut(40));
-
-        JPanel pnlOrbitControl = new JPanel();
-        pnlOrbitControl.setLayout(new BoxLayout(pnlOrbitControl, BoxLayout.X_AXIS));
-        pnlOrbitControl.setAlignmentX(Component.LEFT_ALIGNMENT);
-        pnlOrbitControl.add(btnPrevOrbit);
-        pnlOrbitControl.add(btnNextOrbit);
-
-        JPanel pnlManeuverButtons = new JPanel();
-        pnlManeuverButtons.setLayout(new BoxLayout(pnlManeuverButtons, BoxLayout.Y_AXIS));
-        pnlManeuverButtons.setAlignmentX(Component.LEFT_ALIGNMENT);
-        pnlManeuverButtons.add(btnIncrease);
-        pnlManeuverButtons.add(pnlOrbitControl);
-        pnlManeuverButtons.add(btnDecrease);
-
-        JPanel pnlManeuverController = new JPanel();
-        pnlManeuverController.setLayout(new BoxLayout(pnlManeuverController, BoxLayout.X_AXIS));
-        pnlManeuverController.setBorder(new TitledBorder("Controlador de Manobra:"));
-        pnlManeuverController.setMaximumSize(new Dimension(180, 300));
-        pnlManeuverController.add(pnlRadioButtons);
-        pnlManeuverController.add(pnlSlider);
-        pnlManeuverController.add(pnlManeuverButtons);
-
-        JPanel pnlManeuverInfo = new JPanel();
-        pnlManeuverInfo.setLayout(new BoxLayout(pnlManeuverInfo, BoxLayout.Y_AXIS));
-        pnlManeuverInfo.setBorder(new TitledBorder("Info. Manobra:"));
-        pnlManeuverInfo.setMaximumSize(new Dimension(300, 300));
-
-        JPanel pnlMCpnlAP = new JPanel();
-        pnlMCpnlAP.setLayout(new BoxLayout(pnlMCpnlAP, BoxLayout.X_AXIS));
-        pnlMCpnlAP.add(pnlManeuverController);
-        pnlMCpnlAP.add(pnlManeuverInfo);
-
-        JPanel pnlControls = new JPanel();
-        pnlControls.setLayout(new BoxLayout(pnlControls, BoxLayout.Y_AXIS));
-        pnlControls.add(pnlPositionManeuver);
-        pnlControls.add(pnlMCpnlAP);
-
-        JPanel pnlManeuverList = new JPanel();
-        pnlManeuverList.setLayout(new BoxLayout(pnlManeuverList, BoxLayout.Y_AXIS));
-        JScrollPane scrollPane = new JScrollPane();
-        scrollPane.setViewportView(listCurrentManeuvers);
-        pnlManeuverList.add(scrollPane);
-        pnlManeuverList.add(btnCreateManeuver);
-        pnlManeuverList.add(btnDeleteManeuver);
-
-        JPanel pnlOptions = new JPanel();
-        pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
-        pnlOptions.setBorder(new TitledBorder("Lista de Manobras:"));
-        pnlOptions.add(pnlManeuverList);
-        pnlOptions.setPreferredSize(new Dimension(110, 300));
-        pnlOptions.setMaximumSize(new Dimension(110, 300));
-
-        JPanel pnlOptionsAndList = new JPanel();
-        pnlOptionsAndList.setLayout(new BoxLayout(pnlOptionsAndList, BoxLayout.X_AXIS));
-        pnlControls.setAlignmentY(TOP_ALIGNMENT);
-        pnlOptions.setAlignmentY(TOP_ALIGNMENT);
-        pnlOptionsAndList.add(pnlOptions);
-        pnlOptionsAndList.add(Box.createHorizontalStrut(5));
-        pnlOptionsAndList.add(pnlControls);
-
-        JPanel pnlBackButton = new JPanel();
-        pnlBackButton.setLayout(new BoxLayout(pnlBackButton, BoxLayout.X_AXIS));
-        pnlBackButton.add(lblManeuverInfo);
-        pnlBackButton.add(Box.createHorizontalGlue());
-        pnlBackButton.add(btnBack);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlMain.add(pnlOptionsAndList);
-
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlBackButton, BorderLayout.SOUTH);
+  }
+
+  private static void handleChangeButtonText(int value) {
+    String decimalPlaces = value > 1 ? "%.0f" : "%.2f";
+    String formattedValue = String.format(Locale.ENGLISH, decimalPlaces, sliderValues.get(value));
+    String suffix = bgManeuverType.getSelection() == rbTime.getModel() ? " s" : "m/s";
+    btnIncrease.setText("+ " + formattedValue + suffix);
+    btnDecrease.setText("- " + formattedValue + suffix);
+  }
+
+  public void createManeuver() {
+    try {
+      createManeuver(vesselManager.getSpaceCenter().getUT() + 60);
+    } catch (RPCException e) {
     }
-
-    public void updatePanel(ListModel<String> list) {
-        try {
-            boolean hasManeuverNodes = list.getSize() > 0;
-            boolean hasTargetVessel = vesselManager.getSpaceCenter().getTargetVessel() != null;
-            listCurrentManeuvers.setModel(list);
-            listCurrentManeuvers.setSelectedIndex(selectedManeuverIndex);
-            btnDeleteManeuver.setEnabled(hasManeuverNodes);
-            btnAp.setEnabled(hasManeuverNodes);
-            btnPe.setEnabled(hasManeuverNodes);
-            btnAN.setEnabled(hasManeuverNodes && hasTargetVessel);
-            btnDN.setEnabled(hasManeuverNodes && hasTargetVessel);
-            btnIncrease.setEnabled(hasManeuverNodes);
-            btnDecrease.setEnabled(hasManeuverNodes);
-            btnNextOrbit.setEnabled(hasManeuverNodes);
-            btnPrevOrbit.setEnabled(hasManeuverNodes);
-            lblManeuverInfo.setText(listCurrentManeuvers.getSelectedValue());
-        } catch (RPCException ignored) {
-        }
+  }
+
+  public void createManeuver(double atFutureTime) {
+    try {
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+
+      if (vessel.getSituation() != VesselSituation.ORBITING) {
+        statusDisplay.setStatusMessage("Não é possível criar a manobra fora de órbita.");
+        return;
+      }
+      vessel.getControl().addNode(atFutureTime, 0, 0, 0);
+    } catch (Exception e) {
     }
-
-    private static void handleChangeButtonText(int value) {
-        String decimalPlaces = value > 1 ? "%.0f" : "%.2f";
-        String formattedValue = String.format(Locale.ENGLISH, decimalPlaces, sliderValues.get(value));
-        String suffix = bgManeuverType.getSelection() == rbTime.getModel() ? " s" : "m/s";
-        btnIncrease.setText("+ " + formattedValue + suffix);
-        btnDecrease.setText("- " + formattedValue + suffix);
+  }
+
+  private void deleteManeuver() {
+    try {
+      MechPeste.newInstance();
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
+      currentManeuver.remove();
+    } catch (Exception e) {
     }
-
-    public void createManeuver() {
-        try {
-            createManeuver(vesselManager.getSpaceCenter().getUT() + 60);
-        } catch (RPCException e) {
-        }
+  }
+
+  public void positionManeuverAt(String node) {
+    try {
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      Orbit orbit = vessel.getOrbit();
+      Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
+      double timeToNode = 0;
+      switch (node) {
+        case "apoapsis":
+          timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToApoapsis();
+          break;
+        case "periapsis":
+          timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToPeriapsis();
+          break;
+        case "ascending":
+          double ascendingAnomaly =
+              orbit.trueAnomalyAtAN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
+          timeToNode = orbit.uTAtTrueAnomaly(ascendingAnomaly);
+          break;
+        case "descending":
+          double descendingAnomaly =
+              orbit.trueAnomalyAtDN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
+          timeToNode = orbit.uTAtTrueAnomaly(descendingAnomaly);
+          break;
+      }
+      currentManeuver.setUT(timeToNode);
+      // Print the maneuver node information
+      System.out.println("Maneuver Node updated:");
+      System.out.println("  Time to node: " + currentManeuver.getTimeTo() + " s");
+    } catch (Exception e) {
     }
-
-    public void createManeuver(double atFutureTime) {
-        try {
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-
-            if (vessel.getSituation() != VesselSituation.ORBITING) {
-                statusDisplay.setStatusMessage("Não é possível criar a manobra fora de órbita.");
-                return;
-            }
-            vessel.getControl().addNode(atFutureTime, 0, 0, 0);
-        } catch (Exception e) {
-        }
+  }
+
+  private void changeManeuverDeltaV(String command) {
+    try {
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
+      String maneuverType = bgManeuverType.getSelection().getActionCommand();
+      float currentSliderValue = sliderValues.get(sldScale.getValue());
+      currentSliderValue = command == "decrease" ? -currentSliderValue : currentSliderValue;
+
+      switch (maneuverType) {
+        case "prograde":
+          currentManeuver.setPrograde(currentManeuver.getPrograde() + currentSliderValue);
+          break;
+        case "normal":
+          currentManeuver.setNormal(currentManeuver.getNormal() + currentSliderValue);
+          break;
+        case "radial":
+          currentManeuver.setRadial(currentManeuver.getRadial() + currentSliderValue);
+          break;
+        case "time":
+          currentManeuver.setUT(currentManeuver.getUT() + currentSliderValue);
+          break;
+      }
+    } catch (RPCException e) {
+      System.err.println("Erro RPC ao mudar o delta-V da manobra: " + e.getMessage());
+    } catch (Exception e) {
+      System.err.println("Erro ao mudar o delta-V da manobra: " + e.getMessage());
     }
-
-    private void deleteManeuver() {
-        try {
-            MechPeste.newInstance();
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
-            currentManeuver.remove();
-        } catch (Exception e) {
-        }
+  }
+
+  private void changeOrbit(String command) {
+    try {
+      Vessel vessel;
+      vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
+      double currentOrbitPeriod = vessel.getOrbit().getPeriod();
+      if (command == "next_orbit") {
+        currentManeuver.setUT(currentManeuver.getUT() + currentOrbitPeriod);
+      } else {
+        double newUT = currentManeuver.getUT() - currentOrbitPeriod;
+        newUT =
+            newUT < vesselManager.getSpaceCenter().getUT()
+                ? vesselManager.getSpaceCenter().getUT() + 60
+                : newUT;
+        currentManeuver.setUT(newUT);
+      }
+    } catch (RPCException ignored) {
     }
+  }
 
-    public void positionManeuverAt(String node) {
-        try {
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            Orbit orbit = vessel.getOrbit();
-            Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
-            double timeToNode = 0;
-            switch (node) {
-                case "apoapsis" :
-                    timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToApoapsis();
-                    break;
-                case "periapsis" :
-                    timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToPeriapsis();
-                    break;
-                case "ascending" :
-                    double ascendingAnomaly = orbit
-                            .trueAnomalyAtAN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
-                    timeToNode = orbit.uTAtTrueAnomaly(ascendingAnomaly);
-                    break;
-                case "descending" :
-                    double descendingAnomaly = orbit
-                            .trueAnomalyAtDN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
-                    timeToNode = orbit.uTAtTrueAnomaly(descendingAnomaly);
-                    break;
-            }
-            currentManeuver.setUT(timeToNode);
-            // Print the maneuver node information
-            System.out.println("Maneuver Node updated:");
-            System.out.println("  Time to node: " + currentManeuver.getTimeTo() + " s");
-        } catch (Exception e) {
-        }
+  @Override
+  public void actionPerformed(ActionEvent e) {
+    if (e.getSource() == btnCreateManeuver) {
+      createManeuver();
     }
-
-    private void changeManeuverDeltaV(String command) {
-        try {
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
-            String maneuverType = bgManeuverType.getSelection().getActionCommand();
-            float currentSliderValue = sliderValues.get(sldScale.getValue());
-            currentSliderValue = command == "decrease" ? -currentSliderValue : currentSliderValue;
-
-            switch (maneuverType) {
-                case "prograde" :
-                    currentManeuver.setPrograde(currentManeuver.getPrograde() + currentSliderValue);
-                    break;
-                case "normal" :
-                    currentManeuver.setNormal(currentManeuver.getNormal() + currentSliderValue);
-                    break;
-                case "radial" :
-                    currentManeuver.setRadial(currentManeuver.getRadial() + currentSliderValue);
-                    break;
-                case "time" :
-                    currentManeuver.setUT(currentManeuver.getUT() + currentSliderValue);
-                    break;
-            }
-        } catch (RPCException e) {
-            System.err.println("Erro RPC ao mudar o delta-V da manobra: " + e.getMessage());
-        } catch (Exception e) {
-            System.err.println("Erro ao mudar o delta-V da manobra: " + e.getMessage());
-        }
-
+    if (e.getSource() == btnDeleteManeuver) {
+      deleteManeuver();
     }
-
-    private void changeOrbit(String command) {
-        try {
-            Vessel vessel;
-            vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            Node currentManeuver = vessel.getControl().getNodes().get(selectedManeuverIndex);
-            double currentOrbitPeriod = vessel.getOrbit().getPeriod();
-            if (command == "next_orbit") {
-                currentManeuver.setUT(currentManeuver.getUT() + currentOrbitPeriod);
-            } else {
-                double newUT = currentManeuver.getUT() - currentOrbitPeriod;
-                newUT = newUT < vesselManager.getSpaceCenter().getUT()
-                        ? vesselManager.getSpaceCenter().getUT() + 60
-                        : newUT;
-                currentManeuver.setUT(newUT);
-            }
-        } catch (RPCException ignored) {
-        }
+    if (e.getSource() == btnIncrease || e.getSource() == btnDecrease) {
+      changeManeuverDeltaV(e.getActionCommand());
     }
-
-    @Override
-    public void actionPerformed(ActionEvent e) {
-        if (e.getSource() == btnCreateManeuver) {
-            createManeuver();
-        }
-        if (e.getSource() == btnDeleteManeuver) {
-            deleteManeuver();
-        }
-        if (e.getSource() == btnIncrease || e.getSource() == btnDecrease) {
-            changeManeuverDeltaV(e.getActionCommand());
-        }
-        if (e.getSource() == btnNextOrbit || e.getSource() == btnPrevOrbit) {
-            changeOrbit(e.getActionCommand());
-        }
-        if (e.getSource() == btnAp || e.getSource() == btnPe || e.getSource() == btnAN || e.getSource() == btnDN) {
-            positionManeuverAt(e.getActionCommand());
-        }
-        if (e.getSource() == btnBack) {
-            MainGui.backToTelemetry(e);
-        }
+    if (e.getSource() == btnNextOrbit || e.getSource() == btnPrevOrbit) {
+      changeOrbit(e.getActionCommand());
+    }
+    if (e.getSource() == btnAp
+        || e.getSource() == btnPe
+        || e.getSource() == btnAN
+        || e.getSource() == btnDN) {
+      positionManeuverAt(e.getActionCommand());
+    }
+    if (e.getSource() == btnBack) {
+      MainGui.backToTelemetry(e);
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/DockingJPanel.java b/src/main/java/com/pesterenan/views/DockingJPanel.java
index 7224f73..683a2b8 100644
--- a/src/main/java/com/pesterenan/views/DockingJPanel.java
+++ b/src/main/java/com/pesterenan/views/DockingJPanel.java
@@ -4,11 +4,13 @@
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.event.ActionEvent;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
@@ -18,155 +20,152 @@
 import javax.swing.SwingConstants;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-
 public class DockingJPanel extends JPanel implements UIMethods {
 
-    private static final long serialVersionUID = 0L;
-
-    private JLabel lblMaxSpeed, lblSafeDistance, lblCurrentDockingStepText;
-    private static JLabel lblDockingStep;
-
-    private JTextField txfMaxSpeed, txfSafeDistance;
-    private JButton btnBack, btnStartDocking;
-
-    private VesselManager vesselManager;
-
-    private StatusDisplay statusDisplay;
-
-    public DockingJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
+  private static final long serialVersionUID = 0L;
+
+  private JLabel lblMaxSpeed, lblSafeDistance, lblCurrentDockingStepText;
+  private static JLabel lblDockingStep;
+
+  private JTextField txfMaxSpeed, txfSafeDistance;
+  private JButton btnBack, btnStartDocking;
+
+  private VesselManager vesselManager;
+
+  private StatusDisplay statusDisplay;
+
+  public DockingJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblMaxSpeed = new JLabel(Bundle.getString("pnl_docking_max_speed"));
+    lblSafeDistance = new JLabel(Bundle.getString("pnl_docking_safe_distance"));
+    lblDockingStep = new JLabel(Bundle.getString("pnl_docking_step_ready"));
+    lblCurrentDockingStepText = new JLabel(Bundle.getString("pnl_docking_current_step"));
+    // Textfields:
+    txfMaxSpeed = new JTextField("3");
+    txfSafeDistance = new JTextField("50");
+
+    // Buttons:
+    btnBack = new JButton(Bundle.getString("pnl_rover_btn_back"));
+    btnStartDocking = new JButton(Bundle.getString("pnl_rover_btn_docking"));
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setBorder(new TitledBorder(null, Bundle.getString("btn_func_docking")));
+
+    // Setting-up components:
+    txfMaxSpeed.setHorizontalAlignment(SwingConstants.RIGHT);
+    txfMaxSpeed.setMaximumSize(BTN_DIMENSION);
+    txfMaxSpeed.setPreferredSize(BTN_DIMENSION);
+    txfSafeDistance.setHorizontalAlignment(SwingConstants.RIGHT);
+    txfSafeDistance.setMaximumSize(BTN_DIMENSION);
+    txfSafeDistance.setPreferredSize(BTN_DIMENSION);
+
+    btnBack.addActionListener(MainGui::backToTelemetry);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+    btnStartDocking.addActionListener(this::handleStartDocking);
+    btnStartDocking.setMaximumSize(BTN_DIMENSION);
+    btnStartDocking.setPreferredSize(BTN_DIMENSION);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    // Layout components:
+    JPanel pnlMaxSpeed = new JPanel();
+    pnlMaxSpeed.setLayout(new BoxLayout(pnlMaxSpeed, BoxLayout.X_AXIS));
+    pnlMaxSpeed.add(lblMaxSpeed);
+    pnlMaxSpeed.add(Box.createHorizontalGlue());
+    pnlMaxSpeed.add(txfMaxSpeed);
+
+    JPanel pnlSafeDistance = new JPanel();
+    pnlSafeDistance.setLayout(new BoxLayout(pnlSafeDistance, BoxLayout.X_AXIS));
+    pnlSafeDistance.add(lblSafeDistance);
+    pnlSafeDistance.add(Box.createHorizontalGlue());
+    pnlSafeDistance.add(txfSafeDistance);
+
+    JPanel pnlDockingStep = new JPanel();
+    pnlDockingStep.setLayout(new BoxLayout(pnlDockingStep, BoxLayout.X_AXIS));
+    pnlDockingStep.add(lblCurrentDockingStepText);
+    pnlDockingStep.add(Box.createHorizontalGlue());
+    pnlDockingStep.add(lblDockingStep);
+
+    JPanel pnlDockingControls = new JPanel();
+    pnlDockingControls.setLayout(new BoxLayout(pnlDockingControls, BoxLayout.Y_AXIS));
+    pnlDockingControls.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlDockingControls.add(MainGui.createMarginComponent(0, 6));
+    pnlDockingControls.add(pnlMaxSpeed);
+    pnlDockingControls.add(pnlSafeDistance);
+    pnlDockingControls.add(Box.createVerticalGlue());
+    pnlDockingControls.add(pnlDockingStep);
+    pnlDockingControls.add(Box.createVerticalGlue());
+
+    JPanel pnlButtons = new JPanel();
+    pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
+    pnlButtons.add(btnStartDocking);
+    pnlButtons.add(Box.createHorizontalGlue());
+    pnlButtons.add(btnBack);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlDockingControls.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlDockingControls);
+
+    setLayout(new BorderLayout());
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlButtons, BorderLayout.SOUTH);
+  }
+
+  public static void setDockingStep(String step) {
+    lblDockingStep.setText(step);
+  }
+
+  private void handleStartDocking(ActionEvent e) {
+    if (validateTextFields()) {
+      Map<String, String> commands = new HashMap<>();
+      commands.put(Module.MODULO.get(), Module.DOCKING.get());
+      commands.put(Module.SAFE_DISTANCE.get(), txfSafeDistance.getText());
+      commands.put(Module.MAX_SPEED.get(), txfMaxSpeed.getText());
+      vesselManager.startModule(commands);
     }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblMaxSpeed = new JLabel(Bundle.getString("pnl_docking_max_speed"));
-        lblSafeDistance = new JLabel(Bundle.getString("pnl_docking_safe_distance"));
-        lblDockingStep = new JLabel(Bundle.getString("pnl_docking_step_ready"));
-        lblCurrentDockingStepText = new JLabel(Bundle.getString("pnl_docking_current_step"));
-        // Textfields:
-        txfMaxSpeed = new JTextField("3");
-        txfSafeDistance = new JTextField("50");
-
-        // Buttons:
-        btnBack = new JButton(Bundle.getString("pnl_rover_btn_back"));
-        btnStartDocking = new JButton(Bundle.getString("pnl_rover_btn_docking"));
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setBorder(new TitledBorder(null, Bundle.getString("btn_func_docking")));
-
-        // Setting-up components:
-        txfMaxSpeed.setHorizontalAlignment(SwingConstants.RIGHT);
-        txfMaxSpeed.setMaximumSize(BTN_DIMENSION);
-        txfMaxSpeed.setPreferredSize(BTN_DIMENSION);
-        txfSafeDistance.setHorizontalAlignment(SwingConstants.RIGHT);
-        txfSafeDistance.setMaximumSize(BTN_DIMENSION);
-        txfSafeDistance.setPreferredSize(BTN_DIMENSION);
-
-        btnBack.addActionListener(MainGui::backToTelemetry);
-        btnBack.setMaximumSize(BTN_DIMENSION);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-        btnStartDocking.addActionListener(this::handleStartDocking);
-        btnStartDocking.setMaximumSize(BTN_DIMENSION);
-        btnStartDocking.setPreferredSize(BTN_DIMENSION);
-    }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        // Layout components:
-        JPanel pnlMaxSpeed = new JPanel();
-        pnlMaxSpeed.setLayout(new BoxLayout(pnlMaxSpeed, BoxLayout.X_AXIS));
-        pnlMaxSpeed.add(lblMaxSpeed);
-        pnlMaxSpeed.add(Box.createHorizontalGlue());
-        pnlMaxSpeed.add(txfMaxSpeed);
-
-        JPanel pnlSafeDistance = new JPanel();
-        pnlSafeDistance.setLayout(new BoxLayout(pnlSafeDistance, BoxLayout.X_AXIS));
-        pnlSafeDistance.add(lblSafeDistance);
-        pnlSafeDistance.add(Box.createHorizontalGlue());
-        pnlSafeDistance.add(txfSafeDistance);
-
-        JPanel pnlDockingStep = new JPanel();
-        pnlDockingStep.setLayout(new BoxLayout(pnlDockingStep, BoxLayout.X_AXIS));
-        pnlDockingStep.add(lblCurrentDockingStepText);
-        pnlDockingStep.add(Box.createHorizontalGlue());
-        pnlDockingStep.add(lblDockingStep);
-
-        JPanel pnlDockingControls = new JPanel();
-        pnlDockingControls.setLayout(new BoxLayout(pnlDockingControls, BoxLayout.Y_AXIS));
-        pnlDockingControls.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlDockingControls.add(MainGui.createMarginComponent(0, 6));
-        pnlDockingControls.add(pnlMaxSpeed);
-        pnlDockingControls.add(pnlSafeDistance);
-        pnlDockingControls.add(Box.createVerticalGlue());
-        pnlDockingControls.add(pnlDockingStep);
-        pnlDockingControls.add(Box.createVerticalGlue());
-
-        JPanel pnlButtons = new JPanel();
-        pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
-        pnlButtons.add(btnStartDocking);
-        pnlButtons.add(Box.createHorizontalGlue());
-        pnlButtons.add(btnBack);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlDockingControls.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlDockingControls);
-
-        setLayout(new BorderLayout());
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlButtons, BorderLayout.SOUTH);
-    }
-
-    public static void setDockingStep(String step) {
-        lblDockingStep.setText(step);
-    }
-
-    private void handleStartDocking(ActionEvent e) {
-        if (validateTextFields()) {
-            Map<String,String> commands = new HashMap<>();
-            commands.put(Module.MODULO.get(), Module.DOCKING.get());
-            commands.put(Module.SAFE_DISTANCE.get(), txfSafeDistance.getText());
-            commands.put(Module.MAX_SPEED.get(), txfMaxSpeed.getText());
-            vesselManager.startModule(commands);
-        }
-    }
-
-    private boolean validateTextFields() {
-        try {
-            if (Float.parseFloat(txfMaxSpeed.getText()) > 10) {
-                statusDisplay.setStatusMessage("Velocidade de acoplagem muito alta. Tem que ser menor que 10m/s.");
-                return false;
-            }
-            if (Float.parseFloat(txfSafeDistance.getText()) > 200) {
-                statusDisplay.setStatusMessage("Distância segura muito alta. Tem que ser menor que 200m.");
-                return false;
-            }
-        } catch (NumberFormatException e) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_lift_stat_only_numbers"));
-            return false;
-        } catch (IllegalArgumentException e) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_waypoint_name_not_empty"));
-            return false;
-        }
-        return true;
+  }
+
+  private boolean validateTextFields() {
+    try {
+      if (Float.parseFloat(txfMaxSpeed.getText()) > 10) {
+        statusDisplay.setStatusMessage(
+            "Velocidade de acoplagem muito alta. Tem que ser menor que 10m/s.");
+        return false;
+      }
+      if (Float.parseFloat(txfSafeDistance.getText()) > 200) {
+        statusDisplay.setStatusMessage("Distância segura muito alta. Tem que ser menor que 200m.");
+        return false;
+      }
+    } catch (NumberFormatException e) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_lift_stat_only_numbers"));
+      return false;
+    } catch (IllegalArgumentException e) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_waypoint_name_not_empty"));
+      return false;
     }
+    return true;
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
index 353bfe1..01f4fa4 100644
--- a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
+++ b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
@@ -2,11 +2,15 @@
 
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
+import com.pesterenan.utils.Telemetry;
+import com.pesterenan.utils.Utilities;
 import java.awt.BorderLayout;
 import java.awt.Dimension;
 import java.awt.event.ActionEvent;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
@@ -14,204 +18,206 @@
 import javax.swing.JPanel;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-import com.pesterenan.utils.Telemetry;
-import com.pesterenan.utils.Utilities;
-
 public class FunctionsAndTelemetryJPanel extends JPanel implements UIMethods {
 
-    private static final long serialVersionUID = 0L;
-
-    private final Dimension btnFuncDimension = new Dimension(140, 25);
-    private JButton btnLiftoff, btnLanding, btnManeuvers, btnDocking, btnRover, btnCancel;
-    private JLabel lblAltitude, lblSurfaceAlt, lblApoapsis, lblPeriapsis, lblVertSpeed, lblHorzSpeed;
-    private JLabel lblAltitudeValue, lblSurfaceAltValue, lblApoapsisValue;
-    private JLabel lblPeriapsisValue, lblVertSpeedValue, lblHorzSpeedValue;
-
-    private VesselManager vesselManager;
-
-    private StatusDisplay statusDisplay;
-
-    public FunctionsAndTelemetryJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-        btnCancel.setEnabled(true);
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblAltitude = new JLabel(Bundle.getString("pnl_tel_lbl_alt"));
-        lblSurfaceAlt = new JLabel(Bundle.getString("pnl_tel_lbl_alt_sur"));
-        lblApoapsis = new JLabel(Bundle.getString("pnl_tel_lbl_apoapsis"));
-        lblPeriapsis = new JLabel(Bundle.getString("pnl_tel_lbl_periapsis"));
-        lblVertSpeed = new JLabel(Bundle.getString("pnl_tel_lbl_vert_spd"));
-        lblHorzSpeed = new JLabel(Bundle.getString("pnl_tel_lbl_horz_spd"));
-        lblAltitudeValue = new JLabel("---");
-        lblSurfaceAltValue = new JLabel("---");
-        lblApoapsisValue = new JLabel("---");
-        lblPeriapsisValue = new JLabel("---");
-        lblVertSpeedValue = new JLabel("---");
-        lblHorzSpeedValue = new JLabel("---");
-
-        // Buttons:
-        btnLiftoff = new JButton(Bundle.getString("btn_func_liftoff"));
-        btnLanding = new JButton(Bundle.getString("btn_func_landing"));
-        btnManeuvers = new JButton(Bundle.getString("btn_func_maneuver"));
-        btnRover = new JButton(Bundle.getString("btn_func_rover"));
-        btnDocking = new JButton(Bundle.getString("btn_func_docking"));
-        btnCancel = new JButton(Bundle.getString("pnl_tel_btn_cancel"));
-    }
-
-    @Override
-    public void setupComponents() {
-        setPreferredSize(PNL_DIMENSION);
-        setBorder(new TitledBorder(null, Bundle.getString("pnl_func_title"), TitledBorder.LEADING, TitledBorder.TOP,
-                null, null));
-        setLayout(new BorderLayout());
-
-        // Setting up components:
-        btnCancel.addActionListener(e -> cancelCurrentAction(e));
-        btnCancel.setMaximumSize(btnFuncDimension);
-        btnCancel.setPreferredSize(btnFuncDimension);
-        btnCancel.setEnabled(false);
-        btnLanding.addActionListener(this::changeFunctionPanel);
-        btnLanding.setActionCommand(Module.LANDING.get());
-        btnLanding.setMaximumSize(btnFuncDimension);
-        btnLanding.setPreferredSize(btnFuncDimension);
-        btnLiftoff.addActionListener(this::changeFunctionPanel);
-        btnLiftoff.setActionCommand(Module.LIFTOFF.get());
-        btnLiftoff.setMaximumSize(btnFuncDimension);
-        btnLiftoff.setPreferredSize(btnFuncDimension);
-        btnManeuvers.addActionListener(this::changeFunctionPanel);
-        btnManeuvers.setActionCommand(Module.MANEUVER.get());
-        btnManeuvers.setMaximumSize(btnFuncDimension);
-        btnManeuvers.setPreferredSize(btnFuncDimension);
-        btnRover.addActionListener(this::changeFunctionPanel);
-        btnRover.setActionCommand(Module.ROVER.get());
-        btnRover.setMaximumSize(btnFuncDimension);
-        btnRover.setPreferredSize(btnFuncDimension);
-        btnDocking.addActionListener(this::changeFunctionPanel);
-        btnDocking.setActionCommand(Module.DOCKING.get());
-        btnDocking.setMaximumSize(btnFuncDimension);
-        btnDocking.setPreferredSize(btnFuncDimension);
-    }
-
-    private void cancelCurrentAction(ActionEvent e) {
-        statusDisplay.setStatusMessage("Canceling current action...");
-        vesselManager.cancelControl(e);
-    }
-
-    @Override
-    public void layoutComponents() {
-
-        JPanel pnlFunctionControls = new JPanel();
-        pnlFunctionControls.setLayout(new BoxLayout(pnlFunctionControls, BoxLayout.Y_AXIS));
-        pnlFunctionControls.add(MainGui.createMarginComponent(0, 4));
-        pnlFunctionControls.add(btnLiftoff);
-        pnlFunctionControls.add(btnLanding);
-        pnlFunctionControls.add(btnRover);
-        pnlFunctionControls.add(btnDocking);
-        pnlFunctionControls.add(btnManeuvers);
-        pnlFunctionControls.add(Box.createVerticalGlue());
-
-        JPanel pnlLeftPanel = new JPanel();
-        pnlLeftPanel.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
-        pnlLeftPanel.setLayout(new BoxLayout(pnlLeftPanel, BoxLayout.Y_AXIS));
-        pnlLeftPanel.add(lblAltitude);
-        pnlLeftPanel.add(Box.createVerticalStrut(5));
-        pnlLeftPanel.add(lblSurfaceAlt);
-        pnlLeftPanel.add(Box.createVerticalStrut(5));
-        pnlLeftPanel.add(lblApoapsis);
-        pnlLeftPanel.add(Box.createVerticalStrut(5));
-        pnlLeftPanel.add(lblPeriapsis);
-        pnlLeftPanel.add(Box.createVerticalStrut(5));
-        pnlLeftPanel.add(lblHorzSpeed);
-        pnlLeftPanel.add(Box.createVerticalStrut(5));
-        pnlLeftPanel.add(lblVertSpeed);
-        pnlLeftPanel.add(Box.createGlue());
-
-        JPanel pnlRightPanel = new JPanel();
-        pnlRightPanel.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
-        pnlRightPanel.setLayout(new BoxLayout(pnlRightPanel, BoxLayout.Y_AXIS));
-        lblAltitudeValue.setAlignmentX(RIGHT_ALIGNMENT);
-        lblSurfaceAltValue.setAlignmentX(RIGHT_ALIGNMENT);
-        lblApoapsisValue.setAlignmentX(RIGHT_ALIGNMENT);
-        lblPeriapsisValue.setAlignmentX(RIGHT_ALIGNMENT);
-        lblHorzSpeedValue.setAlignmentX(RIGHT_ALIGNMENT);
-        lblVertSpeedValue.setAlignmentX(RIGHT_ALIGNMENT);
-        pnlRightPanel.add(lblAltitudeValue);
-        pnlRightPanel.add(Box.createVerticalStrut(5));
-        pnlRightPanel.add(lblSurfaceAltValue);
-        pnlRightPanel.add(Box.createVerticalStrut(5));
-        pnlRightPanel.add(lblApoapsisValue);
-        pnlRightPanel.add(Box.createVerticalStrut(5));
-        pnlRightPanel.add(lblPeriapsisValue);
-        pnlRightPanel.add(Box.createVerticalStrut(5));
-        pnlRightPanel.add(lblHorzSpeedValue);
-        pnlRightPanel.add(Box.createVerticalStrut(5));
-        pnlRightPanel.add(lblVertSpeedValue);
-        pnlRightPanel.add(Box.createGlue());
-
-        JPanel pnlLeftRightContainer = new JPanel();
-        pnlLeftRightContainer.setLayout(new BoxLayout(pnlLeftRightContainer, BoxLayout.X_AXIS));
-        pnlLeftRightContainer.add(pnlLeftPanel);
-        pnlLeftRightContainer.add(pnlRightPanel);
-
-        JPanel pnlTelemetry = new JPanel();
-        pnlTelemetry.setLayout(new BoxLayout(pnlTelemetry, BoxLayout.Y_AXIS));
-        pnlTelemetry.setBorder(new TitledBorder(null, Bundle.getString("pnl_tel_border")));
-        pnlTelemetry.add(pnlLeftRightContainer);
-        pnlTelemetry.add(Box.createGlue());
-        btnCancel.setAlignmentX(CENTER_ALIGNMENT);
-        pnlTelemetry.add(btnCancel);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlFunctionControls.setAlignmentY(TOP_ALIGNMENT);
-        pnlTelemetry.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlFunctionControls);
-        pnlMain.add(pnlTelemetry);
-
-        add(pnlMain, BorderLayout.CENTER);
-    }
-
-    private void changeFunctionPanel(ActionEvent e) {
-        MainGui.changeToPage(e);
-    }
-
-    public void updateTelemetry(Map<Telemetry,Double> telemetryData) {
-        synchronized (telemetryData) {
-            for (Telemetry key : telemetryData.keySet()) {
-                switch (key) {
-                    case ALTITUDE :
-                        lblAltitudeValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
-                        break;
-                    case ALT_SURF :
-                        lblSurfaceAltValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
-                        break;
-                    case APOAPSIS :
-                        lblApoapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
-                        break;
-                    case PERIAPSIS :
-                        lblPeriapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
-                        break;
-                    case VERT_SPEED :
-                        lblVertSpeedValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
-                        break;
-                    case HORZ_SPEED :
-                        lblHorzSpeedValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
-                        break;
-                }
-            }
+  private static final long serialVersionUID = 0L;
+
+  private final Dimension btnFuncDimension = new Dimension(140, 25);
+  private JButton btnLiftoff, btnLanding, btnManeuvers, btnDocking, btnRover, btnCancel;
+  private JLabel lblAltitude, lblSurfaceAlt, lblApoapsis, lblPeriapsis, lblVertSpeed, lblHorzSpeed;
+  private JLabel lblAltitudeValue, lblSurfaceAltValue, lblApoapsisValue;
+  private JLabel lblPeriapsisValue, lblVertSpeedValue, lblHorzSpeedValue;
+
+  private VesselManager vesselManager;
+
+  private StatusDisplay statusDisplay;
+
+  public FunctionsAndTelemetryJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+    btnCancel.setEnabled(true);
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblAltitude = new JLabel(Bundle.getString("pnl_tel_lbl_alt"));
+    lblSurfaceAlt = new JLabel(Bundle.getString("pnl_tel_lbl_alt_sur"));
+    lblApoapsis = new JLabel(Bundle.getString("pnl_tel_lbl_apoapsis"));
+    lblPeriapsis = new JLabel(Bundle.getString("pnl_tel_lbl_periapsis"));
+    lblVertSpeed = new JLabel(Bundle.getString("pnl_tel_lbl_vert_spd"));
+    lblHorzSpeed = new JLabel(Bundle.getString("pnl_tel_lbl_horz_spd"));
+    lblAltitudeValue = new JLabel("---");
+    lblSurfaceAltValue = new JLabel("---");
+    lblApoapsisValue = new JLabel("---");
+    lblPeriapsisValue = new JLabel("---");
+    lblVertSpeedValue = new JLabel("---");
+    lblHorzSpeedValue = new JLabel("---");
+
+    // Buttons:
+    btnLiftoff = new JButton(Bundle.getString("btn_func_liftoff"));
+    btnLanding = new JButton(Bundle.getString("btn_func_landing"));
+    btnManeuvers = new JButton(Bundle.getString("btn_func_maneuver"));
+    btnRover = new JButton(Bundle.getString("btn_func_rover"));
+    btnDocking = new JButton(Bundle.getString("btn_func_docking"));
+    btnCancel = new JButton(Bundle.getString("pnl_tel_btn_cancel"));
+  }
+
+  @Override
+  public void setupComponents() {
+    setPreferredSize(PNL_DIMENSION);
+    setBorder(
+        new TitledBorder(
+            null,
+            Bundle.getString("pnl_func_title"),
+            TitledBorder.LEADING,
+            TitledBorder.TOP,
+            null,
+            null));
+    setLayout(new BorderLayout());
+
+    // Setting up components:
+    btnCancel.addActionListener(e -> cancelCurrentAction(e));
+    btnCancel.setMaximumSize(btnFuncDimension);
+    btnCancel.setPreferredSize(btnFuncDimension);
+    btnCancel.setEnabled(false);
+    btnLanding.addActionListener(this::changeFunctionPanel);
+    btnLanding.setActionCommand(Module.LANDING.get());
+    btnLanding.setMaximumSize(btnFuncDimension);
+    btnLanding.setPreferredSize(btnFuncDimension);
+    btnLiftoff.addActionListener(this::changeFunctionPanel);
+    btnLiftoff.setActionCommand(Module.LIFTOFF.get());
+    btnLiftoff.setMaximumSize(btnFuncDimension);
+    btnLiftoff.setPreferredSize(btnFuncDimension);
+    btnManeuvers.addActionListener(this::changeFunctionPanel);
+    btnManeuvers.setActionCommand(Module.MANEUVER.get());
+    btnManeuvers.setMaximumSize(btnFuncDimension);
+    btnManeuvers.setPreferredSize(btnFuncDimension);
+    btnRover.addActionListener(this::changeFunctionPanel);
+    btnRover.setActionCommand(Module.ROVER.get());
+    btnRover.setMaximumSize(btnFuncDimension);
+    btnRover.setPreferredSize(btnFuncDimension);
+    btnDocking.addActionListener(this::changeFunctionPanel);
+    btnDocking.setActionCommand(Module.DOCKING.get());
+    btnDocking.setMaximumSize(btnFuncDimension);
+    btnDocking.setPreferredSize(btnFuncDimension);
+  }
+
+  private void cancelCurrentAction(ActionEvent e) {
+    statusDisplay.setStatusMessage("Canceling current action...");
+    vesselManager.cancelControl(e);
+  }
+
+  @Override
+  public void layoutComponents() {
+
+    JPanel pnlFunctionControls = new JPanel();
+    pnlFunctionControls.setLayout(new BoxLayout(pnlFunctionControls, BoxLayout.Y_AXIS));
+    pnlFunctionControls.add(MainGui.createMarginComponent(0, 4));
+    pnlFunctionControls.add(btnLiftoff);
+    pnlFunctionControls.add(btnLanding);
+    pnlFunctionControls.add(btnRover);
+    pnlFunctionControls.add(btnDocking);
+    pnlFunctionControls.add(btnManeuvers);
+    pnlFunctionControls.add(Box.createVerticalGlue());
+
+    JPanel pnlLeftPanel = new JPanel();
+    pnlLeftPanel.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
+    pnlLeftPanel.setLayout(new BoxLayout(pnlLeftPanel, BoxLayout.Y_AXIS));
+    pnlLeftPanel.add(lblAltitude);
+    pnlLeftPanel.add(Box.createVerticalStrut(5));
+    pnlLeftPanel.add(lblSurfaceAlt);
+    pnlLeftPanel.add(Box.createVerticalStrut(5));
+    pnlLeftPanel.add(lblApoapsis);
+    pnlLeftPanel.add(Box.createVerticalStrut(5));
+    pnlLeftPanel.add(lblPeriapsis);
+    pnlLeftPanel.add(Box.createVerticalStrut(5));
+    pnlLeftPanel.add(lblHorzSpeed);
+    pnlLeftPanel.add(Box.createVerticalStrut(5));
+    pnlLeftPanel.add(lblVertSpeed);
+    pnlLeftPanel.add(Box.createGlue());
+
+    JPanel pnlRightPanel = new JPanel();
+    pnlRightPanel.setBorder(MainGui.MARGIN_BORDER_10_PX_LR);
+    pnlRightPanel.setLayout(new BoxLayout(pnlRightPanel, BoxLayout.Y_AXIS));
+    lblAltitudeValue.setAlignmentX(RIGHT_ALIGNMENT);
+    lblSurfaceAltValue.setAlignmentX(RIGHT_ALIGNMENT);
+    lblApoapsisValue.setAlignmentX(RIGHT_ALIGNMENT);
+    lblPeriapsisValue.setAlignmentX(RIGHT_ALIGNMENT);
+    lblHorzSpeedValue.setAlignmentX(RIGHT_ALIGNMENT);
+    lblVertSpeedValue.setAlignmentX(RIGHT_ALIGNMENT);
+    pnlRightPanel.add(lblAltitudeValue);
+    pnlRightPanel.add(Box.createVerticalStrut(5));
+    pnlRightPanel.add(lblSurfaceAltValue);
+    pnlRightPanel.add(Box.createVerticalStrut(5));
+    pnlRightPanel.add(lblApoapsisValue);
+    pnlRightPanel.add(Box.createVerticalStrut(5));
+    pnlRightPanel.add(lblPeriapsisValue);
+    pnlRightPanel.add(Box.createVerticalStrut(5));
+    pnlRightPanel.add(lblHorzSpeedValue);
+    pnlRightPanel.add(Box.createVerticalStrut(5));
+    pnlRightPanel.add(lblVertSpeedValue);
+    pnlRightPanel.add(Box.createGlue());
+
+    JPanel pnlLeftRightContainer = new JPanel();
+    pnlLeftRightContainer.setLayout(new BoxLayout(pnlLeftRightContainer, BoxLayout.X_AXIS));
+    pnlLeftRightContainer.add(pnlLeftPanel);
+    pnlLeftRightContainer.add(pnlRightPanel);
+
+    JPanel pnlTelemetry = new JPanel();
+    pnlTelemetry.setLayout(new BoxLayout(pnlTelemetry, BoxLayout.Y_AXIS));
+    pnlTelemetry.setBorder(new TitledBorder(null, Bundle.getString("pnl_tel_border")));
+    pnlTelemetry.add(pnlLeftRightContainer);
+    pnlTelemetry.add(Box.createGlue());
+    btnCancel.setAlignmentX(CENTER_ALIGNMENT);
+    pnlTelemetry.add(btnCancel);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlFunctionControls.setAlignmentY(TOP_ALIGNMENT);
+    pnlTelemetry.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlFunctionControls);
+    pnlMain.add(pnlTelemetry);
+
+    add(pnlMain, BorderLayout.CENTER);
+  }
+
+  private void changeFunctionPanel(ActionEvent e) {
+    MainGui.changeToPage(e);
+  }
+
+  public void updateTelemetry(Map<Telemetry, Double> telemetryData) {
+    synchronized (telemetryData) {
+      for (Telemetry key : telemetryData.keySet()) {
+        switch (key) {
+          case ALTITUDE:
+            lblAltitudeValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
+            break;
+          case ALT_SURF:
+            lblSurfaceAltValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
+            break;
+          case APOAPSIS:
+            lblApoapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
+            break;
+          case PERIAPSIS:
+            lblPeriapsisValue.setText(Utilities.convertToMetersMagnitudes(telemetryData.get(key)));
+            break;
+          case VERT_SPEED:
+            lblVertSpeedValue.setText(
+                Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
+            break;
+          case HORZ_SPEED:
+            lblHorzSpeedValue.setText(
+                Utilities.convertToMetersMagnitudes(telemetryData.get(key)) + "/s");
+            break;
         }
+      }
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/InstallKrpcDialog.java b/src/main/java/com/pesterenan/views/InstallKrpcDialog.java
index 370cdfc..051bb75 100644
--- a/src/main/java/com/pesterenan/views/InstallKrpcDialog.java
+++ b/src/main/java/com/pesterenan/views/InstallKrpcDialog.java
@@ -2,7 +2,6 @@
 
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.updater.KrpcInstaller;
-
 import javax.swing.*;
 import javax.swing.GroupLayout.Alignment;
 import javax.swing.LayoutStyle.ComponentPlacement;
@@ -10,136 +9,209 @@
 import javax.swing.border.TitledBorder;
 
 public class InstallKrpcDialog extends JDialog {
-    private static final long serialVersionUID = 1L;
-    private JLabel lblInstallerInfo;
-    private final JSeparator separator = new JSeparator();
-    private final JPanel pnlKspFolderPath = new JPanel();
-    private final JTextField txfPath = new JTextField();
-    private JButton btnBrowsePath;
-    private JButton btnDownloadInstall;
-    private JButton btnCancel;
-    private JPanel pnlStatus;
-    private static JLabel lblStatus;
-
-    public InstallKrpcDialog() {
-        try {
-            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-            initComponents();
-        } catch (Throwable e) {
-            e.printStackTrace();
-        }
+  private static final long serialVersionUID = 1L;
+  private JLabel lblInstallerInfo;
+  private final JSeparator separator = new JSeparator();
+  private final JPanel pnlKspFolderPath = new JPanel();
+  private final JTextField txfPath = new JTextField();
+  private JButton btnBrowsePath;
+  private JButton btnDownloadInstall;
+  private JButton btnCancel;
+  private JPanel pnlStatus;
+  private static JLabel lblStatus;
+
+  public InstallKrpcDialog() {
+    try {
+      UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+      initComponents();
+    } catch (Throwable e) {
+      e.printStackTrace();
     }
-
-    private void initComponents() {
-        setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE);
-        setResizable(false);
-        setBounds(MainGui.centerDialogOnScreen());
-        setAlwaysOnTop(true);
-        setModalityType(ModalityType.APPLICATION_MODAL);
-        setTitle(Bundle.getString("installer_dialog_title")); //$NON-NLS-1$
-
-        lblInstallerInfo = new JLabel(Bundle.getString("installer_dialog_txt_info")); //$NON-NLS-1$
-
-        pnlKspFolderPath
-                .setBorder(new TitledBorder(null, Bundle.getString("installer_dialog_pnl_path"), TitledBorder.LEADING, // $NON
-                        // -NLS-1$
-                        TitledBorder.TOP, null, null));
-
-        btnDownloadInstall = new JButton(Bundle.getString("installer_dialog_btn_download")); // $NON
-        // -NLS-1$
-        btnDownloadInstall.addActionListener((e) -> KrpcInstaller.downloadAndInstallKrpc());
-        btnDownloadInstall.setEnabled(false);
-
-        btnCancel = new JButton(Bundle.getString("installer_dialog_btn_cancel")); //$NON-NLS-1$
-        btnCancel.addActionListener((e) -> this.dispose());
-
-        pnlStatus = new JPanel();
-        pnlStatus.setBorder(new BevelBorder(BevelBorder.LOWERED, null, null, null, null));
-
-        GroupLayout groupLayout = new GroupLayout(getContentPane());
-        groupLayout.setHorizontalGroup(groupLayout.createParallelGroup(Alignment.TRAILING).addGroup(groupLayout
-                .createSequentialGroup().addContainerGap()
-                .addGroup(groupLayout.createParallelGroup(Alignment.LEADING)
-                        .addComponent(pnlKspFolderPath, GroupLayout.DEFAULT_SIZE, 414, Short.MAX_VALUE)
-                        .addComponent(lblInstallerInfo, Alignment.TRAILING, GroupLayout.DEFAULT_SIZE, 414,
+  }
+
+  private void initComponents() {
+    setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE);
+    setResizable(false);
+    setBounds(MainGui.centerDialogOnScreen());
+    setAlwaysOnTop(true);
+    setModalityType(ModalityType.APPLICATION_MODAL);
+    setTitle(Bundle.getString("installer_dialog_title")); // $NON-NLS-1$
+
+    lblInstallerInfo = new JLabel(Bundle.getString("installer_dialog_txt_info")); // $NON-NLS-1$
+
+    pnlKspFolderPath.setBorder(
+        new TitledBorder(
+            null,
+            Bundle.getString("installer_dialog_pnl_path"),
+            TitledBorder.LEADING, // $NON
+            // -NLS-1$
+            TitledBorder.TOP,
+            null,
+            null));
+
+    btnDownloadInstall = new JButton(Bundle.getString("installer_dialog_btn_download")); // $NON
+    // -NLS-1$
+    btnDownloadInstall.addActionListener((e) -> KrpcInstaller.downloadAndInstallKrpc());
+    btnDownloadInstall.setEnabled(false);
+
+    btnCancel = new JButton(Bundle.getString("installer_dialog_btn_cancel")); // $NON-NLS-1$
+    btnCancel.addActionListener((e) -> this.dispose());
+
+    pnlStatus = new JPanel();
+    pnlStatus.setBorder(new BevelBorder(BevelBorder.LOWERED, null, null, null, null));
+
+    GroupLayout groupLayout = new GroupLayout(getContentPane());
+    groupLayout.setHorizontalGroup(
+        groupLayout
+            .createParallelGroup(Alignment.TRAILING)
+            .addGroup(
+                groupLayout
+                    .createSequentialGroup()
+                    .addContainerGap()
+                    .addGroup(
+                        groupLayout
+                            .createParallelGroup(Alignment.LEADING)
+                            .addComponent(
+                                pnlKspFolderPath, GroupLayout.DEFAULT_SIZE, 414, Short.MAX_VALUE)
+                            .addComponent(
+                                lblInstallerInfo,
+                                Alignment.TRAILING,
+                                GroupLayout.DEFAULT_SIZE,
+                                414,
                                 Short.MAX_VALUE)
-                        .addComponent(separator, Alignment.TRAILING, GroupLayout.DEFAULT_SIZE, 414, Short.MAX_VALUE)
-                        .addGroup(groupLayout.createSequentialGroup().addComponent(btnDownloadInstall)
-                                .addPreferredGap(ComponentPlacement.RELATED, 184, Short.MAX_VALUE)
-                                .addComponent(btnCancel)))
-                .addGap(10))
-                .addComponent(pnlStatus, Alignment.LEADING, GroupLayout.DEFAULT_SIZE, 434, Short.MAX_VALUE));
-        groupLayout.setVerticalGroup(groupLayout.createParallelGroup(Alignment.LEADING)
-                .addGroup(groupLayout.createSequentialGroup().addContainerGap()
-                        .addComponent(lblInstallerInfo, GroupLayout.PREFERRED_SIZE, 60, GroupLayout.PREFERRED_SIZE)
-                        .addGap(2).addComponent(separator, GroupLayout.PREFERRED_SIZE, 2, GroupLayout.PREFERRED_SIZE)
-                        .addPreferredGap(ComponentPlacement.UNRELATED)
-                        .addComponent(pnlKspFolderPath, GroupLayout.PREFERRED_SIZE, 51, GroupLayout.PREFERRED_SIZE)
-                        .addPreferredGap(ComponentPlacement.UNRELATED)
-                        .addGroup(groupLayout.createParallelGroup(Alignment.BASELINE).addComponent(btnDownloadInstall)
-                                .addComponent(btnCancel))
-                        .addPreferredGap(ComponentPlacement.RELATED, 60, Short.MAX_VALUE)
-                        .addComponent(pnlStatus, GroupLayout.PREFERRED_SIZE, 25, GroupLayout.PREFERRED_SIZE)));
-
-        lblStatus = new JLabel();
-        GroupLayout glPnlStatus = new GroupLayout(pnlStatus);
-        glPnlStatus.setHorizontalGroup(
-                glPnlStatus.createParallelGroup(Alignment.LEADING).addGroup(glPnlStatus.createSequentialGroup()
-                        .addContainerGap().addComponent(lblStatus).addContainerGap(389, Short.MAX_VALUE)));
-        glPnlStatus.setVerticalGroup(glPnlStatus.createParallelGroup(Alignment.TRAILING)
-                .addGroup(glPnlStatus.createSequentialGroup().addGap(2)
-                        .addComponent(lblStatus, GroupLayout.DEFAULT_SIZE, GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                        .addGap(0)));
-        pnlStatus.setLayout(glPnlStatus);
-
-        txfPath.setEditable(false);
-        txfPath.setColumns(10);
-
-        btnBrowsePath = new JButton(Bundle.getString("installer_dialog_btn_browse")); //$NON-NLS-1$
-        btnBrowsePath.addActionListener(e -> {
-            chooseKSPFolder();
-            txfPath.setText(KrpcInstaller.getKspFolder());
+                            .addComponent(
+                                separator,
+                                Alignment.TRAILING,
+                                GroupLayout.DEFAULT_SIZE,
+                                414,
+                                Short.MAX_VALUE)
+                            .addGroup(
+                                groupLayout
+                                    .createSequentialGroup()
+                                    .addComponent(btnDownloadInstall)
+                                    .addPreferredGap(
+                                        ComponentPlacement.RELATED, 184, Short.MAX_VALUE)
+                                    .addComponent(btnCancel)))
+                    .addGap(10))
+            .addComponent(
+                pnlStatus, Alignment.LEADING, GroupLayout.DEFAULT_SIZE, 434, Short.MAX_VALUE));
+    groupLayout.setVerticalGroup(
+        groupLayout
+            .createParallelGroup(Alignment.LEADING)
+            .addGroup(
+                groupLayout
+                    .createSequentialGroup()
+                    .addContainerGap()
+                    .addComponent(
+                        lblInstallerInfo,
+                        GroupLayout.PREFERRED_SIZE,
+                        60,
+                        GroupLayout.PREFERRED_SIZE)
+                    .addGap(2)
+                    .addComponent(
+                        separator, GroupLayout.PREFERRED_SIZE, 2, GroupLayout.PREFERRED_SIZE)
+                    .addPreferredGap(ComponentPlacement.UNRELATED)
+                    .addComponent(
+                        pnlKspFolderPath,
+                        GroupLayout.PREFERRED_SIZE,
+                        51,
+                        GroupLayout.PREFERRED_SIZE)
+                    .addPreferredGap(ComponentPlacement.UNRELATED)
+                    .addGroup(
+                        groupLayout
+                            .createParallelGroup(Alignment.BASELINE)
+                            .addComponent(btnDownloadInstall)
+                            .addComponent(btnCancel))
+                    .addPreferredGap(ComponentPlacement.RELATED, 60, Short.MAX_VALUE)
+                    .addComponent(
+                        pnlStatus, GroupLayout.PREFERRED_SIZE, 25, GroupLayout.PREFERRED_SIZE)));
+
+    lblStatus = new JLabel();
+    GroupLayout glPnlStatus = new GroupLayout(pnlStatus);
+    glPnlStatus.setHorizontalGroup(
+        glPnlStatus
+            .createParallelGroup(Alignment.LEADING)
+            .addGroup(
+                glPnlStatus
+                    .createSequentialGroup()
+                    .addContainerGap()
+                    .addComponent(lblStatus)
+                    .addContainerGap(389, Short.MAX_VALUE)));
+    glPnlStatus.setVerticalGroup(
+        glPnlStatus
+            .createParallelGroup(Alignment.TRAILING)
+            .addGroup(
+                glPnlStatus
+                    .createSequentialGroup()
+                    .addGap(2)
+                    .addComponent(
+                        lblStatus,
+                        GroupLayout.DEFAULT_SIZE,
+                        GroupLayout.DEFAULT_SIZE,
+                        Short.MAX_VALUE)
+                    .addGap(0)));
+    pnlStatus.setLayout(glPnlStatus);
+
+    txfPath.setEditable(false);
+    txfPath.setColumns(10);
+
+    btnBrowsePath = new JButton(Bundle.getString("installer_dialog_btn_browse")); // $NON-NLS-1$
+    btnBrowsePath.addActionListener(
+        e -> {
+          chooseKSPFolder();
+          txfPath.setText(KrpcInstaller.getKspFolder());
         });
-        GroupLayout glPnlKspFolderPath = new GroupLayout(pnlKspFolderPath);
-        glPnlKspFolderPath.setHorizontalGroup(
-                glPnlKspFolderPath.createParallelGroup(Alignment.LEADING).addGroup(Alignment.TRAILING,
-                        glPnlKspFolderPath.createSequentialGroup().addContainerGap()
-                                .addComponent(txfPath, GroupLayout.DEFAULT_SIZE, 273, Short.MAX_VALUE)
-                                .addPreferredGap(ComponentPlacement.RELATED).addComponent(btnBrowsePath,
-                                        GroupLayout.PREFERRED_SIZE, 103, GroupLayout.PREFERRED_SIZE)
-                                .addContainerGap()));
+    GroupLayout glPnlKspFolderPath = new GroupLayout(pnlKspFolderPath);
+    glPnlKspFolderPath.setHorizontalGroup(
         glPnlKspFolderPath
-                .setVerticalGroup(glPnlKspFolderPath.createParallelGroup(Alignment.LEADING)
-                        .addGroup(glPnlKspFolderPath.createSequentialGroup()
-                                .addGroup(glPnlKspFolderPath.createParallelGroup(Alignment.BASELINE)
-                                        .addComponent(txfPath, GroupLayout.PREFERRED_SIZE, 23,
-                                                GroupLayout.PREFERRED_SIZE)
-                                        .addComponent(btnBrowsePath))
-                                .addContainerGap(24, Short.MAX_VALUE)));
-        pnlKspFolderPath.setLayout(glPnlKspFolderPath);
-        getContentPane().setLayout(groupLayout);
-
-        setVisible(true);
-    }
-
-    public void chooseKSPFolder() {
-        JFileChooser kspDir = new JFileChooser();
-        kspDir.setDialogTitle("Escolha a pasta do KSP na Steam");
-        kspDir.setMultiSelectionEnabled(false);
-        kspDir.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
-        int response = kspDir.showOpenDialog(this);
-        if (response == JFileChooser.APPROVE_OPTION) {
-            KrpcInstaller.setKspFolder(kspDir.getSelectedFile().getPath());
-            btnDownloadInstall.setEnabled(true);
-            setStatus("Pasta escolhida, pronto para instalar.");
-        } else {
-            KrpcInstaller.setKspFolder(null);
-            btnDownloadInstall.setEnabled(false);
-            setStatus("");
-        }
+            .createParallelGroup(Alignment.LEADING)
+            .addGroup(
+                Alignment.TRAILING,
+                glPnlKspFolderPath
+                    .createSequentialGroup()
+                    .addContainerGap()
+                    .addComponent(txfPath, GroupLayout.DEFAULT_SIZE, 273, Short.MAX_VALUE)
+                    .addPreferredGap(ComponentPlacement.RELATED)
+                    .addComponent(
+                        btnBrowsePath, GroupLayout.PREFERRED_SIZE, 103, GroupLayout.PREFERRED_SIZE)
+                    .addContainerGap()));
+    glPnlKspFolderPath.setVerticalGroup(
+        glPnlKspFolderPath
+            .createParallelGroup(Alignment.LEADING)
+            .addGroup(
+                glPnlKspFolderPath
+                    .createSequentialGroup()
+                    .addGroup(
+                        glPnlKspFolderPath
+                            .createParallelGroup(Alignment.BASELINE)
+                            .addComponent(
+                                txfPath, GroupLayout.PREFERRED_SIZE, 23, GroupLayout.PREFERRED_SIZE)
+                            .addComponent(btnBrowsePath))
+                    .addContainerGap(24, Short.MAX_VALUE)));
+    pnlKspFolderPath.setLayout(glPnlKspFolderPath);
+    getContentPane().setLayout(groupLayout);
+
+    setVisible(true);
+  }
+
+  public void chooseKSPFolder() {
+    JFileChooser kspDir = new JFileChooser();
+    kspDir.setDialogTitle("Escolha a pasta do KSP na Steam");
+    kspDir.setMultiSelectionEnabled(false);
+    kspDir.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
+    int response = kspDir.showOpenDialog(this);
+    if (response == JFileChooser.APPROVE_OPTION) {
+      KrpcInstaller.setKspFolder(kspDir.getSelectedFile().getPath());
+      btnDownloadInstall.setEnabled(true);
+      setStatus("Pasta escolhida, pronto para instalar.");
+    } else {
+      KrpcInstaller.setKspFolder(null);
+      btnDownloadInstall.setEnabled(false);
+      setStatus("");
     }
+  }
 
-    public static void setStatus(String status) {
-        lblStatus.setText(status);
-    }
+  public static void setStatus(String status) {
+    lblStatus.setText(status);
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/LandingJPanel.java b/src/main/java/com/pesterenan/views/LandingJPanel.java
index 3ae167f..554e831 100644
--- a/src/main/java/com/pesterenan/views/LandingJPanel.java
+++ b/src/main/java/com/pesterenan/views/LandingJPanel.java
@@ -4,12 +4,14 @@
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.Color;
 import java.awt.event.ActionEvent;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.swing.BorderFactory;
 import javax.swing.Box;
 import javax.swing.BoxLayout;
@@ -22,168 +24,178 @@
 import javax.swing.border.EtchedBorder;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-
 public class LandingJPanel extends JPanel implements UIMethods {
-    private static final long serialVersionUID = 1L;
-    private JLabel lblHoverAltitude, lblTWRLimit;
-    private JTextField txfHover, txfMaxTWR;
-    private JButton btnHover, btnAutoLanding, btnBack;
-    private JCheckBox chkHoverAfterLanding;
-    private VesselManager vesselManager;
-
-    private StatusDisplay statusDisplay;
-
-    public LandingJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
+  private static final long serialVersionUID = 1L;
+  private JLabel lblHoverAltitude, lblTWRLimit;
+  private JTextField txfHover, txfMaxTWR;
+  private JButton btnHover, btnAutoLanding, btnBack;
+  private JCheckBox chkHoverAfterLanding;
+  private VesselManager vesselManager;
+
+  private StatusDisplay statusDisplay;
+
+  public LandingJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblHoverAltitude = new JLabel(Bundle.getString("pnl_land_lbl_alt"));
+    lblTWRLimit = new JLabel(Bundle.getString("pnl_common_lbl_limit_twr"));
+
+    // Textfields:
+    txfHover = new JTextField("50");
+    txfMaxTWR = new JTextField("5");
+
+    // Buttons:
+    btnHover = new JButton(Bundle.getString("pnl_land_btn_hover"));
+    btnAutoLanding = new JButton(Bundle.getString("pnl_land_btn_land"));
+    btnBack = new JButton(Bundle.getString("pnl_land_btn_back"));
+
+    // Checkboxes:
+    chkHoverAfterLanding = new JCheckBox(Bundle.getString("pnl_land_hover_checkbox"));
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setBorder(
+        new TitledBorder(
+            null,
+            Bundle.getString("pnl_land_border"),
+            TitledBorder.LEADING,
+            TitledBorder.TOP,
+            null,
+            null));
+
+    // Setting-up components:
+    txfHover.setPreferredSize(BTN_DIMENSION);
+    txfHover.setMaximumSize(BTN_DIMENSION);
+    txfHover.setHorizontalAlignment(JTextField.RIGHT);
+    txfMaxTWR.setPreferredSize(BTN_DIMENSION);
+    txfMaxTWR.setMaximumSize(BTN_DIMENSION);
+    txfMaxTWR.setHorizontalAlignment(JTextField.RIGHT);
+
+    btnAutoLanding.addActionListener(this::handleLandingAction);
+    btnAutoLanding.setActionCommand(Module.LANDING.get());
+    btnAutoLanding.setPreferredSize(BTN_DIMENSION);
+    btnAutoLanding.setMaximumSize(BTN_DIMENSION);
+    btnHover.addActionListener(this::handleLandingAction);
+    btnHover.setActionCommand(Module.HOVERING.get());
+    btnHover.setPreferredSize(BTN_DIMENSION);
+    btnHover.setMaximumSize(BTN_DIMENSION);
+    btnBack.addActionListener(MainGui::backToTelemetry);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    // Laying out components:
+    JPanel pnlHoverControls = new JPanel();
+    pnlHoverControls.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlHoverControls.setLayout(new BoxLayout(pnlHoverControls, BoxLayout.X_AXIS));
+    pnlHoverControls.add(lblHoverAltitude);
+    pnlHoverControls.add(Box.createHorizontalGlue());
+    pnlHoverControls.add(txfHover);
+
+    JPanel pnlTWRLimitControls = new JPanel();
+    pnlTWRLimitControls.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlTWRLimitControls.setLayout(new BoxLayout(pnlTWRLimitControls, BoxLayout.X_AXIS));
+    pnlTWRLimitControls.add(lblTWRLimit);
+    pnlTWRLimitControls.add(Box.createHorizontalGlue());
+    pnlTWRLimitControls.add(txfMaxTWR);
+
+    JPanel pnlLandingControls = new JPanel();
+    pnlLandingControls.setLayout(new BoxLayout(pnlLandingControls, BoxLayout.X_AXIS));
+    Border titledEtched =
+        new TitledBorder(
+            new EtchedBorder(
+                EtchedBorder.LOWERED, new Color(255, 255, 255), new Color(160, 160, 160)),
+            Bundle.getString("pnl_land_lbl_land"),
+            TitledBorder.LEADING,
+            TitledBorder.TOP,
+            null,
+            new Color(0, 0, 0));
+    Border combined = BorderFactory.createCompoundBorder(titledEtched, MARGIN_BORDER_10_PX_LR);
+    pnlLandingControls.setBorder(combined);
+    pnlLandingControls.add(btnAutoLanding);
+    pnlLandingControls.add(Box.createHorizontalGlue());
+    pnlLandingControls.add(btnHover);
+
+    JPanel pnlControls = new JPanel();
+    pnlControls.setLayout(new BoxLayout(pnlControls, BoxLayout.Y_AXIS));
+    pnlControls.add(MainGui.createMarginComponent(0, 6));
+    pnlControls.add(pnlHoverControls);
+    pnlControls.add(pnlTWRLimitControls);
+    pnlControls.add(pnlLandingControls);
+
+    JPanel pnlOptions = new JPanel();
+    pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
+    pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
+    pnlOptions.add(chkHoverAfterLanding);
+    pnlOptions.add(Box.createHorizontalGlue());
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlControls.setAlignmentY(TOP_ALIGNMENT);
+    pnlOptions.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlControls);
+    pnlMain.add(pnlOptions);
+
+    JPanel pnlBackbtn = new JPanel();
+    pnlBackbtn.setLayout(new BoxLayout(pnlBackbtn, BoxLayout.X_AXIS));
+    pnlBackbtn.add(Box.createHorizontalGlue());
+    pnlBackbtn.add(btnBack);
+
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlBackbtn, BorderLayout.SOUTH);
+  }
+
+  private void handleLandingAction(ActionEvent e) {
+    if (vesselManager == null) {
+      statusDisplay.setStatusMessage("Conexão não estabelecida ao pousar.");
+      return;
     }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
+    try {
+      Map<String, String> commands = new HashMap<>();
+      commands.put(Module.MODULO.get(), e.getActionCommand());
+      validateTextFields();
+      commands.put(Module.HOVER_ALTITUDE.get(), txfHover.getText());
+      commands.put(Module.MAX_TWR.get(), txfMaxTWR.getText());
+      commands.put(
+          Module.HOVER_AFTER_LANDING.get(), String.valueOf(chkHoverAfterLanding.isSelected()));
+      vesselManager.startModule(commands);
+      MainGui.backToTelemetry(e);
+      chkHoverAfterLanding.setSelected(false);
+    } catch (NumberFormatException nfe) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_land_hover_alt_err"));
+    } catch (NullPointerException npe) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_land_hover_alt"));
     }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblHoverAltitude = new JLabel(Bundle.getString("pnl_land_lbl_alt"));
-        lblTWRLimit = new JLabel(Bundle.getString("pnl_common_lbl_limit_twr"));
-
-        // Textfields:
-        txfHover = new JTextField("50");
-        txfMaxTWR = new JTextField("5");
-
-        // Buttons:
-        btnHover = new JButton(Bundle.getString("pnl_land_btn_hover"));
-        btnAutoLanding = new JButton(Bundle.getString("pnl_land_btn_land"));
-        btnBack = new JButton(Bundle.getString("pnl_land_btn_back"));
-
-        // Checkboxes:
-        chkHoverAfterLanding = new JCheckBox(Bundle.getString("pnl_land_hover_checkbox"));
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setBorder(new TitledBorder(null, Bundle.getString("pnl_land_border"), TitledBorder.LEADING, TitledBorder.TOP,
-                null, null));
-
-        // Setting-up components:
-        txfHover.setPreferredSize(BTN_DIMENSION);
-        txfHover.setMaximumSize(BTN_DIMENSION);
-        txfHover.setHorizontalAlignment(JTextField.RIGHT);
-        txfMaxTWR.setPreferredSize(BTN_DIMENSION);
-        txfMaxTWR.setMaximumSize(BTN_DIMENSION);
-        txfMaxTWR.setHorizontalAlignment(JTextField.RIGHT);
-
-        btnAutoLanding.addActionListener(this::handleLandingAction);
-        btnAutoLanding.setActionCommand(Module.LANDING.get());
-        btnAutoLanding.setPreferredSize(BTN_DIMENSION);
-        btnAutoLanding.setMaximumSize(BTN_DIMENSION);
-        btnHover.addActionListener(this::handleLandingAction);
-        btnHover.setActionCommand(Module.HOVERING.get());
-        btnHover.setPreferredSize(BTN_DIMENSION);
-        btnHover.setMaximumSize(BTN_DIMENSION);
-        btnBack.addActionListener(MainGui::backToTelemetry);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-        btnBack.setMaximumSize(BTN_DIMENSION);
-    }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        // Laying out components:
-        JPanel pnlHoverControls = new JPanel();
-        pnlHoverControls.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlHoverControls.setLayout(new BoxLayout(pnlHoverControls, BoxLayout.X_AXIS));
-        pnlHoverControls.add(lblHoverAltitude);
-        pnlHoverControls.add(Box.createHorizontalGlue());
-        pnlHoverControls.add(txfHover);
-
-        JPanel pnlTWRLimitControls = new JPanel();
-        pnlTWRLimitControls.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlTWRLimitControls.setLayout(new BoxLayout(pnlTWRLimitControls, BoxLayout.X_AXIS));
-        pnlTWRLimitControls.add(lblTWRLimit);
-        pnlTWRLimitControls.add(Box.createHorizontalGlue());
-        pnlTWRLimitControls.add(txfMaxTWR);
-
-        JPanel pnlLandingControls = new JPanel();
-        pnlLandingControls.setLayout(new BoxLayout(pnlLandingControls, BoxLayout.X_AXIS));
-        Border titledEtched = new TitledBorder(
-                new EtchedBorder(EtchedBorder.LOWERED, new Color(255, 255, 255), new Color(160, 160, 160)),
-                Bundle.getString("pnl_land_lbl_land"), TitledBorder.LEADING, TitledBorder.TOP, null,
-                new Color(0, 0, 0));
-        Border combined = BorderFactory.createCompoundBorder(titledEtched, MARGIN_BORDER_10_PX_LR);
-        pnlLandingControls.setBorder(combined);
-        pnlLandingControls.add(btnAutoLanding);
-        pnlLandingControls.add(Box.createHorizontalGlue());
-        pnlLandingControls.add(btnHover);
-
-        JPanel pnlControls = new JPanel();
-        pnlControls.setLayout(new BoxLayout(pnlControls, BoxLayout.Y_AXIS));
-        pnlControls.add(MainGui.createMarginComponent(0, 6));
-        pnlControls.add(pnlHoverControls);
-        pnlControls.add(pnlTWRLimitControls);
-        pnlControls.add(pnlLandingControls);
-
-        JPanel pnlOptions = new JPanel();
-        pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
-        pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
-        pnlOptions.add(chkHoverAfterLanding);
-        pnlOptions.add(Box.createHorizontalGlue());
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlControls.setAlignmentY(TOP_ALIGNMENT);
-        pnlOptions.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlControls);
-        pnlMain.add(pnlOptions);
-
-        JPanel pnlBackbtn = new JPanel();
-        pnlBackbtn.setLayout(new BoxLayout(pnlBackbtn, BoxLayout.X_AXIS));
-        pnlBackbtn.add(Box.createHorizontalGlue());
-        pnlBackbtn.add(btnBack);
-
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlBackbtn, BorderLayout.SOUTH);
-    }
-
-    private void handleLandingAction(ActionEvent e) {
-        if (vesselManager == null) {
-            statusDisplay.setStatusMessage("Conexão não estabelecida ao pousar.");
-            return;
-        }
-        try {
-            Map<String,String> commands = new HashMap<>();
-            commands.put(Module.MODULO.get(), e.getActionCommand());
-            validateTextFields();
-            commands.put(Module.HOVER_ALTITUDE.get(), txfHover.getText());
-            commands.put(Module.MAX_TWR.get(), txfMaxTWR.getText());
-            commands.put(Module.HOVER_AFTER_LANDING.get(), String.valueOf(chkHoverAfterLanding.isSelected()));
-            vesselManager.startModule(commands);
-            MainGui.backToTelemetry(e);
-            chkHoverAfterLanding.setSelected(false);
-        } catch (NumberFormatException nfe) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_land_hover_alt_err"));
-        } catch (NullPointerException npe) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_land_hover_alt"));
-        }
-    }
-
-    private void validateTextFields() throws NumberFormatException, NullPointerException {
-        if (txfHover.getText().equals("") || txfHover.getText().equals("0") || txfMaxTWR.getText().equals("")
-                || txfMaxTWR.getText().equals("0")) {
-            throw new NullPointerException();
-        }
-        Float.parseFloat(txfHover.getText());
-        Float.parseFloat(txfMaxTWR.getText());
+  }
+
+  private void validateTextFields() throws NumberFormatException, NullPointerException {
+    if (txfHover.getText().equals("")
+        || txfHover.getText().equals("0")
+        || txfMaxTWR.getText().equals("")
+        || txfMaxTWR.getText().equals("0")) {
+      throw new NullPointerException();
     }
+    Float.parseFloat(txfHover.getText());
+    Float.parseFloat(txfMaxTWR.getText());
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/LiftoffJPanel.java b/src/main/java/com/pesterenan/views/LiftoffJPanel.java
index 672d929..220fdb9 100644
--- a/src/main/java/com/pesterenan/views/LiftoffJPanel.java
+++ b/src/main/java/com/pesterenan/views/LiftoffJPanel.java
@@ -4,13 +4,15 @@
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.Component;
 import java.awt.Dimension;
 import java.awt.event.ActionEvent;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.DefaultComboBoxModel;
@@ -23,218 +25,227 @@
 import javax.swing.JTextField;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-
 public class LiftoffJPanel extends JPanel implements UIMethods {
 
-    private static final long serialVersionUID = 1L;
-
-    private JLabel lblFinalApoapsis, lblHeading, lblRoll, lblCurveModel, lblLimitTWR;
-    private JTextField txfFinalApoapsis, txfHeading, txfLimitTWR;
-    private JButton btnLiftoff, btnBack;
-    private JComboBox<String> cbGravityCurveModel;
-    private JSlider sldRoll;
-    private JCheckBox chkOpenPanels, chkDecoupleStages;
-    private VesselManager vesselManager;
-
-    private StatusDisplay statusDisplay;
-
-    public LiftoffJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-        btnLiftoff.setEnabled(true);
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblFinalApoapsis = new JLabel(Bundle.getString("pnl_lift_lbl_final_apoapsis"));
-        lblHeading = new JLabel(Bundle.getString("pnl_lift_lbl_direction"));
-        lblRoll = new JLabel(Bundle.getString("pnl_lift_lbl_roll"));
-        lblRoll.setToolTipText(Bundle.getString("pnl_lift_lbl_roll_tooltip"));
-        lblCurveModel = new JLabel(Bundle.getString("pnl_lift_lbl_gravity_curve"));
-        lblLimitTWR = new JLabel(Bundle.getString("pnl_common_lbl_limit_twr"));
-
-        // Textfields:
-        txfFinalApoapsis = new JTextField("80000");
-        txfFinalApoapsis.setToolTipText(Bundle.getString("pnl_lift_txf_final_apo_tooltip"));
-        txfHeading = new JTextField("90");
-        txfLimitTWR = new JTextField("2.2");
-
-        // Buttons:
-        btnLiftoff = new JButton(Bundle.getString("pnl_lift_btn_liftoff"));
-        btnLiftoff.setEnabled(false);
-        btnBack = new JButton(Bundle.getString("pnl_lift_btn_back"));
-
-        // Checkboxes:
-        chkOpenPanels = new JCheckBox(Bundle.getString("pnl_lift_chk_open_panels"));
-        chkOpenPanels.setToolTipText(Bundle.getString("pnl_lift_chk_open_panels_tooltip"));
-        chkDecoupleStages = new JCheckBox(Bundle.getString("pnl_lift_chk_staging"));
-        chkDecoupleStages.setToolTipText(Bundle.getString("pnl_lift_chk_staging_tooltip"));
-
-        // Misc:
-        cbGravityCurveModel = new JComboBox<>();
-        cbGravityCurveModel.setToolTipText(Bundle.getString("pnl_lift_cb_gravity_curve_tooltip"));
-
-        sldRoll = new JSlider();
+  private static final long serialVersionUID = 1L;
+
+  private JLabel lblFinalApoapsis, lblHeading, lblRoll, lblCurveModel, lblLimitTWR;
+  private JTextField txfFinalApoapsis, txfHeading, txfLimitTWR;
+  private JButton btnLiftoff, btnBack;
+  private JComboBox<String> cbGravityCurveModel;
+  private JSlider sldRoll;
+  private JCheckBox chkOpenPanels, chkDecoupleStages;
+  private VesselManager vesselManager;
+
+  private StatusDisplay statusDisplay;
+
+  public LiftoffJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+    btnLiftoff.setEnabled(true);
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblFinalApoapsis = new JLabel(Bundle.getString("pnl_lift_lbl_final_apoapsis"));
+    lblHeading = new JLabel(Bundle.getString("pnl_lift_lbl_direction"));
+    lblRoll = new JLabel(Bundle.getString("pnl_lift_lbl_roll"));
+    lblRoll.setToolTipText(Bundle.getString("pnl_lift_lbl_roll_tooltip"));
+    lblCurveModel = new JLabel(Bundle.getString("pnl_lift_lbl_gravity_curve"));
+    lblLimitTWR = new JLabel(Bundle.getString("pnl_common_lbl_limit_twr"));
+
+    // Textfields:
+    txfFinalApoapsis = new JTextField("80000");
+    txfFinalApoapsis.setToolTipText(Bundle.getString("pnl_lift_txf_final_apo_tooltip"));
+    txfHeading = new JTextField("90");
+    txfLimitTWR = new JTextField("2.2");
+
+    // Buttons:
+    btnLiftoff = new JButton(Bundle.getString("pnl_lift_btn_liftoff"));
+    btnLiftoff.setEnabled(false);
+    btnBack = new JButton(Bundle.getString("pnl_lift_btn_back"));
+
+    // Checkboxes:
+    chkOpenPanels = new JCheckBox(Bundle.getString("pnl_lift_chk_open_panels"));
+    chkOpenPanels.setToolTipText(Bundle.getString("pnl_lift_chk_open_panels_tooltip"));
+    chkDecoupleStages = new JCheckBox(Bundle.getString("pnl_lift_chk_staging"));
+    chkDecoupleStages.setToolTipText(Bundle.getString("pnl_lift_chk_staging_tooltip"));
+
+    // Misc:
+    cbGravityCurveModel = new JComboBox<>();
+    cbGravityCurveModel.setToolTipText(Bundle.getString("pnl_lift_cb_gravity_curve_tooltip"));
+
+    sldRoll = new JSlider();
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setBorder(
+        new TitledBorder(
+            null,
+            Bundle.getString("pnl_lift_pnl_title"),
+            TitledBorder.LEADING,
+            TitledBorder.TOP,
+            null,
+            null));
+
+    // Setting-up components:
+    lblFinalApoapsis.setLabelFor(txfFinalApoapsis);
+    txfFinalApoapsis.setMaximumSize(BTN_DIMENSION);
+    txfFinalApoapsis.setPreferredSize(BTN_DIMENSION);
+    txfFinalApoapsis.setHorizontalAlignment(JTextField.RIGHT);
+    lblHeading.setLabelFor(txfHeading);
+    txfHeading.setMaximumSize(BTN_DIMENSION);
+    txfHeading.setPreferredSize(BTN_DIMENSION);
+    txfHeading.setHorizontalAlignment(JTextField.RIGHT);
+    lblLimitTWR.setLabelFor(txfLimitTWR);
+    txfLimitTWR.setMaximumSize(BTN_DIMENSION);
+    txfLimitTWR.setPreferredSize(BTN_DIMENSION);
+    txfLimitTWR.setHorizontalAlignment(JTextField.RIGHT);
+
+    cbGravityCurveModel.setModel(
+        new DefaultComboBoxModel<>(
+            new String[] {
+              Module.SINUSOIDAL.get(),
+              Module.QUADRATIC.get(),
+              Module.CUBIC.get(),
+              Module.CIRCULAR.get(),
+              Module.EXPONENCIAL.get()
+            }));
+    cbGravityCurveModel.setSelectedIndex(3);
+    cbGravityCurveModel.setPreferredSize(BTN_DIMENSION);
+    cbGravityCurveModel.setMaximumSize(BTN_DIMENSION);
+
+    sldRoll.setPaintLabels(true);
+    sldRoll.setMajorTickSpacing(90);
+    sldRoll.setMaximum(270);
+    sldRoll.setSnapToTicks(true);
+    sldRoll.setValue(90);
+    sldRoll.setPreferredSize(new Dimension(110, 40));
+    sldRoll.setMaximumSize(new Dimension(110, 40));
+
+    chkDecoupleStages.setSelected(true);
+
+    btnLiftoff.addActionListener(this::handleLiftoff);
+    btnLiftoff.setPreferredSize(BTN_DIMENSION);
+    btnLiftoff.setMaximumSize(BTN_DIMENSION);
+    btnBack.addActionListener(MainGui::backToTelemetry);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    // Laying out components:
+    JPanel pnlFinalApoapsis = new JPanel();
+    pnlFinalApoapsis.setLayout(new BoxLayout(pnlFinalApoapsis, BoxLayout.X_AXIS));
+    pnlFinalApoapsis.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlFinalApoapsis.add(lblFinalApoapsis);
+    pnlFinalApoapsis.add(Box.createHorizontalGlue());
+    pnlFinalApoapsis.add(txfFinalApoapsis);
+
+    JPanel pnlHeading = new JPanel();
+    pnlHeading.setLayout(new BoxLayout(pnlHeading, BoxLayout.X_AXIS));
+    pnlHeading.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlHeading.add(lblHeading);
+    pnlHeading.add(Box.createHorizontalGlue());
+    pnlHeading.add(txfHeading);
+
+    JPanel pnlRoll = new JPanel();
+    pnlRoll.setLayout(new BoxLayout(pnlRoll, BoxLayout.X_AXIS));
+    pnlRoll.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlRoll.add(lblRoll);
+    pnlRoll.add(Box.createHorizontalGlue());
+    pnlRoll.add(sldRoll);
+
+    JPanel pnlLimitTWR = new JPanel();
+    pnlLimitTWR.setLayout(new BoxLayout(pnlLimitTWR, BoxLayout.X_AXIS));
+    pnlLimitTWR.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlLimitTWR.add(lblLimitTWR);
+    pnlLimitTWR.add(Box.createHorizontalGlue());
+    pnlLimitTWR.add(txfLimitTWR);
+
+    JPanel pnlCurveModel = new JPanel();
+    pnlCurveModel.setLayout(new BoxLayout(pnlCurveModel, BoxLayout.X_AXIS));
+    pnlCurveModel.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlCurveModel.add(lblCurveModel);
+    pnlCurveModel.add(Box.createHorizontalGlue());
+    pnlCurveModel.add(cbGravityCurveModel);
+
+    JPanel pnlButtons = new JPanel();
+    pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
+    pnlButtons.add(btnLiftoff);
+    pnlButtons.add(Box.createHorizontalGlue());
+    pnlButtons.add(btnBack);
+
+    JPanel pnlSetup = new JPanel();
+    pnlSetup.setLayout(new BoxLayout(pnlSetup, BoxLayout.Y_AXIS));
+    pnlSetup.add(MainGui.createMarginComponent(0, 6));
+    pnlSetup.add(pnlFinalApoapsis);
+    pnlSetup.add(pnlHeading);
+    pnlSetup.add(pnlRoll);
+    pnlSetup.add(pnlLimitTWR);
+    pnlSetup.add(pnlCurveModel);
+
+    JPanel pnlOptions = new JPanel();
+    pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
+    pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
+    pnlOptions.add(chkDecoupleStages);
+    pnlOptions.add(chkOpenPanels);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlMain.add(pnlSetup);
+    pnlSetup.setAlignmentY(Component.TOP_ALIGNMENT);
+    pnlMain.add(pnlOptions);
+    pnlOptions.setAlignmentY(Component.TOP_ALIGNMENT);
+
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlButtons, BorderLayout.SOUTH);
+  }
+
+  private boolean validateTextFields() {
+    try {
+      Float.parseFloat(txfFinalApoapsis.getText());
+      Float.parseFloat(txfHeading.getText());
+      Float.parseFloat(txfLimitTWR.getText());
+    } catch (NumberFormatException e) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_lift_stat_only_numbers"));
+      return false;
     }
+    return true;
+  }
 
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setBorder(new TitledBorder(null, Bundle.getString("pnl_lift_pnl_title"), TitledBorder.LEADING, TitledBorder.TOP,
-                null, null));
-
-        // Setting-up components:
-        lblFinalApoapsis.setLabelFor(txfFinalApoapsis);
-        txfFinalApoapsis.setMaximumSize(BTN_DIMENSION);
-        txfFinalApoapsis.setPreferredSize(BTN_DIMENSION);
-        txfFinalApoapsis.setHorizontalAlignment(JTextField.RIGHT);
-        lblHeading.setLabelFor(txfHeading);
-        txfHeading.setMaximumSize(BTN_DIMENSION);
-        txfHeading.setPreferredSize(BTN_DIMENSION);
-        txfHeading.setHorizontalAlignment(JTextField.RIGHT);
-        lblLimitTWR.setLabelFor(txfLimitTWR);
-        txfLimitTWR.setMaximumSize(BTN_DIMENSION);
-        txfLimitTWR.setPreferredSize(BTN_DIMENSION);
-        txfLimitTWR.setHorizontalAlignment(JTextField.RIGHT);
-
-        cbGravityCurveModel.setModel(new DefaultComboBoxModel<>(new String[]{Module.SINUSOIDAL.get(),
-                Module.QUADRATIC.get(), Module.CUBIC.get(), Module.CIRCULAR.get(), Module.EXPONENCIAL.get()}));
-        cbGravityCurveModel.setSelectedIndex(3);
-        cbGravityCurveModel.setPreferredSize(BTN_DIMENSION);
-        cbGravityCurveModel.setMaximumSize(BTN_DIMENSION);
-
-        sldRoll.setPaintLabels(true);
-        sldRoll.setMajorTickSpacing(90);
-        sldRoll.setMaximum(270);
-        sldRoll.setSnapToTicks(true);
-        sldRoll.setValue(90);
-        sldRoll.setPreferredSize(new Dimension(110, 40));
-        sldRoll.setMaximumSize(new Dimension(110, 40));
-
-        chkDecoupleStages.setSelected(true);
-
-        btnLiftoff.addActionListener(this::handleLiftoff);
-        btnLiftoff.setPreferredSize(BTN_DIMENSION);
-        btnLiftoff.setMaximumSize(BTN_DIMENSION);
-        btnBack.addActionListener(MainGui::backToTelemetry);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-        btnBack.setMaximumSize(BTN_DIMENSION);
+  private void handleLiftoff(ActionEvent e) {
+    if (vesselManager == null) {
+      statusDisplay.setStatusMessage("Conexão não estabelecida.");
+      return;
     }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        // Laying out components:
-        JPanel pnlFinalApoapsis = new JPanel();
-        pnlFinalApoapsis.setLayout(new BoxLayout(pnlFinalApoapsis, BoxLayout.X_AXIS));
-        pnlFinalApoapsis.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlFinalApoapsis.add(lblFinalApoapsis);
-        pnlFinalApoapsis.add(Box.createHorizontalGlue());
-        pnlFinalApoapsis.add(txfFinalApoapsis);
-
-        JPanel pnlHeading = new JPanel();
-        pnlHeading.setLayout(new BoxLayout(pnlHeading, BoxLayout.X_AXIS));
-        pnlHeading.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlHeading.add(lblHeading);
-        pnlHeading.add(Box.createHorizontalGlue());
-        pnlHeading.add(txfHeading);
-
-        JPanel pnlRoll = new JPanel();
-        pnlRoll.setLayout(new BoxLayout(pnlRoll, BoxLayout.X_AXIS));
-        pnlRoll.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlRoll.add(lblRoll);
-        pnlRoll.add(Box.createHorizontalGlue());
-        pnlRoll.add(sldRoll);
-
-        JPanel pnlLimitTWR = new JPanel();
-        pnlLimitTWR.setLayout(new BoxLayout(pnlLimitTWR, BoxLayout.X_AXIS));
-        pnlLimitTWR.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlLimitTWR.add(lblLimitTWR);
-        pnlLimitTWR.add(Box.createHorizontalGlue());
-        pnlLimitTWR.add(txfLimitTWR);
-
-        JPanel pnlCurveModel = new JPanel();
-        pnlCurveModel.setLayout(new BoxLayout(pnlCurveModel, BoxLayout.X_AXIS));
-        pnlCurveModel.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlCurveModel.add(lblCurveModel);
-        pnlCurveModel.add(Box.createHorizontalGlue());
-        pnlCurveModel.add(cbGravityCurveModel);
-
-        JPanel pnlButtons = new JPanel();
-        pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
-        pnlButtons.add(btnLiftoff);
-        pnlButtons.add(Box.createHorizontalGlue());
-        pnlButtons.add(btnBack);
-
-        JPanel pnlSetup = new JPanel();
-        pnlSetup.setLayout(new BoxLayout(pnlSetup, BoxLayout.Y_AXIS));
-        pnlSetup.add(MainGui.createMarginComponent(0, 6));
-        pnlSetup.add(pnlFinalApoapsis);
-        pnlSetup.add(pnlHeading);
-        pnlSetup.add(pnlRoll);
-        pnlSetup.add(pnlLimitTWR);
-        pnlSetup.add(pnlCurveModel);
-
-        JPanel pnlOptions = new JPanel();
-        pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
-        pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
-        pnlOptions.add(chkDecoupleStages);
-        pnlOptions.add(chkOpenPanels);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlMain.add(pnlSetup);
-        pnlSetup.setAlignmentY(Component.TOP_ALIGNMENT);
-        pnlMain.add(pnlOptions);
-        pnlOptions.setAlignmentY(Component.TOP_ALIGNMENT);
-
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlButtons, BorderLayout.SOUTH);
-    }
-
-    private boolean validateTextFields() {
-        try {
-            Float.parseFloat(txfFinalApoapsis.getText());
-            Float.parseFloat(txfHeading.getText());
-            Float.parseFloat(txfLimitTWR.getText());
-        } catch (NumberFormatException e) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_lift_stat_only_numbers"));
-            return false;
-        }
-        return true;
-    }
-
-    private void handleLiftoff(ActionEvent e) {
-        if (vesselManager == null) {
-            statusDisplay.setStatusMessage("Conexão não estabelecida.");
-            return;
-        }
-        if (validateTextFields()) {
-            Map<String,String> commands = new HashMap<>();
-            commands.put(Module.MODULO.get(), Module.LIFTOFF.get());
-            commands.put(Module.APOAPSIS.get(), txfFinalApoapsis.getText());
-            commands.put(Module.DIRECTION.get(), txfHeading.getText());
-            commands.put(Module.MAX_TWR.get(), txfLimitTWR.getText());
-            commands.put(Module.ROLL.get(), String.valueOf(sldRoll.getValue()));
-            commands.put(Module.INCLINATION.get(), cbGravityCurveModel.getSelectedItem().toString());
-            commands.put(Module.STAGE.get(), String.valueOf(chkDecoupleStages.isSelected()));
-            commands.put(Module.OPEN_PANELS.get(), String.valueOf(chkOpenPanels.isSelected()));
-            vesselManager.startModule(commands);
-            MainGui.backToTelemetry(e);
-        }
+    if (validateTextFields()) {
+      Map<String, String> commands = new HashMap<>();
+      commands.put(Module.MODULO.get(), Module.LIFTOFF.get());
+      commands.put(Module.APOAPSIS.get(), txfFinalApoapsis.getText());
+      commands.put(Module.DIRECTION.get(), txfHeading.getText());
+      commands.put(Module.MAX_TWR.get(), txfLimitTWR.getText());
+      commands.put(Module.ROLL.get(), String.valueOf(sldRoll.getValue()));
+      commands.put(Module.INCLINATION.get(), cbGravityCurveModel.getSelectedItem().toString());
+      commands.put(Module.STAGE.get(), String.valueOf(chkDecoupleStages.isSelected()));
+      commands.put(Module.OPEN_PANELS.get(), String.valueOf(chkOpenPanels.isSelected()));
+      vesselManager.startModule(commands);
+      MainGui.backToTelemetry(e);
     }
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/MainGui.java b/src/main/java/com/pesterenan/views/MainGui.java
index 6baf6b4..cd07d48 100644
--- a/src/main/java/com/pesterenan/views/MainGui.java
+++ b/src/main/java/com/pesterenan/views/MainGui.java
@@ -1,5 +1,8 @@
 package com.pesterenan.views;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.CardLayout;
 import java.awt.Component;
@@ -8,7 +11,6 @@
 import java.awt.Toolkit;
 import java.awt.event.ActionEvent;
 import java.awt.event.ActionListener;
-
 import javax.swing.Box;
 import javax.swing.JFrame;
 import javax.swing.JMenu;
@@ -20,236 +22,233 @@
 import javax.swing.UIManager;
 import javax.swing.border.EmptyBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-
 public class MainGui extends JFrame implements ActionListener, UIMethods {
 
-    private static final long serialVersionUID = 1L;
+  private static final long serialVersionUID = 1L;
 
-    public static final Dimension PNL_DIMENSION = new Dimension(464, 216);
-    public static final Dimension BTN_DIMENSION = new Dimension(110, 25);
-    public static final EmptyBorder MARGIN_BORDER_10_PX_LR = new EmptyBorder(0, 10, 0, 10);
-    private static MainGui instance = null;
+  public static final Dimension PNL_DIMENSION = new Dimension(464, 216);
+  public static final Dimension BTN_DIMENSION = new Dimension(110, 25);
+  public static final EmptyBorder MARGIN_BORDER_10_PX_LR = new EmptyBorder(0, 10, 0, 10);
+  private static MainGui instance = null;
 
-    private final static JPanel cardJPanels = new JPanel();
+  private static final JPanel cardJPanels = new JPanel();
 
-    private final static CardLayout cardLayout = new CardLayout(0, 0);
+  private static final CardLayout cardLayout = new CardLayout(0, 0);
 
-    public static MainGui getInstance() {
-        return instance;
-    }
+  public static MainGui getInstance() {
+    return instance;
+  }
 
-    public static MainGui newInstance() {
-        if (instance == null) {
-            instance = new MainGui();
-        }
-        return instance;
+  public static MainGui newInstance() {
+    if (instance == null) {
+      instance = new MainGui();
     }
+    return instance;
+  }
 
-    public static Rectangle centerDialogOnScreen() {
-        Dimension SCREEN_DIMENSIONS = Toolkit.getDefaultToolkit().getScreenSize();
-        Dimension DIALOG_DIMENSIONS = new Dimension(400, 240);
-        int w = DIALOG_DIMENSIONS.width;
-        int h = DIALOG_DIMENSIONS.height;
-        int x = (SCREEN_DIMENSIONS.width - w) / 2;
-        int y = (SCREEN_DIMENSIONS.height - h) / 2;
-        return new Rectangle(x, y, w, h);
-    }
+  public static Rectangle centerDialogOnScreen() {
+    Dimension SCREEN_DIMENSIONS = Toolkit.getDefaultToolkit().getScreenSize();
+    Dimension DIALOG_DIMENSIONS = new Dimension(400, 240);
+    int w = DIALOG_DIMENSIONS.width;
+    int h = DIALOG_DIMENSIONS.height;
+    int x = (SCREEN_DIMENSIONS.width - w) / 2;
+    int y = (SCREEN_DIMENSIONS.height - h) / 2;
+    return new Rectangle(x, y, w, h);
+  }
 
-    public static JPanel getCardJPanels() {
-        return cardJPanels;
-    }
+  public static JPanel getCardJPanels() {
+    return cardJPanels;
+  }
 
-    public static void changeToPage(ActionEvent e) {
-        cardLayout.show(cardJPanels, e.getActionCommand());
-    }
+  public static void changeToPage(ActionEvent e) {
+    cardLayout.show(cardJPanels, e.getActionCommand());
+  }
 
-    public static void backToTelemetry(ActionEvent e) {
-        cardLayout.show(cardJPanels, Module.TELEMETRY.get());
-    }
+  public static void backToTelemetry(ActionEvent e) {
+    cardLayout.show(cardJPanels, Module.TELEMETRY.get());
+  }
 
-    public static Component createMarginComponent(int width, int height) {
-        Component marginComp = Box.createRigidArea(new Dimension(width, height));
-        return marginComp;
-    }
-
-    private FunctionsAndTelemetryJPanel pnlFunctionsAndTelemetry;
-
-    private StatusJPanel pnlStatus;
-
-    private final Dimension APP_DIMENSION = new Dimension(480, 300);
-
-    private final JPanel ctpMainGui = new JPanel();
-
-    private JMenuBar menuBar;
-    private JMenu mnFile, mnOptions, mnHelp;
-    private JMenuItem mntmInstallKrpc, mntmExit, mntmChangeVessels, mntmAbout;
-    private LiftoffJPanel pnlLiftoff;
-    private LandingJPanel pnlLanding;
-
-    private CreateManeuverJPanel pnlCreateManeuvers;
-
-    private RunManeuverJPanel pnlRunManeuvers;
-
-    private RoverJPanel pnlRover;
-
-    private DockingJPanel pnlDocking;
-
-    private VesselManager vesselManager;
-    private MainGui() {
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    public FunctionsAndTelemetryJPanel getFunctionsAndTelemetryPanel() {
-        return pnlFunctionsAndTelemetry;
-    }
-
-    public StatusJPanel getStatusPanel() {
-        return pnlStatus;
-    }
-
-    public LiftoffJPanel getLiftoffPanel() {
-        return pnlLiftoff;
-    }
-
-    public LandingJPanel getLandingPanel() {
-        return pnlLanding;
-    }
-
-    public CreateManeuverJPanel getCreateManeuverPanel() {
-        return pnlCreateManeuvers;
-    }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-        pnlFunctionsAndTelemetry.setVesselManager(vesselManager);
-        pnlDocking.setVesselManager(vesselManager);
-        pnlRover.setVesselManager(vesselManager);
-        pnlLiftoff.setVesselManager(vesselManager);
-        pnlLanding.setVesselManager(vesselManager);
-        pnlCreateManeuvers.setVesselManager(vesselManager);
-        pnlRunManeuvers.setVesselManager(vesselManager);
-    }
-
-    @Override
-    public void initComponents() {
-        try {
-            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-        } catch (Exception ignored) {
-        }
-
-        // Menu bar
-        menuBar = new JMenuBar();
-
-        // Menus
-        mnFile = new JMenu(Bundle.getString("main_mn_file"));
-        mnOptions = new JMenu(Bundle.getString("main_mn_options"));
-        mnHelp = new JMenu(Bundle.getString("main_mn_help"));
-
-        // Menu Items
-        mntmInstallKrpc = new JMenuItem(Bundle.getString("main_mntm_install_krpc"));
-        mntmChangeVessels = new JMenuItem(Bundle.getString("main_mntm_change_vessels"));
-        mntmExit = new JMenuItem(Bundle.getString("main_mntm_exit"));
-        mntmAbout = new JMenuItem(Bundle.getString("main_mntm_about"));
-
-        // Panels
-        pnlStatus = new StatusJPanel();
-        pnlFunctionsAndTelemetry = new FunctionsAndTelemetryJPanel(getStatusPanel());
-        pnlLiftoff = new LiftoffJPanel(getStatusPanel());
-        pnlLanding = new LandingJPanel(getStatusPanel());
-        pnlCreateManeuvers = new CreateManeuverJPanel(getStatusPanel());
-        pnlRunManeuvers = new RunManeuverJPanel(getStatusPanel());
-        pnlRover = new RoverJPanel(getStatusPanel());
-        pnlDocking = new DockingJPanel(getStatusPanel());
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setAlwaysOnTop(true);
-        setTitle("MechPeste - Pesterenan");
-        setJMenuBar(menuBar);
-        setResizable(false);
-        setLocation(100, 100);
-        setContentPane(ctpMainGui);
-        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-
-        // Setting-up components:
-        mntmAbout.addActionListener(this);
-        mntmChangeVessels.addActionListener(this);
-        mntmExit.addActionListener(this);
-        mntmInstallKrpc.addActionListener(this);
-
-        cardJPanels.setPreferredSize(PNL_DIMENSION);
-        cardJPanels.setSize(PNL_DIMENSION);
-    }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(APP_DIMENSION);
-        setSize(APP_DIMENSION);
-        setVisible(true);
-
-        // Laying out components:
-        ctpMainGui.setLayout(new BorderLayout());
-        ctpMainGui.add(cardJPanels, BorderLayout.CENTER);
-        ctpMainGui.add(pnlStatus, BorderLayout.SOUTH);
-
-        mnFile.add(mntmInstallKrpc);
-        mnFile.add(new JSeparator());
-        mnFile.add(mntmExit);
-        mnOptions.add(mntmChangeVessels);
-        mnHelp.add(mntmAbout);
-        menuBar.add(mnFile);
-        menuBar.add(mnOptions);
-        menuBar.add(mnHelp);
-
-        JTabbedPane pnlManeuverJTabbedPane = new JTabbedPane();
-        pnlManeuverJTabbedPane.addTab("Criar Manobras", pnlCreateManeuvers);
-        pnlManeuverJTabbedPane.addTab("Executar Manobras", pnlRunManeuvers);
-
-        cardJPanels.setLayout(cardLayout);
-        cardJPanels.add(pnlFunctionsAndTelemetry, Module.TELEMETRY.get());
-        cardJPanels.add(pnlLiftoff, Module.LIFTOFF.get());
-        cardJPanels.add(pnlLanding, Module.LANDING.get());
-        cardJPanels.add(pnlManeuverJTabbedPane, Module.MANEUVER.get());
-        cardJPanels.add(pnlRover, Module.ROVER.get());
-        cardJPanels.add(pnlDocking, Module.DOCKING.get());
-    }
-
-    public void actionPerformed(ActionEvent e) {
-        if (e.getSource() == mntmAbout) {
-            handleMntmAboutActionPerformed(e);
-        }
-        if (e.getSource() == mntmInstallKrpc) {
-            handleMntmInstallKrpcActionPerformed(e);
-        }
-        if (e.getSource() == mntmExit) {
-            handleMntmExitActionPerformed(e);
-        }
-        if (e.getSource() == mntmChangeVessels) {
-            handleMntmMultiControlActionPerformed(e);
-        }
-    }
-
-    protected void handleMntmInstallKrpcActionPerformed(ActionEvent e) {
-        new InstallKrpcDialog();
-    }
-
-    protected void handleMntmExitActionPerformed(ActionEvent e) {
-        System.exit(0);
-    }
-
-    protected void handleMntmAboutActionPerformed(ActionEvent e) {
-        new AboutJFrame();
-    }
-
-    private void handleMntmMultiControlActionPerformed(ActionEvent e) {
-        new ChangeVesselDialog(vesselManager);
-    }
+  public static Component createMarginComponent(int width, int height) {
+    Component marginComp = Box.createRigidArea(new Dimension(width, height));
+    return marginComp;
+  }
+
+  private FunctionsAndTelemetryJPanel pnlFunctionsAndTelemetry;
+
+  private StatusJPanel pnlStatus;
+
+  private final Dimension APP_DIMENSION = new Dimension(480, 300);
+
+  private final JPanel ctpMainGui = new JPanel();
+
+  private JMenuBar menuBar;
+  private JMenu mnFile, mnOptions, mnHelp;
+  private JMenuItem mntmInstallKrpc, mntmExit, mntmChangeVessels, mntmAbout;
+  private LiftoffJPanel pnlLiftoff;
+  private LandingJPanel pnlLanding;
+
+  private CreateManeuverJPanel pnlCreateManeuvers;
+
+  private RunManeuverJPanel pnlRunManeuvers;
+
+  private RoverJPanel pnlRover;
+
+  private DockingJPanel pnlDocking;
+
+  private VesselManager vesselManager;
+
+  private MainGui() {
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public FunctionsAndTelemetryJPanel getFunctionsAndTelemetryPanel() {
+    return pnlFunctionsAndTelemetry;
+  }
+
+  public StatusJPanel getStatusPanel() {
+    return pnlStatus;
+  }
+
+  public LiftoffJPanel getLiftoffPanel() {
+    return pnlLiftoff;
+  }
+
+  public LandingJPanel getLandingPanel() {
+    return pnlLanding;
+  }
+
+  public CreateManeuverJPanel getCreateManeuverPanel() {
+    return pnlCreateManeuvers;
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+    pnlFunctionsAndTelemetry.setVesselManager(vesselManager);
+    pnlDocking.setVesselManager(vesselManager);
+    pnlRover.setVesselManager(vesselManager);
+    pnlLiftoff.setVesselManager(vesselManager);
+    pnlLanding.setVesselManager(vesselManager);
+    pnlCreateManeuvers.setVesselManager(vesselManager);
+    pnlRunManeuvers.setVesselManager(vesselManager);
+  }
+
+  @Override
+  public void initComponents() {
+    try {
+      UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+    } catch (Exception ignored) {
+    }
+
+    // Menu bar
+    menuBar = new JMenuBar();
+
+    // Menus
+    mnFile = new JMenu(Bundle.getString("main_mn_file"));
+    mnOptions = new JMenu(Bundle.getString("main_mn_options"));
+    mnHelp = new JMenu(Bundle.getString("main_mn_help"));
+
+    // Menu Items
+    mntmInstallKrpc = new JMenuItem(Bundle.getString("main_mntm_install_krpc"));
+    mntmChangeVessels = new JMenuItem(Bundle.getString("main_mntm_change_vessels"));
+    mntmExit = new JMenuItem(Bundle.getString("main_mntm_exit"));
+    mntmAbout = new JMenuItem(Bundle.getString("main_mntm_about"));
+
+    // Panels
+    pnlStatus = new StatusJPanel();
+    pnlFunctionsAndTelemetry = new FunctionsAndTelemetryJPanel(getStatusPanel());
+    pnlLiftoff = new LiftoffJPanel(getStatusPanel());
+    pnlLanding = new LandingJPanel(getStatusPanel());
+    pnlCreateManeuvers = new CreateManeuverJPanel(getStatusPanel());
+    pnlRunManeuvers = new RunManeuverJPanel(getStatusPanel());
+    pnlRover = new RoverJPanel(getStatusPanel());
+    pnlDocking = new DockingJPanel(getStatusPanel());
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setAlwaysOnTop(true);
+    setTitle("MechPeste - Pesterenan");
+    setJMenuBar(menuBar);
+    setResizable(false);
+    setLocation(100, 100);
+    setContentPane(ctpMainGui);
+    setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+
+    // Setting-up components:
+    mntmAbout.addActionListener(this);
+    mntmChangeVessels.addActionListener(this);
+    mntmExit.addActionListener(this);
+    mntmInstallKrpc.addActionListener(this);
+
+    cardJPanels.setPreferredSize(PNL_DIMENSION);
+    cardJPanels.setSize(PNL_DIMENSION);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(APP_DIMENSION);
+    setSize(APP_DIMENSION);
+    setVisible(true);
+
+    // Laying out components:
+    ctpMainGui.setLayout(new BorderLayout());
+    ctpMainGui.add(cardJPanels, BorderLayout.CENTER);
+    ctpMainGui.add(pnlStatus, BorderLayout.SOUTH);
+
+    mnFile.add(mntmInstallKrpc);
+    mnFile.add(new JSeparator());
+    mnFile.add(mntmExit);
+    mnOptions.add(mntmChangeVessels);
+    mnHelp.add(mntmAbout);
+    menuBar.add(mnFile);
+    menuBar.add(mnOptions);
+    menuBar.add(mnHelp);
+
+    JTabbedPane pnlManeuverJTabbedPane = new JTabbedPane();
+    pnlManeuverJTabbedPane.addTab("Criar Manobras", pnlCreateManeuvers);
+    pnlManeuverJTabbedPane.addTab("Executar Manobras", pnlRunManeuvers);
+
+    cardJPanels.setLayout(cardLayout);
+    cardJPanels.add(pnlFunctionsAndTelemetry, Module.TELEMETRY.get());
+    cardJPanels.add(pnlLiftoff, Module.LIFTOFF.get());
+    cardJPanels.add(pnlLanding, Module.LANDING.get());
+    cardJPanels.add(pnlManeuverJTabbedPane, Module.MANEUVER.get());
+    cardJPanels.add(pnlRover, Module.ROVER.get());
+    cardJPanels.add(pnlDocking, Module.DOCKING.get());
+  }
+
+  public void actionPerformed(ActionEvent e) {
+    if (e.getSource() == mntmAbout) {
+      handleMntmAboutActionPerformed(e);
+    }
+    if (e.getSource() == mntmInstallKrpc) {
+      handleMntmInstallKrpcActionPerformed(e);
+    }
+    if (e.getSource() == mntmExit) {
+      handleMntmExitActionPerformed(e);
+    }
+    if (e.getSource() == mntmChangeVessels) {
+      handleMntmMultiControlActionPerformed(e);
+    }
+  }
+
+  protected void handleMntmInstallKrpcActionPerformed(ActionEvent e) {
+    new InstallKrpcDialog();
+  }
+
+  protected void handleMntmExitActionPerformed(ActionEvent e) {
+    System.exit(0);
+  }
+
+  protected void handleMntmAboutActionPerformed(ActionEvent e) {
+    new AboutJFrame();
+  }
+
+  private void handleMntmMultiControlActionPerformed(ActionEvent e) {
+    new ChangeVesselDialog(vesselManager);
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/RoverJPanel.java b/src/main/java/com/pesterenan/views/RoverJPanel.java
index 20692c6..5224840 100644
--- a/src/main/java/com/pesterenan/views/RoverJPanel.java
+++ b/src/main/java/com/pesterenan/views/RoverJPanel.java
@@ -4,11 +4,13 @@
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.event.ActionEvent;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.ButtonGroup;
@@ -21,169 +23,167 @@
 import javax.swing.border.EtchedBorder;
 import javax.swing.border.TitledBorder;
 
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.Module;
-
 public class RoverJPanel extends JPanel implements UIMethods {
 
-    private static final long serialVersionUID = 0L;
-
-    private JLabel lblWaypointName, lblMaxSpeed;
-    private JTextField txfWaypointName, txfMaxSpeed;
-    private JButton btnBack, btnDrive;
-    private ButtonGroup bgTargetChoice;
-    private JRadioButton rbTargetVessel, rbWaypointOnMap;
-    private VesselManager vesselManager;
-
-    private StatusDisplay statusDisplay;
-
-    public RoverJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
+  private static final long serialVersionUID = 0L;
+
+  private JLabel lblWaypointName, lblMaxSpeed;
+  private JTextField txfWaypointName, txfMaxSpeed;
+  private JButton btnBack, btnDrive;
+  private ButtonGroup bgTargetChoice;
+  private JRadioButton rbTargetVessel, rbWaypointOnMap;
+  private VesselManager vesselManager;
+
+  private StatusDisplay statusDisplay;
+
+  public RoverJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblMaxSpeed = new JLabel(Bundle.getString("pnl_rover_lbl_max_speed"));
+    lblWaypointName = new JLabel(Bundle.getString("pnl_rover_waypoint_name"));
+
+    // Textfields:
+    txfMaxSpeed = new JTextField("10");
+    txfWaypointName = new JTextField(Bundle.getString("pnl_rover_default_name"));
+
+    // Buttons:
+    btnBack = new JButton(Bundle.getString("pnl_rover_btn_back"));
+    btnDrive = new JButton(Bundle.getString("pnl_rover_btn_drive"));
+
+    // Misc:
+    rbTargetVessel = new JRadioButton(Bundle.getString("pnl_rover_target_vessel"));
+    rbWaypointOnMap = new JRadioButton(Bundle.getString("pnl_rover_waypoint_on_map"));
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setBorder(new TitledBorder(null, Bundle.getString("pnl_rover_border")));
+
+    // Setting-up components:
+    txfWaypointName.setEnabled(false);
+    txfWaypointName.setHorizontalAlignment(SwingConstants.CENTER);
+    txfWaypointName.setMaximumSize(BTN_DIMENSION);
+    txfWaypointName.setPreferredSize(BTN_DIMENSION);
+    txfMaxSpeed.setHorizontalAlignment(SwingConstants.RIGHT);
+    txfMaxSpeed.setMaximumSize(BTN_DIMENSION);
+    txfMaxSpeed.setPreferredSize(BTN_DIMENSION);
+
+    rbTargetVessel.setSelected(true);
+    rbTargetVessel.setActionCommand(Module.TARGET_VESSEL.get());
+    rbTargetVessel.addActionListener(this::handleTargetSelection);
+    rbWaypointOnMap.setActionCommand(Module.MAP_MARKER.get());
+    rbWaypointOnMap.addActionListener(this::handleTargetSelection);
+
+    bgTargetChoice = new ButtonGroup();
+    bgTargetChoice.add(rbTargetVessel);
+    bgTargetChoice.add(rbWaypointOnMap);
+
+    btnBack.addActionListener(MainGui::backToTelemetry);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+    btnDrive.addActionListener(this::handleDriveTo);
+    btnDrive.setMaximumSize(BTN_DIMENSION);
+    btnDrive.setPreferredSize(BTN_DIMENSION);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    // Layout components:
+    JPanel pnlWaypointName = new JPanel();
+    pnlWaypointName.setLayout(new BoxLayout(pnlWaypointName, BoxLayout.X_AXIS));
+    pnlWaypointName.add(lblWaypointName);
+    pnlWaypointName.add(Box.createHorizontalGlue());
+    pnlWaypointName.add(txfWaypointName);
+
+    JPanel pnlMaxSpeed = new JPanel();
+    pnlMaxSpeed.setLayout(new BoxLayout(pnlMaxSpeed, BoxLayout.X_AXIS));
+    pnlMaxSpeed.add(lblMaxSpeed);
+    pnlMaxSpeed.add(Box.createHorizontalGlue());
+    pnlMaxSpeed.add(txfMaxSpeed);
+
+    JPanel pnlRoverControls = new JPanel();
+    pnlRoverControls.setLayout(new BoxLayout(pnlRoverControls, BoxLayout.Y_AXIS));
+    pnlRoverControls.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlRoverControls.add(MainGui.createMarginComponent(0, 6));
+    pnlRoverControls.add(pnlWaypointName);
+    pnlRoverControls.add(pnlMaxSpeed);
+    pnlRoverControls.add(Box.createVerticalGlue());
+
+    JPanel pnlTargetChoice = new JPanel();
+    pnlTargetChoice.setBorder(
+        new TitledBorder(
+            new EtchedBorder(EtchedBorder.LOWERED), Bundle.getString("pnl_rover_target_choice")));
+    pnlTargetChoice.setLayout(new BoxLayout(pnlTargetChoice, BoxLayout.Y_AXIS));
+    pnlTargetChoice.add(rbTargetVessel);
+    pnlTargetChoice.add(rbWaypointOnMap);
+    pnlTargetChoice.add(Box.createHorizontalGlue());
+
+    JPanel pnlButtons = new JPanel();
+    pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
+    pnlButtons.add(btnDrive);
+    pnlButtons.add(Box.createHorizontalGlue());
+    pnlButtons.add(btnBack);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlRoverControls.setAlignmentY(TOP_ALIGNMENT);
+    pnlTargetChoice.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlRoverControls);
+    pnlMain.add(pnlTargetChoice);
+
+    setLayout(new BorderLayout());
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlButtons, BorderLayout.SOUTH);
+  }
+
+  private void handleTargetSelection(ActionEvent e) {
+    txfWaypointName.setEnabled(e.getSource().equals(rbWaypointOnMap));
+  }
+
+  private void handleDriveTo(ActionEvent e) {
+    if (validateTextFields()) {
+      Map<String, String> commands = new HashMap<>();
+      commands.put(Module.MODULO.get(), Module.ROVER.get());
+      commands.put(
+          Module.ROVER_TARGET_TYPE.get(), bgTargetChoice.getSelection().getActionCommand());
+      commands.put(Module.MARKER_NAME.get(), txfWaypointName.getText());
+      commands.put(Module.MAX_SPEED.get(), txfMaxSpeed.getText());
+      vesselManager.startModule(commands);
     }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblMaxSpeed = new JLabel(Bundle.getString("pnl_rover_lbl_max_speed"));
-        lblWaypointName = new JLabel(Bundle.getString("pnl_rover_waypoint_name"));
-
-        // Textfields:
-        txfMaxSpeed = new JTextField("10");
-        txfWaypointName = new JTextField(Bundle.getString("pnl_rover_default_name"));
-
-        // Buttons:
-        btnBack = new JButton(Bundle.getString("pnl_rover_btn_back"));
-        btnDrive = new JButton(Bundle.getString("pnl_rover_btn_drive"));
-
-        // Misc:
-        rbTargetVessel = new JRadioButton(Bundle.getString("pnl_rover_target_vessel"));
-        rbWaypointOnMap = new JRadioButton(Bundle.getString("pnl_rover_waypoint_on_map"));
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setBorder(new TitledBorder(null, Bundle.getString("pnl_rover_border")));
-
-        // Setting-up components:
-        txfWaypointName.setEnabled(false);
-        txfWaypointName.setHorizontalAlignment(SwingConstants.CENTER);
-        txfWaypointName.setMaximumSize(BTN_DIMENSION);
-        txfWaypointName.setPreferredSize(BTN_DIMENSION);
-        txfMaxSpeed.setHorizontalAlignment(SwingConstants.RIGHT);
-        txfMaxSpeed.setMaximumSize(BTN_DIMENSION);
-        txfMaxSpeed.setPreferredSize(BTN_DIMENSION);
-
-        rbTargetVessel.setSelected(true);
-        rbTargetVessel.setActionCommand(Module.TARGET_VESSEL.get());
-        rbTargetVessel.addActionListener(this::handleTargetSelection);
-        rbWaypointOnMap.setActionCommand(Module.MAP_MARKER.get());
-        rbWaypointOnMap.addActionListener(this::handleTargetSelection);
-
-        bgTargetChoice = new ButtonGroup();
-        bgTargetChoice.add(rbTargetVessel);
-        bgTargetChoice.add(rbWaypointOnMap);
-
-        btnBack.addActionListener(MainGui::backToTelemetry);
-        btnBack.setMaximumSize(BTN_DIMENSION);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-        btnDrive.addActionListener(this::handleDriveTo);
-        btnDrive.setMaximumSize(BTN_DIMENSION);
-        btnDrive.setPreferredSize(BTN_DIMENSION);
-    }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        // Layout components:
-        JPanel pnlWaypointName = new JPanel();
-        pnlWaypointName.setLayout(new BoxLayout(pnlWaypointName, BoxLayout.X_AXIS));
-        pnlWaypointName.add(lblWaypointName);
-        pnlWaypointName.add(Box.createHorizontalGlue());
-        pnlWaypointName.add(txfWaypointName);
-
-        JPanel pnlMaxSpeed = new JPanel();
-        pnlMaxSpeed.setLayout(new BoxLayout(pnlMaxSpeed, BoxLayout.X_AXIS));
-        pnlMaxSpeed.add(lblMaxSpeed);
-        pnlMaxSpeed.add(Box.createHorizontalGlue());
-        pnlMaxSpeed.add(txfMaxSpeed);
-
-        JPanel pnlRoverControls = new JPanel();
-        pnlRoverControls.setLayout(new BoxLayout(pnlRoverControls, BoxLayout.Y_AXIS));
-        pnlRoverControls.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlRoverControls.add(MainGui.createMarginComponent(0, 6));
-        pnlRoverControls.add(pnlWaypointName);
-        pnlRoverControls.add(pnlMaxSpeed);
-        pnlRoverControls.add(Box.createVerticalGlue());
-
-        JPanel pnlTargetChoice = new JPanel();
-        pnlTargetChoice.setBorder(
-                new TitledBorder(new EtchedBorder(EtchedBorder.LOWERED), Bundle.getString("pnl_rover_target_choice")));
-        pnlTargetChoice.setLayout(new BoxLayout(pnlTargetChoice, BoxLayout.Y_AXIS));
-        pnlTargetChoice.add(rbTargetVessel);
-        pnlTargetChoice.add(rbWaypointOnMap);
-        pnlTargetChoice.add(Box.createHorizontalGlue());
-
-        JPanel pnlButtons = new JPanel();
-        pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
-        pnlButtons.add(btnDrive);
-        pnlButtons.add(Box.createHorizontalGlue());
-        pnlButtons.add(btnBack);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlRoverControls.setAlignmentY(TOP_ALIGNMENT);
-        pnlTargetChoice.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlRoverControls);
-        pnlMain.add(pnlTargetChoice);
-
-        setLayout(new BorderLayout());
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlButtons, BorderLayout.SOUTH);
-    }
-
-    private void handleTargetSelection(ActionEvent e) {
-        txfWaypointName.setEnabled(e.getSource().equals(rbWaypointOnMap));
-    }
-
-    private void handleDriveTo(ActionEvent e) {
-        if (validateTextFields()) {
-            Map<String,String> commands = new HashMap<>();
-            commands.put(Module.MODULO.get(), Module.ROVER.get());
-            commands.put(Module.ROVER_TARGET_TYPE.get(), bgTargetChoice.getSelection().getActionCommand());
-            commands.put(Module.MARKER_NAME.get(), txfWaypointName.getText());
-            commands.put(Module.MAX_SPEED.get(), txfMaxSpeed.getText());
-            vesselManager.startModule(commands);
-        }
-    }
-
-    private boolean validateTextFields() {
-        try {
-            if (Float.parseFloat(txfMaxSpeed.getText()) < 3) {
-                throw new NumberFormatException();
-            }
-            if (txfWaypointName.getText().equals("")) {
-                throw new IllegalArgumentException();
-            }
-        } catch (NumberFormatException e) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_max_speed_above_3"));
-            return false;
-        } catch (IllegalArgumentException e) {
-            statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_waypoint_name_not_empty"));
-            return false;
-        }
-        return true;
+  }
+
+  private boolean validateTextFields() {
+    try {
+      if (Float.parseFloat(txfMaxSpeed.getText()) < 3) {
+        throw new NumberFormatException();
+      }
+      if (txfWaypointName.getText().equals("")) {
+        throw new IllegalArgumentException();
+      }
+    } catch (NumberFormatException e) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_max_speed_above_3"));
+      return false;
+    } catch (IllegalArgumentException e) {
+      statusDisplay.setStatusMessage(Bundle.getString("pnl_rover_waypoint_name_not_empty"));
+      return false;
     }
+    return true;
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
index ce592b6..2fb884d 100644
--- a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
+++ b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
@@ -4,12 +4,16 @@
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 import static com.pesterenan.views.MainGui.PNL_DIMENSION;
 
+import com.pesterenan.MechPeste;
+import com.pesterenan.model.VesselManager;
+import com.pesterenan.resources.Bundle;
+import com.pesterenan.utils.ControlePID;
+import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.event.ActionEvent;
 import java.awt.event.ActionListener;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
@@ -18,13 +22,6 @@
 import javax.swing.JPanel;
 import javax.swing.border.CompoundBorder;
 import javax.swing.border.TitledBorder;
-
-import com.pesterenan.MechPeste;
-import com.pesterenan.model.VesselManager;
-import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.ControlePID;
-import com.pesterenan.utils.Module;
-
 import krpc.client.RPCException;
 import krpc.client.services.SpaceCenter.Node;
 import krpc.client.services.SpaceCenter.Orbit;
@@ -32,222 +29,234 @@
 import krpc.client.services.SpaceCenter.VesselSituation;
 
 public class RunManeuverJPanel extends JPanel implements ActionListener, UIMethods {
-    private static final long serialVersionUID = 1L;
-
-    private StatusDisplay statusDisplay;
-
-    private JLabel lblExecute;
-    private JButton btnLowerOrbit, btnApoapsis, btnPeriapsis, btnExecute, btnBack, btnAlignPlanes, btnRendezvous;
-    private JCheckBox chkFineAdjusment;
-    private final ControlePID ctrlManeuver = new ControlePID();
-    private VesselManager vesselManager;
-
-    public RunManeuverJPanel(StatusDisplay statusDisplay) {
-        this.statusDisplay = statusDisplay;
-        initComponents();
-        setupComponents();
-        layoutComponents();
+  private static final long serialVersionUID = 1L;
+
+  private StatusDisplay statusDisplay;
+
+  private JLabel lblExecute;
+  private JButton btnLowerOrbit,
+      btnApoapsis,
+      btnPeriapsis,
+      btnExecute,
+      btnBack,
+      btnAlignPlanes,
+      btnRendezvous;
+  private JCheckBox chkFineAdjusment;
+  private final ControlePID ctrlManeuver = new ControlePID();
+  private VesselManager vesselManager;
+
+  public RunManeuverJPanel(StatusDisplay statusDisplay) {
+    this.statusDisplay = statusDisplay;
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  public void setVesselManager(VesselManager vesselManager) {
+    this.vesselManager = vesselManager;
+  }
+
+  public void initComponents() {
+    // Labels:
+    lblExecute = new JLabel(Bundle.getString("pnl_mnv_lbl_exec_mnv"));
+
+    // Buttons:
+    btnApoapsis = new JButton(Bundle.getString("pnl_mnv_btn_apoapsis"));
+    btnBack = new JButton(Bundle.getString("pnl_mnv_btn_back"));
+    btnExecute = new JButton(Bundle.getString("pnl_mnv_btn_exec_mnv"));
+    btnLowerOrbit = new JButton(Bundle.getString("pnl_mnv_btn_lower_orbit"));
+    btnPeriapsis = new JButton(Bundle.getString("pnl_mnv_btn_periapsis"));
+    btnAlignPlanes = new JButton("Alinhar planos");
+    btnRendezvous = new JButton("Rendezvous");
+
+    // Misc:
+    chkFineAdjusment = new JCheckBox(Bundle.getString("pnl_mnv_chk_adj_mnv_rcs"));
+  }
+
+  public void createManeuver() {
+    System.out.println("Create maneuver");
+    try {
+      createManeuver(vesselManager.getSpaceCenter().getUT() + 60);
+    } catch (RPCException e) {
     }
-
-    public void setVesselManager(VesselManager vesselManager) {
-        this.vesselManager = vesselManager;
+  }
+
+  public void createManeuver(double atFutureTime) {
+    System.out.println("Create maneuver overloaded");
+    try {
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      System.out.println("vessel: " + vessel);
+
+      if (vessel.getSituation() != VesselSituation.ORBITING) {
+        statusDisplay.setStatusMessage("Não é possível criar a manobra fora de órbita.");
+        return;
+      }
+      vessel.getControl().addNode(atFutureTime, 0, 0, 0);
+    } catch (Exception e) {
     }
-
-    public void initComponents() {
-        // Labels:
-        lblExecute = new JLabel(Bundle.getString("pnl_mnv_lbl_exec_mnv"));
-
-        // Buttons:
-        btnApoapsis = new JButton(Bundle.getString("pnl_mnv_btn_apoapsis"));
-        btnBack = new JButton(Bundle.getString("pnl_mnv_btn_back"));
-        btnExecute = new JButton(Bundle.getString("pnl_mnv_btn_exec_mnv"));
-        btnLowerOrbit = new JButton(Bundle.getString("pnl_mnv_btn_lower_orbit"));
-        btnPeriapsis = new JButton(Bundle.getString("pnl_mnv_btn_periapsis"));
-        btnAlignPlanes = new JButton("Alinhar planos");
-        btnRendezvous = new JButton("Rendezvous");
-
-        // Misc:
-        chkFineAdjusment = new JCheckBox(Bundle.getString("pnl_mnv_chk_adj_mnv_rcs"));
+  }
+
+  public void positionManeuverAt(String node) {
+    try {
+      MechPeste.newInstance();
+      Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
+      Orbit orbit = vessel.getOrbit();
+      Node currentManeuver = vessel.getControl().getNodes().get(0);
+      double timeToNode = 0;
+      switch (node) {
+        case "apoapsis":
+          timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToApoapsis();
+          break;
+        case "periapsis":
+          timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToPeriapsis();
+          break;
+        case "ascending":
+          double ascendingAnomaly =
+              orbit.trueAnomalyAtAN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
+          timeToNode = orbit.uTAtTrueAnomaly(ascendingAnomaly);
+          break;
+        case "descending":
+          double descendingAnomaly =
+              orbit.trueAnomalyAtDN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
+          timeToNode = orbit.uTAtTrueAnomaly(descendingAnomaly);
+          break;
+      }
+      currentManeuver.setUT(timeToNode);
+      // Print the maneuver node information
+      System.out.println("Maneuver Node updated:");
+      System.out.println("  Time to node: " + currentManeuver.getTimeTo() + " s");
+    } catch (Exception e) {
     }
-
-    public void createManeuver() {
-        System.out.println("Create maneuver");
-        try {
-            createManeuver(vesselManager.getSpaceCenter().getUT() + 60);
-        } catch (RPCException e) {
-        }
+  }
+
+  public void setupComponents() {
+    // Setting-up components:
+    btnAlignPlanes.addActionListener(this);
+    btnAlignPlanes.setMaximumSize(BTN_DIMENSION);
+    btnAlignPlanes.setPreferredSize(BTN_DIMENSION);
+
+    btnRendezvous.addActionListener(this);
+    btnRendezvous.setMaximumSize(BTN_DIMENSION);
+    btnRendezvous.setPreferredSize(BTN_DIMENSION);
+
+    btnApoapsis.addActionListener(this);
+    btnApoapsis.setMaximumSize(BTN_DIMENSION);
+    btnApoapsis.setPreferredSize(BTN_DIMENSION);
+
+    btnBack.addActionListener(this);
+    btnBack.setMaximumSize(BTN_DIMENSION);
+    btnBack.setPreferredSize(BTN_DIMENSION);
+
+    btnExecute.addActionListener(this);
+    btnExecute.setMaximumSize(BTN_DIMENSION);
+    btnExecute.setPreferredSize(BTN_DIMENSION);
+
+    btnLowerOrbit.addActionListener(this);
+    btnLowerOrbit.setMaximumSize(BTN_DIMENSION);
+    btnLowerOrbit.setPreferredSize(BTN_DIMENSION);
+
+    btnPeriapsis.addActionListener(this);
+    btnPeriapsis.setMaximumSize(BTN_DIMENSION);
+    btnPeriapsis.setPreferredSize(BTN_DIMENSION);
+  }
+
+  public void layoutComponents() {
+    // Main Panel layout:
+    setPreferredSize(PNL_DIMENSION);
+    setSize(PNL_DIMENSION);
+    setLayout(new BorderLayout());
+
+    JPanel pnlExecuteManeuver = new JPanel();
+    pnlExecuteManeuver.setLayout(new BoxLayout(pnlExecuteManeuver, BoxLayout.X_AXIS));
+    pnlExecuteManeuver.setBorder(MARGIN_BORDER_10_PX_LR);
+    pnlExecuteManeuver.add(lblExecute);
+    pnlExecuteManeuver.add(MainGui.createMarginComponent(10, 0));
+    pnlExecuteManeuver.add(btnExecute);
+
+    JPanel pnlAutoPosition = new JPanel();
+    pnlAutoPosition.setLayout(new BoxLayout(pnlAutoPosition, BoxLayout.X_AXIS));
+    pnlAutoPosition.setBorder(new TitledBorder("Auto posição:"));
+    pnlAutoPosition.add(btnAlignPlanes);
+    pnlAutoPosition.add(btnRendezvous);
+
+    JPanel pnlCircularize = new JPanel();
+    pnlCircularize.setLayout(new BoxLayout(pnlCircularize, BoxLayout.X_AXIS));
+    TitledBorder titled =
+        new TitledBorder(
+            null,
+            Bundle.getString("pnl_mnv_circularize"),
+            TitledBorder.LEADING,
+            TitledBorder.TOP,
+            null,
+            null);
+    CompoundBorder combined = new CompoundBorder(titled, MARGIN_BORDER_10_PX_LR);
+    pnlCircularize.setBorder(combined);
+    pnlCircularize.add(btnLowerOrbit);
+    pnlCircularize.add(Box.createHorizontalGlue());
+    pnlCircularize.add(btnApoapsis);
+    pnlCircularize.add(btnPeriapsis);
+
+    JPanel pnlSetup = new JPanel();
+    pnlSetup.setLayout(new BoxLayout(pnlSetup, BoxLayout.Y_AXIS));
+    pnlSetup.add(pnlExecuteManeuver);
+    pnlSetup.add(pnlAutoPosition);
+
+    JPanel pnlOptions = new JPanel();
+    pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
+    pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
+    pnlOptions.add(chkFineAdjusment);
+
+    JPanel pnlFunctions = new JPanel();
+    pnlFunctions.setLayout(new BoxLayout(pnlFunctions, BoxLayout.X_AXIS));
+    pnlFunctions.add(pnlSetup);
+    pnlFunctions.add(pnlOptions);
+
+    JPanel pnlButtons = new JPanel();
+    pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
+    pnlButtons.add(Box.createHorizontalGlue());
+    pnlButtons.add(btnBack);
+
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
+    pnlFunctions.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlFunctions);
+    pnlCircularize.setAlignmentY(TOP_ALIGNMENT);
+    pnlMain.add(pnlCircularize);
+
+    add(pnlMain, BorderLayout.CENTER);
+    add(pnlButtons, BorderLayout.SOUTH);
+  }
+
+  @Override
+  public void actionPerformed(ActionEvent e) {
+    if (e.getSource() == btnExecute) {
+      handleManeuverFunction(Module.EXECUTE.get());
     }
-
-    public void createManeuver(double atFutureTime) {
-        System.out.println("Create maneuver overloaded");
-        try {
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            System.out.println("vessel: " + vessel);
-
-            if (vessel.getSituation() != VesselSituation.ORBITING) {
-                statusDisplay.setStatusMessage("Não é possível criar a manobra fora de órbita.");
-                return;
-            }
-            vessel.getControl().addNode(atFutureTime, 0, 0, 0);
-        } catch (Exception e) {
-        }
+    if (e.getSource() == btnLowerOrbit) {
+      handleManeuverFunction(Module.LOW_ORBIT.get());
     }
-
-    public void positionManeuverAt(String node) {
-        try {
-            MechPeste.newInstance();
-            Vessel vessel = vesselManager.getSpaceCenter().getActiveVessel();
-            Orbit orbit = vessel.getOrbit();
-            Node currentManeuver = vessel.getControl().getNodes().get(0);
-            double timeToNode = 0;
-            switch (node) {
-                case "apoapsis" :
-                    timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToApoapsis();
-                    break;
-                case "periapsis" :
-                    timeToNode = vesselManager.getSpaceCenter().getUT() + orbit.getTimeToPeriapsis();
-                    break;
-                case "ascending" :
-                    double ascendingAnomaly = orbit
-                            .trueAnomalyAtAN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
-                    timeToNode = orbit.uTAtTrueAnomaly(ascendingAnomaly);
-                    break;
-                case "descending" :
-                    double descendingAnomaly = orbit
-                            .trueAnomalyAtDN(vesselManager.getSpaceCenter().getTargetVessel().getOrbit());
-                    timeToNode = orbit.uTAtTrueAnomaly(descendingAnomaly);
-                    break;
-            }
-            currentManeuver.setUT(timeToNode);
-            // Print the maneuver node information
-            System.out.println("Maneuver Node updated:");
-            System.out.println("  Time to node: " + currentManeuver.getTimeTo() + " s");
-        } catch (Exception e) {
-        }
+    if (e.getSource() == btnApoapsis) {
+      handleManeuverFunction(Module.APOAPSIS.get());
     }
-
-    public void setupComponents() {
-        // Setting-up components:
-        btnAlignPlanes.addActionListener(this);
-        btnAlignPlanes.setMaximumSize(BTN_DIMENSION);
-        btnAlignPlanes.setPreferredSize(BTN_DIMENSION);
-
-        btnRendezvous.addActionListener(this);
-        btnRendezvous.setMaximumSize(BTN_DIMENSION);
-        btnRendezvous.setPreferredSize(BTN_DIMENSION);
-
-        btnApoapsis.addActionListener(this);
-        btnApoapsis.setMaximumSize(BTN_DIMENSION);
-        btnApoapsis.setPreferredSize(BTN_DIMENSION);
-
-        btnBack.addActionListener(this);
-        btnBack.setMaximumSize(BTN_DIMENSION);
-        btnBack.setPreferredSize(BTN_DIMENSION);
-
-        btnExecute.addActionListener(this);
-        btnExecute.setMaximumSize(BTN_DIMENSION);
-        btnExecute.setPreferredSize(BTN_DIMENSION);
-
-        btnLowerOrbit.addActionListener(this);
-        btnLowerOrbit.setMaximumSize(BTN_DIMENSION);
-        btnLowerOrbit.setPreferredSize(BTN_DIMENSION);
-
-        btnPeriapsis.addActionListener(this);
-        btnPeriapsis.setMaximumSize(BTN_DIMENSION);
-        btnPeriapsis.setPreferredSize(BTN_DIMENSION);
+    if (e.getSource() == btnPeriapsis) {
+      handleManeuverFunction(Module.PERIAPSIS.get());
     }
-
-    public void layoutComponents() {
-        // Main Panel layout:
-        setPreferredSize(PNL_DIMENSION);
-        setSize(PNL_DIMENSION);
-        setLayout(new BorderLayout());
-
-        JPanel pnlExecuteManeuver = new JPanel();
-        pnlExecuteManeuver.setLayout(new BoxLayout(pnlExecuteManeuver, BoxLayout.X_AXIS));
-        pnlExecuteManeuver.setBorder(MARGIN_BORDER_10_PX_LR);
-        pnlExecuteManeuver.add(lblExecute);
-        pnlExecuteManeuver.add(MainGui.createMarginComponent(10, 0));
-        pnlExecuteManeuver.add(btnExecute);
-
-        JPanel pnlAutoPosition = new JPanel();
-        pnlAutoPosition.setLayout(new BoxLayout(pnlAutoPosition, BoxLayout.X_AXIS));
-        pnlAutoPosition.setBorder(new TitledBorder("Auto posição:"));
-        pnlAutoPosition.add(btnAlignPlanes);
-        pnlAutoPosition.add(btnRendezvous);
-
-        JPanel pnlCircularize = new JPanel();
-        pnlCircularize.setLayout(new BoxLayout(pnlCircularize, BoxLayout.X_AXIS));
-        TitledBorder titled = new TitledBorder(null, Bundle.getString("pnl_mnv_circularize"), TitledBorder.LEADING,
-                TitledBorder.TOP, null, null);
-        CompoundBorder combined = new CompoundBorder(titled, MARGIN_BORDER_10_PX_LR);
-        pnlCircularize.setBorder(combined);
-        pnlCircularize.add(btnLowerOrbit);
-        pnlCircularize.add(Box.createHorizontalGlue());
-        pnlCircularize.add(btnApoapsis);
-        pnlCircularize.add(btnPeriapsis);
-
-        JPanel pnlSetup = new JPanel();
-        pnlSetup.setLayout(new BoxLayout(pnlSetup, BoxLayout.Y_AXIS));
-        pnlSetup.add(pnlExecuteManeuver);
-        pnlSetup.add(pnlAutoPosition);
-
-        JPanel pnlOptions = new JPanel();
-        pnlOptions.setLayout(new BoxLayout(pnlOptions, BoxLayout.Y_AXIS));
-        pnlOptions.setBorder(new TitledBorder(Bundle.getString("pnl_lift_chk_options")));
-        pnlOptions.add(chkFineAdjusment);
-
-        JPanel pnlFunctions = new JPanel();
-        pnlFunctions.setLayout(new BoxLayout(pnlFunctions, BoxLayout.X_AXIS));
-        pnlFunctions.add(pnlSetup);
-        pnlFunctions.add(pnlOptions);
-
-        JPanel pnlButtons = new JPanel();
-        pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
-        pnlButtons.add(Box.createHorizontalGlue());
-        pnlButtons.add(btnBack);
-
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.Y_AXIS));
-        pnlFunctions.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlFunctions);
-        pnlCircularize.setAlignmentY(TOP_ALIGNMENT);
-        pnlMain.add(pnlCircularize);
-
-        add(pnlMain, BorderLayout.CENTER);
-        add(pnlButtons, BorderLayout.SOUTH);
+    if (e.getSource() == btnAlignPlanes) {
+      handleManeuverFunction(Module.ADJUST.get());
     }
-
-    @Override
-    public void actionPerformed(ActionEvent e) {
-        if (e.getSource() == btnExecute) {
-            handleManeuverFunction(Module.EXECUTE.get());
-        }
-        if (e.getSource() == btnLowerOrbit) {
-            handleManeuverFunction(Module.LOW_ORBIT.get());
-        }
-        if (e.getSource() == btnApoapsis) {
-            handleManeuverFunction(Module.APOAPSIS.get());
-        }
-        if (e.getSource() == btnPeriapsis) {
-            handleManeuverFunction(Module.PERIAPSIS.get());
-        }
-        if (e.getSource() == btnAlignPlanes) {
-            handleManeuverFunction(Module.ADJUST.get());
-        }
-        if (e.getSource() == btnRendezvous) {
-            handleManeuverFunction(Module.RENDEZVOUS.get());
-        }
-        if (e.getSource() == btnBack) {
-            MainGui.backToTelemetry(e);
-        }
+    if (e.getSource() == btnRendezvous) {
+      handleManeuverFunction(Module.RENDEZVOUS.get());
     }
-
-    protected void handleManeuverFunction(String maneuverFunction) {
-        Map<String,String> commands = new HashMap<>();
-        commands.put(Module.MODULO.get(), Module.MANEUVER.get());
-        commands.put(Module.FUNCTION.get(), maneuverFunction.toString());
-        commands.put(Module.FINE_ADJUST.get(), String.valueOf(chkFineAdjusment.isSelected()));
-        MechPeste.newInstance().getVesselManager().startModule(commands);
+    if (e.getSource() == btnBack) {
+      MainGui.backToTelemetry(e);
     }
+  }
+
+  protected void handleManeuverFunction(String maneuverFunction) {
+    Map<String, String> commands = new HashMap<>();
+    commands.put(Module.MODULO.get(), Module.MANEUVER.get());
+    commands.put(Module.FUNCTION.get(), maneuverFunction.toString());
+    commands.put(Module.FINE_ADJUST.get(), String.valueOf(chkFineAdjusment.isSelected()));
+    MechPeste.newInstance().getVesselManager().startModule(commands);
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/StatusDisplay.java b/src/main/java/com/pesterenan/views/StatusDisplay.java
index ba0b2ec..89954c7 100644
--- a/src/main/java/com/pesterenan/views/StatusDisplay.java
+++ b/src/main/java/com/pesterenan/views/StatusDisplay.java
@@ -1,7 +1,7 @@
 package com.pesterenan.views;
 
 public interface StatusDisplay {
-    void setStatusMessage(String message);
+  void setStatusMessage(String message);
 
-    void setBtnConnectVisible(boolean visible);
+  void setBtnConnectVisible(boolean visible);
 }
diff --git a/src/main/java/com/pesterenan/views/StatusJPanel.java b/src/main/java/com/pesterenan/views/StatusJPanel.java
index 6f31baf..5b4b43a 100644
--- a/src/main/java/com/pesterenan/views/StatusJPanel.java
+++ b/src/main/java/com/pesterenan/views/StatusJPanel.java
@@ -3,82 +3,80 @@
 import static com.pesterenan.views.MainGui.BTN_DIMENSION;
 import static com.pesterenan.views.MainGui.MARGIN_BORDER_10_PX_LR;
 
+import com.pesterenan.MechPeste;
+import com.pesterenan.resources.Bundle;
 import java.awt.BorderLayout;
 import java.awt.Dimension;
 import java.awt.event.ActionEvent;
-
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
 import javax.swing.JLabel;
 import javax.swing.JPanel;
 
-import com.pesterenan.MechPeste;
-import com.pesterenan.resources.Bundle;
-
 public class StatusJPanel extends JPanel implements UIMethods, StatusDisplay {
-    private static final long serialVersionUID = 1L;
-
-    private static JLabel lblStatus;
-    private static JButton btnConnect;
-    private Dimension pnlDimension = new Dimension(464, 30);
-
-    public StatusJPanel() {
-        initComponents();
-        setupComponents();
-        layoutComponents();
-    }
-
-    @Override
-    public void initComponents() {
-        // Labels:
-        lblStatus = new JLabel(Bundle.getString("lbl_stat_ready"));
-
-        // Buttons:
-        btnConnect = new JButton(Bundle.getString("btn_stat_connect"));
-    }
-
-    @Override
-    public void setupComponents() {
-        // Main Panel setup:
-        setBorder(MARGIN_BORDER_10_PX_LR);
-        setPreferredSize(pnlDimension);
-
-        // Setting-up components:
-        btnConnect.addActionListener(this::handleConnect);
-        btnConnect.setPreferredSize(BTN_DIMENSION);
-        btnConnect.setMaximumSize(BTN_DIMENSION);
-        btnConnect.setVisible(false);
-    }
-
-    @Override
-    public void layoutComponents() {
-        // Main Panel layout:
-        setLayout(new BorderLayout());
-
-        // Laying out components:
-        JPanel pnlMain = new JPanel();
-        pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-        pnlMain.add(lblStatus);
-        pnlMain.add(Box.createHorizontalGlue());
-        pnlMain.add(btnConnect);
-
-        add(pnlMain, BorderLayout.CENTER);
-    }
-
-    @Override
-    public void setStatusMessage(String message) {
-        lblStatus.setText(message);
-    }
-
-    @Override
-    public void setBtnConnectVisible(boolean visible) {
-        btnConnect.setVisible(visible);
-    }
-
-    private void handleConnect(ActionEvent e) {
-        setStatusMessage(Bundle.getString("status_connecting"));
-        setBtnConnectVisible(false);
-        MechPeste.newInstance().getConnectionManager().connectAndMonitor("MechPeste - Pesterenan");
-    }
+  private static final long serialVersionUID = 1L;
+
+  private static JLabel lblStatus;
+  private static JButton btnConnect;
+  private Dimension pnlDimension = new Dimension(464, 30);
+
+  public StatusJPanel() {
+    initComponents();
+    setupComponents();
+    layoutComponents();
+  }
+
+  @Override
+  public void initComponents() {
+    // Labels:
+    lblStatus = new JLabel(Bundle.getString("lbl_stat_ready"));
+
+    // Buttons:
+    btnConnect = new JButton(Bundle.getString("btn_stat_connect"));
+  }
+
+  @Override
+  public void setupComponents() {
+    // Main Panel setup:
+    setBorder(MARGIN_BORDER_10_PX_LR);
+    setPreferredSize(pnlDimension);
+
+    // Setting-up components:
+    btnConnect.addActionListener(this::handleConnect);
+    btnConnect.setPreferredSize(BTN_DIMENSION);
+    btnConnect.setMaximumSize(BTN_DIMENSION);
+    btnConnect.setVisible(false);
+  }
+
+  @Override
+  public void layoutComponents() {
+    // Main Panel layout:
+    setLayout(new BorderLayout());
+
+    // Laying out components:
+    JPanel pnlMain = new JPanel();
+    pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
+    pnlMain.add(lblStatus);
+    pnlMain.add(Box.createHorizontalGlue());
+    pnlMain.add(btnConnect);
+
+    add(pnlMain, BorderLayout.CENTER);
+  }
+
+  @Override
+  public void setStatusMessage(String message) {
+    lblStatus.setText(message);
+  }
+
+  @Override
+  public void setBtnConnectVisible(boolean visible) {
+    btnConnect.setVisible(visible);
+  }
+
+  private void handleConnect(ActionEvent e) {
+    setStatusMessage(Bundle.getString("status_connecting"));
+    setBtnConnectVisible(false);
+    MechPeste.newInstance().getConnectionManager().connectAndMonitor("MechPeste - Pesterenan");
+  }
 }
diff --git a/src/main/java/com/pesterenan/views/UIMethods.java b/src/main/java/com/pesterenan/views/UIMethods.java
index eff0f48..919d512 100644
--- a/src/main/java/com/pesterenan/views/UIMethods.java
+++ b/src/main/java/com/pesterenan/views/UIMethods.java
@@ -2,9 +2,9 @@
 
 public interface UIMethods {
 
-    public void initComponents();
+  public void initComponents();
 
-    public void setupComponents();
+  public void setupComponents();
 
-    public void layoutComponents();
+  public void layoutComponents();
 }

From bdd16a9f56f9686ae46dbed747c1fd5c535532d3 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 11 Sep 2025 13:29:36 -0300
Subject: [PATCH 07/25] [MP-8]: Refactoring LandingController to use callbacks
 on streams

---
 .../controllers/LandingController.java        | 186 +++++++++++-------
 1 file changed, 112 insertions(+), 74 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index c467a7b..161152e 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -7,7 +7,6 @@
 import com.pesterenan.utils.Module;
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Utilities;
-import java.io.IOException;
 import java.util.Map;
 import krpc.client.RPCException;
 import krpc.client.Stream;
@@ -17,11 +16,11 @@
 public class LandingController extends Controller {
 
   private enum MODE {
-    DEORBITING,
     APPROACHING,
+    DEORBITING,
+    GOING_DOWN,
     GOING_UP,
     HOVERING,
-    GOING_DOWN,
     LANDING,
     WAITING
   }
@@ -41,8 +40,12 @@ private enum MODE {
   private float maxTWR;
 
   private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling = false;
-  private int isOrientedCallbackTag, isDeorbitBurnDoneCallbackTag, isFallingCallbackTag;
+  private int isOrientedCallbackTag,
+      isDeorbitBurnDoneCallbackTag,
+      isFallingCallbackTag,
+      utCallbackTag;
   private Stream<Float> apErrorStream;
+  private Stream<Double> utStream;
 
   public LandingController(
       ConnectionManager connectionManager,
@@ -56,11 +59,23 @@ public LandingController(
 
   @Override
   public void run() {
-    if (commands.get(Module.MODULO.get()).equals(Module.HOVERING.get())) {
-      hoverArea();
-    }
-    if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
-      autoLanding();
+    try {
+      if (commands.get(Module.MODULO.get()).equals(Module.HOVERING.get())) {
+        hoverArea();
+      }
+      if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
+        autoLanding();
+      }
+      while (landingMode || hoveringMode) {
+        if (Thread.interrupted()) {
+          throw new InterruptedException();
+        }
+        Thread.sleep(1000);
+      }
+    } catch (InterruptedException | RPCException | StreamException e) {
+      System.err.println("Erro no run do landingController:" + e.getMessage());
+      cleanup();
+      setCurrentStatus(Bundle.getString("status_ready"));
     }
   }
 
@@ -91,45 +106,32 @@ private void hoverArea() {
         }
         changeControlMode();
       }
-    } catch (InterruptedException | RPCException | StreamException | IOException e) {
+    } catch (InterruptedException | RPCException | StreamException e) {
       cleanup();
       setCurrentStatus(Bundle.getString("status_ready"));
     }
   }
 
-  private void autoLanding() {
-    try {
-      setupCallbacks();
-      landingMode = true;
-      maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
-      hoverAfterApproximation =
-          Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
-      hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-      if (!hoverAfterApproximation) {
-        hoverAltitude = 100;
-      }
-      setCurrentStatus(
-          Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
-      currentMode = MODE.DEORBITING;
-      ap.engage();
-      changeControlMode();
-      tuneAutoPilot();
-      setCurrentStatus(Bundle.getString("status_starting_landing"));
-      while (landingMode) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        getActiveVessel().getControl().setBrakes(true);
-        changeControlMode();
-      }
-    } catch (RPCException | StreamException | InterruptedException | IOException e) {
-      cleanup();
-      System.err.println("landing: " + e.getMessage());
-      setCurrentStatus(Bundle.getString("status_ready"));
+  private void autoLanding() throws RPCException, StreamException, InterruptedException {
+    landingMode = true;
+    maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
+    hoverAfterApproximation = Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
+    hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
+    if (!hoverAfterApproximation) {
+      hoverAltitude = 100;
     }
+    setCurrentStatus(Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
+    currentMode = MODE.DEORBITING;
+    ap.engage();
+    tuneAutoPilot();
+    getActiveVessel().getControl().setBrakes(true);
+    setCurrentStatus(Bundle.getString("status_starting_landing"));
+    setupCallbacks();
+    altitudeCtrl.reset();
+    velocityCtrl.reset();
   }
 
-  private void setupCallbacks() throws IOException, RPCException, StreamException {
+  private void setupCallbacks() throws RPCException, StreamException {
     // Callback for ship orientation
     apErrorStream = connection.addStream(ap, "getError");
     isOrientedCallbackTag =
@@ -165,16 +167,32 @@ private void setupCallbacks() throws IOException, RPCException, StreamException
               }
             });
 
+    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utCallbackTag =
+        utStream.addCallback(
+            (ut) -> {
+              try {
+                if (!landingMode) {
+                  utStream.removeCallback(utCallbackTag);
+                  return;
+                }
+                changeControlMode();
+              } catch (Exception e) {
+                System.err.println("UT Callback error: " + e.getMessage());
+              }
+            });
+
     // Start all streams
     apErrorStream.start();
     apoapsis.start();
     periapsis.start();
     verticalVelocity.start();
+    utStream.start();
   }
 
-  private void changeControlMode()
-      throws RPCException, StreamException, InterruptedException, IOException {
+  private void changeControlMode() throws RPCException, StreamException, InterruptedException {
     adjustPIDbyTWR();
+    double velPID, altPID = 0;
     // Change vessel behavior depending on which mode is active
     switch (currentMode) {
       case DEORBITING:
@@ -192,29 +210,29 @@ private void changeControlMode()
       case APPROACHING:
         altitudeCtrl.setOutput(0, 1);
         velocityCtrl.setOutput(0, 1);
-
-        double[] currentDistanceToGround = calculateCurrentDistanceToGround();
-        double[] currentVelocities = calculateZeroVelocityMagnitude();
-        double aMax = getMaxAcel(maxTWR);
-        double landingDistanceThreshold = Math.max(hoverAltitude, aMax * 3);
-
-        double stoppingDistance = (currentVelocities[0] * currentVelocities[0]) / (2 * aMax);
-
-        double threshold = Utilities.clamp(stoppingDistance / landingDistanceThreshold, 0, 1);
-
-        double altPID =
-            altitudeCtrl.calculate(
-                (currentDistanceToGround[0]), (stoppingDistance + landingDistanceThreshold));
-        double velPID =
+        double currentVelocity = calculateCurrentVelocityMagnitude();
+        double zeroVelocity = calculateZeroVelocityMagnitude();
+        double landingDistanceThreshold = Math.max(hoverAltitude, getMaxAcel(maxTWR) * 3);
+        double threshold =
+            Utilities.clamp(
+                ((currentVelocity + zeroVelocity) - landingDistanceThreshold)
+                    / landingDistanceThreshold / sleepTime,
+                0,
+                1);
+        System.out.println(
+            "Current: "
+                + currentVelocity / sleepTime
+                + " Zero: "
+                + zeroVelocity / sleepTime
+                + " Threshold: "
+                + threshold);
+        altPID = altitudeCtrl.calculate(currentVelocity / sleepTime, zeroVelocity / sleepTime);
+        velPID =
             velocityCtrl.calculate(
                 verticalVelocity.get(), (-Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20)));
-
-        double interpolation = Utilities.linearInterpolation(velPID, altPID, threshold);
-
-        throttle(interpolation);
+        throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
         navigation.aimForLanding();
-
-        if (threshold < 0.15 && surfaceAltitude.get() < landingDistanceThreshold * 2) {
+        if (threshold < 0.15 || surfaceAltitude.get() < landingDistanceThreshold) {
           hoverAltitude = landingDistanceThreshold;
           getActiveVessel().getControl().setGear(true);
           if (hoverAfterApproximation) {
@@ -227,6 +245,8 @@ private void changeControlMode()
         setCurrentStatus("Se aproximando do momento do pouso...");
         break;
       case GOING_UP:
+        altitudeCtrl.reset();
+        velocityCtrl.reset();
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
         throttle(
@@ -236,6 +256,8 @@ private void changeControlMode()
         setCurrentStatus("Subindo altitude...");
         break;
       case GOING_DOWN:
+        altitudeCtrl.reset();
+        velocityCtrl.reset();
         controlThrottleByMatchingVerticalVelocity(-MAX_VELOCITY);
         navigation.aimAtRadialOut();
         setCurrentStatus("Baixando altitude...");
@@ -250,6 +272,8 @@ private void changeControlMode()
         setCurrentStatus("Pousando...");
         break;
       case HOVERING:
+        altitudeCtrl.reset();
+        velocityCtrl.reset();
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
         throttle(
@@ -262,6 +286,12 @@ private void changeControlMode()
   }
 
   private void adjustPIDbyTWR() throws RPCException, StreamException {
+    // double currentTWR = Math.min(getTWR(), maxTWR);
+    // // double currentTWR = getMaxAcel(maxTWR);
+    // double pGain = currentTWR / (sleepTime);
+    // System.out.println(pGain);
+    // altitudeCtrl.setPIDValues(pGain * 0.1, 0.0002, pGain * 0.1 * 2);
+    // velocityCtrl.setPIDValues(pGain * 0.1, 0.1, 0.001);
     double currentTWR = getMaxAcel(maxTWR);
     double pGain = Math.min(getTWR(), maxTWR);
     altitudeCtrl.setPIDValues(currentTWR * velP * velP, 0.1, velD);
@@ -326,27 +356,35 @@ private boolean hasTheVesselLanded() throws RPCException {
     return false;
   }
 
-  private double[] calculateCurrentDistanceToGround() throws RPCException, StreamException {
-    double vertVel = verticalVelocity.get();
-    double horzVel = horizontalVelocity.get();
-    double vertAlt = surfaceAltitude.get();
-    double horzDist = horzVel * (vertAlt / Math.abs(vertVel));
-    double euclidianDistance = Math.sqrt(vertAlt * vertAlt + horzDist * horzDist);
-    return new double[] {euclidianDistance, 0};
+  private double calculateCurrentVelocityMagnitude() throws RPCException, StreamException {
+    double timeToGround = surfaceAltitude.get() / verticalVelocity.get();
+    double horizontalDistance = horizontalVelocity.get() * timeToGround;
+    return calculateEllipticTrajectory(horizontalDistance, surfaceAltitude.get());
   }
 
-  private double[] calculateZeroVelocityMagnitude() throws RPCException, StreamException {
-    double vertVel = verticalVelocity.get();
-    double horzVel = horizontalVelocity.get();
-    return new double[] {Math.sqrt(horzVel * horzVel + vertVel * vertVel), 0};
+  private double calculateZeroVelocityMagnitude() throws RPCException, StreamException {
+    double zeroVelocityDistance =
+        calculateEllipticTrajectory(horizontalVelocity.get(), verticalVelocity.get());
+    double zeroVelocityBurnTime = zeroVelocityDistance / getMaxAcel(maxTWR);
+    return zeroVelocityDistance * zeroVelocityBurnTime;
+  }
+
+  private double calculateEllipticTrajectory(double a, double b) {
+    double semiMajor = Math.max(a * 2, b * 2);
+    double semiMinor = Math.min(a * 2, b * 2);
+    return Math.PI * Math.sqrt((semiMajor * semiMajor + semiMinor * semiMinor)) / 4;
   }
 
   private void cleanup() {
     try {
+      landingMode = false;
+      hoveringMode = false;
+      utStream.removeCallback(utCallbackTag);
+      utStream.remove();
       apErrorStream.removeCallback(isOrientedCallbackTag);
+      apErrorStream.remove();
       periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
       verticalVelocity.removeCallback(isFallingCallbackTag);
-      apErrorStream.remove();
       ap.disengage();
       throttle(0);
     } catch (RPCException e) {

From e2f20c2ee6b977d65f1cc32c9732e0526b3c8c0c Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sun, 14 Sep 2025 01:34:51 -0300
Subject: [PATCH 08/25] [MP-8]: Refactored ConnectionManager

---
 src/main/java/com/pesterenan/MechPeste.java   |  8 +-
 .../com/pesterenan/model/ActiveVessel.java    | 10 +-
 .../pesterenan/model/ConnectionManager.java   | 94 ++++++++++---------
 .../com/pesterenan/model/VesselManager.java   | 19 ++--
 .../java/com/pesterenan/views/MainGui.java    |  4 +
 .../com/pesterenan/views/StatusJPanel.java    |  4 +-
 6 files changed, 75 insertions(+), 64 deletions(-)

diff --git a/src/main/java/com/pesterenan/MechPeste.java b/src/main/java/com/pesterenan/MechPeste.java
index 4ee48f9..5287cd6 100644
--- a/src/main/java/com/pesterenan/MechPeste.java
+++ b/src/main/java/com/pesterenan/MechPeste.java
@@ -2,15 +2,16 @@
 
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
+import com.pesterenan.views.FunctionsAndTelemetryJPanel;
 import com.pesterenan.views.MainGui;
 import com.pesterenan.views.StatusDisplay;
 import java.lang.reflect.InvocationTargetException;
 import javax.swing.SwingUtilities;
 
 public class MechPeste {
-  private static MechPeste instance;
   private ConnectionManager connectionManager = null;
   private VesselManager vesselManager;
+  private static MechPeste instance;
 
   public ConnectionManager getConnectionManager() {
     return connectionManager;
@@ -35,13 +36,12 @@ public static void main(String[] args) {
       SwingUtilities.invokeAndWait(() -> MainGui.newInstance());
     } catch (InvocationTargetException | InterruptedException e) {
       System.err.println("Error while invoking GUI: " + e.getMessage());
-      e.printStackTrace();
     }
 
     StatusDisplay statusDisplay = MainGui.newInstance().getStatusPanel();
+    FunctionsAndTelemetryJPanel telemetryPanel = MainGui.newInstance().getTelemetryPanel();
     app.connectionManager = new ConnectionManager("MechPeste - Pesterenan", statusDisplay);
-    app.vesselManager = new VesselManager(app.connectionManager, statusDisplay);
-    app.vesselManager.setTelemetryPanel(MainGui.getInstance().getFunctionsAndTelemetryPanel());
+    app.vesselManager = new VesselManager(app.connectionManager, statusDisplay, telemetryPanel);
     app.vesselManager.startUpdateLoop();
   }
 }
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 5b540b2..16fc59b 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -33,7 +33,7 @@ public class ActiveVessel {
   public AutoPilot ap;
   public Flight flightParameters;
   public ReferenceFrame orbitalReferenceFrame;
-  protected Stream<Float> totalMass;
+  public Stream<Float> totalMass;
   public ReferenceFrame surfaceReferenceFrame;
   public float totalCharge;
   public double gravityAcel;
@@ -183,12 +183,12 @@ public void cancelControl() {
     try {
       ap.disengage();
       throttle(0);
-      if (controllerThread != null) {
-        controllerThread.interrupt();
-        runningModule = false;
-      }
     } catch (RPCException ignored) {
     }
+    if (controllerThread != null) {
+      controllerThread.interrupt();
+      runningModule = false;
+    }
   }
 
   public boolean hasModuleRunning() {
diff --git a/src/main/java/com/pesterenan/model/ConnectionManager.java b/src/main/java/com/pesterenan/model/ConnectionManager.java
index d8ef470..4c4140f 100644
--- a/src/main/java/com/pesterenan/model/ConnectionManager.java
+++ b/src/main/java/com/pesterenan/model/ConnectionManager.java
@@ -16,13 +16,15 @@ public class ConnectionManager {
   private KRPC krpc;
   private Connection connection;
   private SpaceCenter spaceCenter;
-  private final StatusDisplay statusDisplay;
+  private StatusDisplay statusDisplay;
   private volatile boolean isConnecting = false;
-  private ScheduledExecutorService connectionScheduler;
+  private ScheduledExecutorService connectionMonitor;
+  private String connectionName;
 
   public ConnectionManager(final String connectionName, final StatusDisplay statusDisplay) {
     this.statusDisplay = statusDisplay;
-    connectAndMonitor(connectionName);
+    this.connectionName = connectionName;
+    startMonitoring();
   }
 
   public Connection getConnection() {
@@ -37,41 +39,18 @@ public KRPC getKRPC() {
     return krpc;
   }
 
-  public void connectAndMonitor(final String connectionName) {
-    if (connectionScheduler != null && !connectionScheduler.isShutdown()) {
-      return;
-    }
-    connectionScheduler = Executors.newSingleThreadScheduledExecutor();
-    connectionScheduler.scheduleAtFixedRate(
-        () -> {
-          if (isConnectionAlive() || isConnecting) {
-            return;
-          }
-
-          isConnecting = true;
-          SwingUtilities.invokeLater(
-              () -> {
-                statusDisplay.setStatusMessage(Bundle.getString("status_connecting"));
-                statusDisplay.setBtnConnectVisible(false);
-              });
+  public void connect() {
+    attemptConnection();
+  }
 
-          try {
-            connection = Connection.newInstance(connectionName);
-            krpc = KRPC.newInstance(getConnection());
-            spaceCenter = SpaceCenter.newInstance(getConnection());
-            SwingUtilities.invokeLater(
-                () -> {
-                  statusDisplay.setStatusMessage(Bundle.getString("status_connected"));
-                  statusDisplay.setBtnConnectVisible(false);
-                });
-          } catch (final IOException e) {
-            SwingUtilities.invokeLater(
-                () -> {
-                  statusDisplay.setStatusMessage(Bundle.getString("status_error_connection"));
-                  statusDisplay.setBtnConnectVisible(true);
-                });
-          } finally {
-            isConnecting = false;
+  private void startMonitoring() {
+    if (connectionMonitor != null && !connectionMonitor.isShutdown()) return;
+    connectionMonitor =
+        Executors.newSingleThreadScheduledExecutor(r -> new Thread(r, "MP_CONNECTION_MONITOR"));
+    connectionMonitor.scheduleAtFixedRate(
+        () -> {
+          if (!isConnectionAlive()) {
+            attemptConnection();
           }
         },
         0,
@@ -79,23 +58,50 @@ public void connectAndMonitor(final String connectionName) {
         TimeUnit.SECONDS);
   }
 
+  private void attemptConnection() {
+    if (isConnecting) return;
+    try {
+      isConnecting = true;
+      SwingUtilities.invokeLater(
+          () -> {
+            statusDisplay.setStatusMessage(Bundle.getString("status_connecting"));
+            statusDisplay.setBtnConnectVisible(false);
+          });
+
+      connection = Connection.newInstance(connectionName);
+      krpc = KRPC.newInstance(connection);
+      spaceCenter = SpaceCenter.newInstance(connection);
+
+      SwingUtilities.invokeLater(
+          () -> statusDisplay.setStatusMessage(Bundle.getString("status_connected")));
+    } catch (IOException e) {
+      connection = null;
+      krpc = null;
+      spaceCenter = null;
+      SwingUtilities.invokeLater(
+          () -> {
+            statusDisplay.setStatusMessage(Bundle.getString("status_error_connection"));
+            statusDisplay.setBtnConnectVisible(true);
+          });
+    } finally {
+      isConnecting = false;
+    }
+  }
+
   public boolean isConnectionAlive() {
     try {
-      if (krpc == null) return false;
+      if (krpc == null || connection == null)  return false;
       krpc.getStatus();
       return true;
-    } catch (final RPCException e) {
+    } catch (RPCException e) {
       return false;
     }
   }
 
-  public KRPC.GameScene getCurrentGameScene() throws RPCException {
-    return krpc.getCurrentGameScene();
-  }
-
   public boolean isOnFlightScene() {
     try {
-      return this.getCurrentGameScene().equals(KRPC.GameScene.FLIGHT);
+      if (krpc == null) return false;
+      return krpc.getCurrentGameScene().equals(KRPC.GameScene.FLIGHT);
     } catch (final RPCException e) {
       return false;
     }
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 8ead94e..654cd0f 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -22,19 +22,19 @@
 import krpc.client.services.SpaceCenter.Vessel;
 
 public class VesselManager {
-  private ConnectionManager connectionManager;
   private ActiveVessel currentVessel;
-  private int currentVesselId = -1;
-  private StatusDisplay statusDisplay;
+  private ConnectionManager connectionManager;
   private FunctionsAndTelemetryJPanel telemetryPanel;
+  private StatusDisplay statusDisplay;
+  private int currentVesselId = -1;
 
-  public void setTelemetryPanel(FunctionsAndTelemetryJPanel panel) {
-    this.telemetryPanel = panel;
-  }
-
-  public VesselManager(ConnectionManager connectionManager, StatusDisplay statusDisplay) {
+  public VesselManager(
+      final ConnectionManager connectionManager,
+      final StatusDisplay statusDisplay,
+      final FunctionsAndTelemetryJPanel telemetryPanel) {
     this.connectionManager = connectionManager;
     this.statusDisplay = statusDisplay;
+    this.telemetryPanel = telemetryPanel;
   }
 
   public Connection getConnection() {
@@ -173,6 +173,9 @@ private void checkAndUpdateActiveVessel() throws RPCException {
     Vessel activeVessel = getSpaceCenter().getActiveVessel();
     int activeVesselId = activeVessel.hashCode();
     if (currentVesselId != activeVesselId) {
+      if (currentVessel != null && currentVessel.hasModuleRunning()) {
+        currentVessel.cancelControl();
+      }
       currentVessel = new ActiveVessel(connectionManager, this);
       currentVesselId = currentVessel.getCurrentVesselId();
       MainGui.getInstance().setVesselManager(this);
diff --git a/src/main/java/com/pesterenan/views/MainGui.java b/src/main/java/com/pesterenan/views/MainGui.java
index cd07d48..e065e3d 100644
--- a/src/main/java/com/pesterenan/views/MainGui.java
+++ b/src/main/java/com/pesterenan/views/MainGui.java
@@ -75,6 +75,10 @@ public static Component createMarginComponent(int width, int height) {
 
   private FunctionsAndTelemetryJPanel pnlFunctionsAndTelemetry;
 
+  public FunctionsAndTelemetryJPanel getTelemetryPanel() {
+    return pnlFunctionsAndTelemetry;
+  }
+
   private StatusJPanel pnlStatus;
 
   private final Dimension APP_DIMENSION = new Dimension(480, 300);
diff --git a/src/main/java/com/pesterenan/views/StatusJPanel.java b/src/main/java/com/pesterenan/views/StatusJPanel.java
index 5b4b43a..da82833 100644
--- a/src/main/java/com/pesterenan/views/StatusJPanel.java
+++ b/src/main/java/com/pesterenan/views/StatusJPanel.java
@@ -75,8 +75,6 @@ public void setBtnConnectVisible(boolean visible) {
   }
 
   private void handleConnect(ActionEvent e) {
-    setStatusMessage(Bundle.getString("status_connecting"));
-    setBtnConnectVisible(false);
-    MechPeste.newInstance().getConnectionManager().connectAndMonitor("MechPeste - Pesterenan");
+    MechPeste.newInstance().getConnectionManager().connect();
   }
 }

From 4735f9dc811dfb26b1771eb2cbcf775c85980ed2 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 10:17:34 -0300
Subject: [PATCH 09/25] [MP-8]: Refactored VesselManager

---
 src/main/java/com/pesterenan/MechPeste.java   |  2 +-
 .../com/pesterenan/model/VesselManager.java   | 80 ++++++++++---------
 2 files changed, 45 insertions(+), 37 deletions(-)

diff --git a/src/main/java/com/pesterenan/MechPeste.java b/src/main/java/com/pesterenan/MechPeste.java
index 5287cd6..89f1685 100644
--- a/src/main/java/com/pesterenan/MechPeste.java
+++ b/src/main/java/com/pesterenan/MechPeste.java
@@ -42,6 +42,6 @@ public static void main(String[] args) {
     FunctionsAndTelemetryJPanel telemetryPanel = MainGui.newInstance().getTelemetryPanel();
     app.connectionManager = new ConnectionManager("MechPeste - Pesterenan", statusDisplay);
     app.vesselManager = new VesselManager(app.connectionManager, statusDisplay, telemetryPanel);
-    app.vesselManager.startUpdateLoop();
+    app.vesselManager.startTelemetryLoop();
   }
 }
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 654cd0f..383beb5 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -53,27 +53,16 @@ public int getCurrentVesselId() {
     return currentVesselId;
   }
 
-  public void startUpdateLoop() {
-    ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+  public void startTelemetryLoop() {
+    ScheduledExecutorService scheduler =
+        Executors.newSingleThreadScheduledExecutor(r -> new Thread(r, "MP_TELEMETRY_UPDATER"));
     scheduler.scheduleAtFixedRate(
         () -> {
-          if (getConnection() == null || getSpaceCenter() == null) {
-            System.out.println("Connection not established yet, skipping update cycle.");
-            return;
-          }
-          try {
-            if (!connectionManager.isOnFlightScene()) {
-              try {
-                Thread.sleep(1000);
-              } catch (InterruptedException e) {
-                Thread.currentThread().interrupt();
-              }
-              return;
-            }
+          if (connectionManager.isConnectionAlive()) {
             checkAndUpdateActiveVessel();
+          }
+          if (currentVessel != null && connectionManager.isOnFlightScene()) {
             updateUI();
-          } catch (RPCException e) {
-            System.err.println("RPC Error: " + e.getMessage());
           }
         },
         0,
@@ -84,7 +73,7 @@ public void startUpdateLoop() {
   public ListModel<String> getCurrentManeuvers() {
     DefaultListModel<String> list = new DefaultListModel<>();
     try {
-      List<Node> maneuvers = this.getSpaceCenter().getActiveVessel().getControl().getNodes();
+      List<Node> maneuvers = getSpaceCenter().getActiveVessel().getControl().getNodes();
       maneuvers.forEach(
           m -> {
             try {
@@ -102,7 +91,8 @@ public ListModel<String> getCurrentManeuvers() {
             } catch (RPCException ignored) {
             }
           });
-    } catch (RPCException | NullPointerException | UnsupportedOperationException ignored) {
+    } catch (RPCException | NullPointerException | UnsupportedOperationException e) {
+      System.err.println("ERRO: Não foi possivel atualizar as manobras atuais." + e.getMessage());
     }
     return list;
   }
@@ -121,13 +111,13 @@ public ListModel<String> getActiveVessels(String search) {
             try {
               String vesselName = v.hashCode() + " - \t" + v.getName();
               list.addElement(vesselName);
-            } catch (RPCException vesselNameError) {
+            } catch (RPCException e) {
               System.err.println(
-                  "Couldn't add vessel name to list. Error: " + vesselNameError.getMessage());
+                  "ERRO: Não foi possível adicionar nave na lista. " + e.getMessage());
             }
           });
-    } catch (RPCException rpcOrNpeException) {
-      System.err.println("Couldn't get vessel list, Error: " + rpcOrNpeException.getMessage());
+    } catch (RPCException | NullPointerException e) {
+      System.err.println("ERRO: Não foi possível buscar lista de naves. " + e.getMessage());
     }
     return list;
   }
@@ -135,7 +125,7 @@ public ListModel<String> getActiveVessels(String search) {
   public String getVesselInfo(int selectedIndex) {
     try {
       Vessel activeVessel =
-          this.getSpaceCenter().getVessels().stream()
+          getSpaceCenter().getVessels().stream()
               .filter(v -> v.hashCode() == selectedIndex)
               .findFirst()
               .get();
@@ -147,7 +137,8 @@ public String getVesselInfo(int selectedIndex) {
           String.format(
               "Nome: %s\t\t\t | Corpo: %s", name, activeVessel.getOrbit().getBody().getName());
       return vesselInfo;
-    } catch (RPCException | NullPointerException ignored) {
+    } catch (RPCException | NullPointerException e) {
+      System.err.println("ERRO: Não foi possível buscar informações da nave. " + e.getMessage());
     }
     return "";
   }
@@ -166,19 +157,36 @@ public void changeToVessel(int selectedIndex) {
   }
 
   public void cancelControl(ActionEvent e) {
-    currentVessel.cancelControl();
+    if (currentVessel != null) {
+      currentVessel.cancelControl();
+    }
   }
 
-  private void checkAndUpdateActiveVessel() throws RPCException {
-    Vessel activeVessel = getSpaceCenter().getActiveVessel();
-    int activeVesselId = activeVessel.hashCode();
-    if (currentVesselId != activeVesselId) {
-      if (currentVessel != null && currentVessel.hasModuleRunning()) {
-        currentVessel.cancelControl();
+  public void checkAndUpdateActiveVessel() {
+    try {
+      int activeVesselId = getSpaceCenter().getActiveVessel().hashCode();
+      if (currentVesselId != activeVesselId) {
+        System.out.println("DEBUG: Vessel ID mismatch. Re-initializing...");
+        if (currentVessel != null) {
+          Thread oldThread = currentVessel.getControllerThread();
+          currentVessel.destroy(); // This will set flags and interrupt
+          if (oldThread != null) {
+            try {
+              oldThread.join(1000); // Wait for the old thread to die, with a timeout
+            } catch (InterruptedException e) {
+              System.err.println("Interrupted while waiting for old controller thread to die.");
+            }
+          }
+        }
+        currentVessel = new ActiveVessel(connectionManager, this);
+        currentVesselId = currentVessel.getCurrentVesselId();
+        MainGui.getInstance().setVesselManager(this);
       }
-      currentVessel = new ActiveVessel(connectionManager, this);
-      currentVesselId = currentVessel.getCurrentVesselId();
-      MainGui.getInstance().setVesselManager(this);
+    } catch (RPCException e) {
+      System.err.println(
+          "ERRO: Atualização de nave interrompida. Não foi possível buscar o ID da nave atual."
+              + e.getMessage());
+      e.printStackTrace();
     }
   }
 
@@ -201,7 +209,7 @@ private boolean filterVessels(Vessel vessel, String search) {
     }
     double TEN_KILOMETERS = 10000.0;
     try {
-      Vessel active = this.getSpaceCenter().getActiveVessel();
+      Vessel active = getSpaceCenter().getActiveVessel();
       if (vessel.getOrbit().getBody().getName().equals(active.getOrbit().getBody().getName())) {
         final Vector activePos = new Vector(active.position(active.getSurfaceReferenceFrame()));
         final Vector vesselPos = new Vector(vessel.position(active.getSurfaceReferenceFrame()));

From d306b506c1e8c12f78f99cd16dce4cb6c852acd8 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 10:40:13 -0300
Subject: [PATCH 10/25] [MP-8]: Refactored ActiveVessel

---
 .../com/pesterenan/model/ActiveVessel.java    | 73 +++++++++++--------
 .../com/pesterenan/model/VesselManager.java   |  2 +-
 2 files changed, 45 insertions(+), 30 deletions(-)

diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 16fc59b..8f92649 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -171,26 +171,43 @@ public void startModule(Map<String, String> commands) {
       controller = new DockingController(this.connectionManager, this.vesselManager, commands);
       runningModule = true;
     }
-    controllerThread = new Thread(controller, currentVesselId + " - " + currentFunction);
+    String controllerThreadName = "MP_CTRL_" + currentFunction + "_" + currentVesselId;
+    controllerThread = new Thread(controller, controllerThreadName);
     controllerThread.start();
   }
 
-  public Map<Telemetry, Double> getTelemetryData() {
-    return telemetryData;
+  public Thread getControllerThread() {
+    return controllerThread;
   }
 
   public void cancelControl() {
-    try {
-      ap.disengage();
-      throttle(0);
-    } catch (RPCException ignored) {
-    }
     if (controllerThread != null) {
       controllerThread.interrupt();
       runningModule = false;
     }
   }
 
+  public void removeStreams() {
+    try {
+      if (totalMass != null) totalMass.remove();
+      if (altitude != null) altitude.remove();
+      if (surfaceAltitude != null) surfaceAltitude.remove();
+      if (apoapsis != null) apoapsis.remove();
+      if (periapsis != null) periapsis.remove();
+      if (verticalVelocity != null) verticalVelocity.remove();
+      if (horizontalVelocity != null) horizontalVelocity.remove();
+      if (controllerThread != null && controllerThread.isAlive()) {
+        controllerThread.interrupt();
+      }
+    } catch (RPCException e) {
+      System.err.println("ERRO: Ao remover streams da nave atual. " + e.getMessage());
+    }
+  }
+
+  public Map<Telemetry, Double> getTelemetryData() {
+    return telemetryData;
+  }
+
   public boolean hasModuleRunning() {
     return runningModule;
   }
@@ -216,6 +233,7 @@ protected void throttleUp(double throttleAmount, double seconds)
   }
 
   private void initializeParameters() {
+    System.out.println("DEBUG: Initializing ActiveVessel parameters...");
     try {
       setActiveVessel(spaceCenter.getActiveVessel());
       currentVesselId = getActiveVessel().hashCode();
@@ -225,38 +243,35 @@ private void initializeParameters() {
       orbitalReferenceFrame = currentBody.getReferenceFrame();
       surfaceReferenceFrame = getActiveVessel().getSurfaceReferenceFrame();
       flightParameters = getActiveVessel().flight(orbitalReferenceFrame);
-      totalMass = connection.addStream(getActiveVessel(), "getMass");
-      totalMass.start();
 
-      // Add callbacks to update telemetry data automatically
+      System.out.println("DEBUG: Basic parameters set. Creating streams...");
       altitude = connection.addStream(flightParameters, "getMeanAltitude");
-      altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
-      altitude.start();
-
+      apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
+      horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
+      periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
       surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
-      surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
-      surfaceAltitude.start();
+      totalMass = connection.addStream(getActiveVessel(), "getMass");
+      verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
 
-      apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
+      altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
       apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
-      apoapsis.start();
-
-      periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
+      horizontalVelocity.addCallback( val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
       periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
-      periapsis.start();
-
-      verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
+      surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
       verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
-      verticalVelocity.start();
 
-      horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
-      horizontalVelocity.addCallback(
-          val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
+      altitude.start();
+      apoapsis.start();
       horizontalVelocity.start();
-
+      periapsis.start();
+      surfaceAltitude.start();
+      totalMass.start();
+      verticalVelocity.start();
+      System.out.println("DEBUG: All streams created successfully.");
     } catch (RPCException | StreamException e) {
       System.err.println(
-          "Error while initializing parameters for active vessel: " + e.getMessage());
+          "DEBUG: CRITICAL ERROR while initializing parameters for active vessel: "
+              + e.getMessage());
     }
   }
 }
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 383beb5..6f2ecf4 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -169,7 +169,7 @@ public void checkAndUpdateActiveVessel() {
         System.out.println("DEBUG: Vessel ID mismatch. Re-initializing...");
         if (currentVessel != null) {
           Thread oldThread = currentVessel.getControllerThread();
-          currentVessel.destroy(); // This will set flags and interrupt
+          currentVessel.removeStreams(); // This will set flags and interrupt
           if (oldThread != null) {
             try {
               oldThread.join(1000); // Wait for the old thread to die, with a timeout

From f5a4e9a336be509e746df40d747f7a55cbd29012 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 23:04:25 -0300
Subject: [PATCH 11/25] [MP-8]: Refactored ManeuverController

---
 .../controllers/ManeuverController.java       | 888 ++++++++++--------
 .../com/pesterenan/utils/ControlePID.java     |   4 +-
 .../java/com/pesterenan/utils/Navigation.java | 207 ++--
 .../java/com/pesterenan/views/MainGui.java    |   2 +-
 src/main/resources/MechPesteBundle.properties |   3 +
 .../resources/MechPesteBundle_pt.properties   |   3 +
 6 files changed, 578 insertions(+), 529 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 332122b..237ee56 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -9,8 +9,11 @@
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Vector;
 import com.pesterenan.views.MainGui;
+import java.io.IOException;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -25,21 +28,48 @@
 
 public class ManeuverController extends Controller {
 
+  enum Compare {
+    INC,
+    AP,
+    PE
+  }
+
+  private enum RendezvousPhase {
+    SETUP,
+    CHECK_ANGULAR_DIFFERENCE,
+    ADJUST_PERIAPSIS,
+    ADJUST_APOAPSIS,
+    ADJUST_UT,
+    DONE
+  }
+
+  private static class RendezvousState {
+    final Node maneuverNode;
+    RendezvousPhase phase = RendezvousPhase.SETUP;
+    double targetOrbitPosition;
+    double maneuverAP;
+    double maneuverPE;
+
+    RendezvousState(Node maneuverNode) {
+      this.maneuverNode = maneuverNode;
+    }
+  }
+
   public static final float CONST_GRAV = 9.81f;
   private ControlePID ctrlManeuver, ctrlRCS;
+
   private Navigation navigation;
   private boolean fineAdjustment;
   private double lowOrbitAltitude;
-
-  private volatile boolean isBurnComplete, isOriented, isTimeToBurn = false;
-  private int burnCompleteCallbackTag,
-      headingErrorCallbackTag,
-      pitchErrorCallbackTag,
-      timeToBurnCallbackTag;
   private Stream<Float> headingErrorStream;
   private Stream<Float> pitchErrorStream;
   private Stream<Double> timeToNodeStream;
-  private Stream<Triplet<Double, Double, Double>> remainingBurn;
+
+  private Stream<Float> rollErrorStream;
+
+  private Stream<Triplet<Double, Double, Double>> remainingBurnStream;
+
+  private double lastBurnDv = Double.MAX_VALUE;
 
   public ManeuverController(
       ConnectionManager connectionManager,
@@ -51,19 +81,6 @@ public ManeuverController(
     initializeParameters();
   }
 
-  private void initializeParameters() {
-    ctrlRCS = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-    ctrlManeuver = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-    ctrlManeuver.setPIDValues(1, 0.001, 0.1);
-    ctrlRCS.setOutput(0.5, 1.0);
-    fineAdjustment = canFineAdjust(commands.get(Module.FINE_ADJUST.get()));
-    try {
-      lowOrbitAltitude = new Attributes().getLowOrbitAltitude(currentBody.getName());
-      System.out.println("lowOrbitAltitude: " + lowOrbitAltitude);
-    } catch (RPCException e) {
-    }
-  }
-
   @Override
   public void run() {
     try {
@@ -73,52 +90,15 @@ public void run() {
           || commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get()))) {
         executeNextManeuver();
       }
-    } catch (InterruptedException e) {
+    } catch (ClassCastException | InterruptedException e) {
+      System.out.println("INFO: Interrompendo Controle de Manobras. Erro: " + e.getMessage());
       cleanup();
     }
   }
 
-  private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart) {
-    double[] totalDv = {0, 0, 0};
-    try {
-      Orbit currentOrbit = getActiveVessel().getOrbit();
-      double startingRadius = currentOrbit.getApoapsis();
-      double gravParameter = currentBody.getGravitationalParameter();
-
-      // Delta-v required to leave the current orbit
-      double deltaV1 =
-          Math.sqrt(2 * gravParameter / startingRadius) - Math.sqrt(gravParameter / startingRadius);
-
-      // Calculate the intermediate radius for the intermediate orbit
-      double intermediateRadius = currentBody.getEquatorialRadius() + targetAltitude;
-
-      // Delta-v required to enter the intermediate orbit
-      double deltaV2 =
-          Math.sqrt(gravParameter / intermediateRadius)
-              - Math.sqrt(2 * gravParameter / intermediateRadius);
-
-      // Calculate the final radius for the target orbit
-      double targetRadius = currentBody.getEquatorialRadius() + targetAltitude;
-
-      // Delta-v required to leave the intermediate orbit and enter the target orbit
-      double deltaV3 =
-          Math.sqrt(2 * gravParameter / intermediateRadius)
-              - Math.sqrt(gravParameter / intermediateRadius);
-      double deltaV4 =
-          Math.sqrt(gravParameter / targetRadius) - Math.sqrt(2 * gravParameter / targetRadius);
-
-      // Total delta-v for the bi-elliptic transfer
-      totalDv[0] = deltaV1 + deltaV2 + deltaV3 + deltaV4;
-    } catch (RPCException e) {
-      // Handle the exception
-    }
-    return createManeuver(timeToStart, totalDv);
-  }
-
   public void calculateManeuver() {
     try {
       tuneAutoPilot();
-      System.out.println(commands + " calculate maneuvers");
       if (commands.get(Module.FUNCTION.get()).equals(Module.EXECUTE.get())) {
         return;
       }
@@ -163,251 +143,22 @@ public void calculateManeuver() {
     }
   }
 
-  public void matchOrbitApoapsis() throws RPCException, StreamException, InterruptedException {
-    Orbit targetOrbit = getTargetOrbit();
-    System.out.println(targetOrbit.getApoapsis() + "-- APO");
-    Node maneuver =
-        biEllipticTransferToOrbit(
-            targetOrbit.getApoapsis(), getActiveVessel().getOrbit().getTimeToPeriapsis());
-    while (true) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
-      }
-      double currentDeltaApo = compareOrbitParameter(maneuver.getOrbit(), targetOrbit, Compare.AP);
-      String deltaApoFormatted = String.format("%.2f", currentDeltaApo);
-      System.out.println(deltaApoFormatted);
-      if (deltaApoFormatted.equals(String.format("%.2f", 0.00))) {
-        break;
-      }
-      double dvPrograde = maneuver.getPrograde();
-      double ctrlOutput = ctrlManeuver.calculate(currentDeltaApo, 0);
-
-      maneuver.setPrograde(dvPrograde - (ctrlOutput));
-      Thread.sleep(25);
-    }
-  }
-
-  private Node createManeuverAtClosestIncNode(Orbit targetOrbit) {
-    double uTatClosestNode = 1;
-    double[] dv = {0, 0, 0};
-    try {
-      double[] incNodesUt = getTimeToIncNodes(targetOrbit);
-      uTatClosestNode =
-          Math.min(incNodesUt[0], incNodesUt[1]) - getConnectionManager().getSpaceCenter().getUT();
-    } catch (Exception ignored) {
-    }
-    return createManeuver(uTatClosestNode, dv);
-  }
-
-  private double[] getTimeToIncNodes(Orbit targetOrbit) throws RPCException {
-    Orbit vesselOrbit = getActiveVessel().getOrbit();
-    double ascendingNode = vesselOrbit.trueAnomalyAtAN(targetOrbit);
-    double descendingNode = vesselOrbit.trueAnomalyAtDN(targetOrbit);
-    return new double[] {
-      vesselOrbit.uTAtTrueAnomaly(ascendingNode), vesselOrbit.uTAtTrueAnomaly(descendingNode)
-    };
-  }
-
-  private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
-    try {
-      Vessel vessel = getActiveVessel();
-      Orbit vesselOrbit = getActiveVessel().getOrbit();
-      Orbit targetVesselOrbit =
-          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-      boolean hasManeuverNodes = vessel.getControl().getNodes().size() > 0;
-      System.out.println("hasManeuverNodes: " + hasManeuverNodes);
-      if (!hasManeuverNodes) {
-        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
-      }
-      java.util.List<Node> currentManeuvers = vessel.getControl().getNodes();
-      Node currentManeuver = currentManeuvers.get(0);
-      double[] incNodesUt = {
-        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtAN(targetVesselOrbit)),
-        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtDN(targetVesselOrbit))
-      };
-      boolean closestIsAN = incNodesUt[0] < incNodesUt[1];
-      MainGui.newInstance()
-          .getCreateManeuverPanel()
-          .positionManeuverAt(closestIsAN ? "ascending" : "descending");
-      double currentInclination =
-          Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
-      ctrlManeuver.setTimeSample(25);
-      while (currentInclination > 0.05) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        currentInclination =
-            Math.toDegrees(currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
-        double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
-        currentManeuver.setNormal(
-            currentManeuver.getNormal() + (closestIsAN ? ctrlOutput : -ctrlOutput));
-        Thread.sleep(25);
-      }
-    } catch (Exception err) {
-      System.err.println(err);
-    }
-  }
-
-  private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
-    try {
-      boolean hasManeuverNodes = getActiveVessel().getControl().getNodes().size() > 0;
-      List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
-      Node lastManeuverNode;
-      double lastManeuverNodeUT = 60;
-      if (hasManeuverNodes) {
-        currentManeuvers = getActiveVessel().getControl().getNodes();
-        lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
-        lastManeuverNodeUT += lastManeuverNode.getUT();
-        MainGui.newInstance().getCreateManeuverPanel().createManeuver(lastManeuverNodeUT);
-      } else {
-        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
-      }
-      currentManeuvers = getActiveVessel().getControl().getNodes();
-      lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
-
-      Orbit activeVesselOrbit = getActiveVessel().getOrbit();
-      Orbit targetVesselOrbit =
-          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-      ReferenceFrame currentBodyRefFrame =
-          activeVesselOrbit.getBody().getNonRotatingReferenceFrame();
-
-      double angularDiff = 10;
-      while (angularDiff >= 0.005) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        double maneuverUT = lastManeuverNode.getUT();
-        double targetOrbitPosition =
-            new Vector(targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame)).magnitude();
-        double maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
-        double maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
-        ctrlManeuver.setPIDValues(0.25, 0.0, 0.01);
-        ctrlManeuver.setOutput(-100, 100);
-
-        if (targetOrbitPosition < maneuverPE) {
-          while (Math.floor(targetOrbitPosition) != Math.floor(maneuverPE)) {
-            if (Thread.interrupted()) {
-              throw new InterruptedException();
-            }
-            lastManeuverNode.setPrograde(
-                lastManeuverNode.getPrograde()
-                    + ctrlManeuver.calculate(maneuverPE / targetOrbitPosition * 1000, 1000));
-            maneuverPE = lastManeuverNode.getOrbit().getPeriapsis();
-            Thread.sleep(25);
-          }
-        }
-
-        if (targetOrbitPosition > maneuverAP) {
-          while (Math.floor(targetOrbitPosition) != Math.floor(maneuverAP)) {
-            if (Thread.interrupted()) {
-              throw new InterruptedException();
-            }
-            lastManeuverNode.setPrograde(
-                lastManeuverNode.getPrograde()
-                    + ctrlManeuver.calculate(maneuverAP / targetOrbitPosition * 1000, 1000));
-            maneuverAP = lastManeuverNode.getOrbit().getApoapsis();
-            Thread.sleep(25);
-          }
-        }
-        angularDiff =
-            calculatePhaseAngle(
-                lastManeuverNode.getOrbit().positionAt(maneuverUT, currentBodyRefFrame),
-                getConnectionManager()
-                    .getSpaceCenter()
-                    .getTargetVessel()
-                    .getOrbit()
-                    .positionAt(maneuverUT, currentBodyRefFrame));
-        maneuverUT = lastManeuverNode.getUT();
-        lastManeuverNode.setUT(
-            lastManeuverNode.getUT() + ctrlManeuver.calculate(-angularDiff * 100, 0));
-        System.out.println(angularDiff);
-        Thread.sleep(25);
-      }
-    } catch (Exception err) {
-      if (err instanceof InterruptedException) {
-        throw (InterruptedException) err;
-      }
-    }
-  }
-
-  private double compareOrbitParameter(Orbit maneuverOrbit, Orbit targetOrbit, Compare parameter) {
-    double maneuverParameter;
-    double targetParameter;
-    double delta = 0;
-    try {
-      switch (parameter) {
-        case INC:
-          maneuverParameter = maneuverOrbit.getInclination();
-          System.out.println(maneuverParameter + " maneuver");
-          targetParameter = targetOrbit.getInclination();
-          System.out.println(targetParameter + " target");
-          delta = (maneuverParameter / targetParameter) * 10;
-          break;
-        case AP:
-          maneuverParameter = Math.round(maneuverOrbit.getApoapsis() / 100000.0);
-          targetParameter = Math.round(targetOrbit.getApoapsis() / 100000.0);
-          delta = (targetParameter - maneuverParameter);
-          break;
-        case PE:
-          maneuverParameter = Math.round(maneuverOrbit.getPeriapsis()) / 100.0;
-          targetParameter = Math.round(targetOrbit.getPeriapsis()) / 100.0;
-          delta = (targetParameter - maneuverParameter);
-          break;
-        default:
-          break;
-      }
-
-    } catch (RPCException e) {
-      e.printStackTrace();
-    }
-    return delta;
-  }
-
-  private Orbit getTargetOrbit() throws RPCException {
-    if (getConnectionManager().getSpaceCenter().getTargetBody() != null) {
-      return getConnectionManager().getSpaceCenter().getTargetBody().getOrbit();
-    }
-    if (getConnectionManager().getSpaceCenter().getTargetVessel() != null) {
-      return getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-    }
-    return null;
-  }
-
-  private Node createManeuver(double laterTime, double[] deltaV) {
-    Node maneuverNode = null;
-    try {
-      getActiveVessel()
-          .getControl()
-          .addNode(
-              getConnectionManager().getSpaceCenter().getUT() + laterTime,
-              (float) deltaV[0],
-              (float) deltaV[1],
-              (float) deltaV[2]);
-      List<Node> currentNodes = getActiveVessel().getControl().getNodes();
-      maneuverNode = currentNodes.get(currentNodes.size() - 1);
-    } catch (UnsupportedOperationException | RPCException e) {
-      setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
-    }
-    return maneuverNode;
-  }
-
   public void executeNextManeuver() throws InterruptedException {
     try {
       Node maneuverNode = getActiveVessel().getControl().getNodes().get(0);
       double burnTime = calculateBurnTime(maneuverNode);
-      orientToManeuverNode(maneuverNode);
       executeBurn(maneuverNode, burnTime);
     } catch (UnsupportedOperationException e) {
-      System.err.println("Erro: " + e.getMessage());
+      System.err.println("Manobras ainda não desbloqueadas: " + e.getMessage());
       setCurrentStatus(Bundle.getString("status_maneuver_not_unlocked"));
     } catch (IndexOutOfBoundsException e) {
-      System.err.println("Erro: " + e.getMessage());
+      System.err.println("Erro de index: " + e.getMessage());
       setCurrentStatus(Bundle.getString("status_maneuver_unavailable"));
-    } catch (RPCException | StreamException e) {
-      System.err.println("Erro: " + e.getMessage());
+    } catch (RPCException e) {
+      System.err.println("Erro de Stream ou RPC: " + e.getMessage());
       setCurrentStatus(Bundle.getString("status_data_unavailable"));
     } catch (InterruptedException e) {
-      System.err.println("Erro: " + e.getMessage());
+      System.err.println("Cancelando executar manobra");
       setCurrentStatus(Bundle.getString("status_couldnt_orient"));
       throw e;
     }
@@ -417,39 +168,81 @@ public void orientToManeuverNode(Node maneuverNode)
       throws RPCException, StreamException, InterruptedException {
     setCurrentStatus(Bundle.getString("status_orienting_ship"));
     ap.engage();
+    ap.setReferenceFrame(maneuverNode.getReferenceFrame());
 
-    // Create streams for heading and pitch errors
-    headingErrorStream = connection.addStream(ap, "getHeadingError");
-    pitchErrorStream = connection.addStream(ap, "getPitchError");
-
-    // A shared callback for both streams
-    Runnable checkOrientation =
-        () -> {
-          try {
-            if (headingErrorStream.get() <= 3 && pitchErrorStream.get() <= 3) {
-              isOriented = true;
-              // Clean up the callbacks once orientation is complete
-              headingErrorStream.removeCallback(headingErrorCallbackTag);
-              pitchErrorStream.removeCallback(pitchErrorCallbackTag);
+    // --- STAGE 1: ORIENT TO MANEUVER (PITCH/HEADING) ---
+    try {
+      setCurrentStatus(Bundle.getString("status_orienting_to_maneuver"));
+      ap.setTargetDirection(new Triplet<>(0.0, 1.0, 0.0)); // Prograde in node's frame
+      ap.setTargetRoll(Float.NaN); // Disable roll control
+
+      final CountDownLatch directionLatch = new CountDownLatch(1);
+      this.headingErrorStream = connection.addStream(ap, "getHeadingError");
+      this.pitchErrorStream = connection.addStream(ap, "getPitchError");
+
+      final Stream<Float> finalHeadingErrorStream = this.headingErrorStream;
+      final Stream<Float> finalPitchErrorStream = this.pitchErrorStream;
+
+      Runnable checkOrientation =
+          () -> {
+            try {
+              if (directionLatch.getCount() > 0
+                  && Math.abs(finalHeadingErrorStream.get()) < 1
+                  && Math.abs(finalPitchErrorStream.get()) < 1) {
+                directionLatch.countDown();
+              }
+            } catch (Exception e) {
+              e.printStackTrace();
+              directionLatch.countDown();
             }
-          } catch (RPCException | StreamException e) {
-            // Handle exceptions
-          }
-        };
+          };
 
-    // Add the same callback to both streams
-    headingErrorCallbackTag = headingErrorStream.addCallback(v -> checkOrientation.run());
-    pitchErrorCallbackTag = pitchErrorStream.addCallback(v -> checkOrientation.run());
+      this.headingErrorStream.addCallback(v -> checkOrientation.run());
+      this.pitchErrorStream.addCallback(v -> checkOrientation.run());
+      this.headingErrorStream.start();
+      this.pitchErrorStream.start();
 
-    // Start the streams
-    headingErrorStream.start();
-    pitchErrorStream.start();
+      if (!directionLatch.await(60, TimeUnit.SECONDS)) {
+        System.err.println("Timeout waiting for direction stabilization.");
+      }
+    } finally {
+      if (this.headingErrorStream != null) {
+        this.headingErrorStream.remove();
+      }
+      if (this.pitchErrorStream != null) {
+        this.pitchErrorStream.remove();
+      }
+    }
 
-    while (!isOriented) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
+    // --- STAGE 2: STABILIZE ROLL ---
+    try {
+      setCurrentStatus(Bundle.getString("status_stabilizing_roll"));
+      ap.setTargetRoll(0.0f);
+      final CountDownLatch rollLatch = new CountDownLatch(1);
+      this.rollErrorStream = connection.addStream(ap, "getRollError");
+      final Stream<Float> finalRollErrorStream = this.rollErrorStream;
+      final int[] rollCallbackTag = new int[1];
+      rollCallbackTag[0] =
+          finalRollErrorStream.addCallback(
+              error -> {
+                try {
+                  if (Math.abs(error) < 1.0) {
+                    rollLatch.countDown();
+                    finalRollErrorStream.removeCallback(rollCallbackTag[0]);
+                  }
+                } catch (Exception e) {
+                  e.printStackTrace();
+                  rollLatch.countDown();
+                }
+              });
+      this.rollErrorStream.start();
+      if (!rollLatch.await(20, TimeUnit.SECONDS)) {
+        System.err.println("Timeout waiting for roll stabilization.");
+      }
+    } finally {
+      if (this.rollErrorStream != null) {
+        this.rollErrorStream.remove();
       }
-      navigation.aimAtManeuver(maneuverNode);
     }
   }
 
@@ -482,133 +275,413 @@ public double calculateBurnTime(Node maneuverNode) {
 
   public void executeBurn(Node maneuverNode, double burnDuration) throws InterruptedException {
     try {
-      // Countdown Stream
+      // 1. PRE-WARP ORIENTATION
+      orientToManeuverNode(maneuverNode);
+
+      // 2. WARP AND COUNTDOWN
+      // Wait until it's time to burn
+      final CountDownLatch timeToBurnLatch = new CountDownLatch(1);
       timeToNodeStream = connection.addStream(maneuverNode, "getTimeTo");
-      timeToBurnCallbackTag =
-          timeToNodeStream.addCallback(
-              (time) -> {
-                if (time <= (burnDuration / 2.0)) {
-                  isTimeToBurn = true;
-                  timeToNodeStream.removeCallback(timeToBurnCallbackTag);
-                }
-              });
+      timeToNodeStream.addCallback(
+          (time) -> {
+            // Countdown for the last 5 seconds of warp
+            double timeToWarp = time - (burnDuration / 2.0) - 30;
+            if (timeToWarp > 0) {
+              setCurrentStatus(String.format("Warping in: %.1f seconds...", timeToWarp));
+              return;
+            }
+            // Countdown for ignition
+            double timeToBurnStart = time - (burnDuration / 2.0);
+            setCurrentStatus(
+                String.format(Bundle.getString("status_maneuver_ignition_in"), timeToBurnStart));
+            if (timeToBurnStart <= 0) {
+              try {
+                timeToBurnLatch.countDown();
+                timeToNodeStream.remove();
+              } catch (RPCException e) {
+              }
+            }
+          });
       timeToNodeStream.start();
 
-      double burnStartTime =
-          maneuverNode.getTimeTo() - (burnDuration / 2.0) - (fineAdjustment ? 5 : 0);
-      setCurrentStatus(Bundle.getString("status_maneuver_warp"));
-      if (burnStartTime > 30) {
+      double burnStartTime = maneuverNode.getTimeTo() - (burnDuration / 2.0) - 30;
+      if (burnStartTime > 0) {
+        setCurrentStatus(Bundle.getString("status_maneuver_warp"));
         getConnectionManager()
             .getSpaceCenter()
-            .warpTo(
-                (getConnectionManager().getSpaceCenter().getUT() + burnStartTime - 10), 100000, 4);
+            .warpTo((getConnectionManager().getSpaceCenter().getUT() + burnStartTime), 100000, 4);
       }
 
-      setCurrentStatus(String.format(Bundle.getString("status_maneuver_duration"), burnDuration));
-      while (!isTimeToBurn) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        navigation.aimAtManeuver(maneuverNode);
-        setCurrentStatus(
-            String.format(
-                Bundle.getString("status_maneuver_ignition_in"),
-                maneuverNode.getTimeTo() - (burnDuration / 2.0)));
+      // 2. ORIENT (AFTER WARP)
+      orientToManeuverNode(maneuverNode);
+
+      // 3. FINAL COUNTDOWN
+      while (timeToBurnLatch.getCount() > 0) {
+        if (Thread.interrupted()) throw new InterruptedException();
+        if (timeToBurnLatch.await(100, TimeUnit.MILLISECONDS)) break;
       }
 
-      // Main Burn Stream
-      remainingBurn =
-          getConnectionManager()
-              .getConnection()
-              .addStream(maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
-      burnCompleteCallbackTag =
-          remainingBurn.addCallback(
-              (burn) -> {
-                if (burn.getValue1() < (fineAdjustment ? 2 : 0.5)) {
-                  isBurnComplete = true;
-                  remainingBurn.removeCallback(burnCompleteCallbackTag);
-                }
-              });
-      remainingBurn.start();
+      // 4. EXECUTE THE BURN
+      final CountDownLatch burnCompleteLatch = new CountDownLatch(1);
+      remainingBurnStream =
+          connection.addStream(
+              maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
+      remainingBurnStream.addCallback(
+          (burn) -> {
+            try {
+              double burnDvLeft = burn.getValue1();
+
+              // SAFETY STOP: Check if dV is increasing
+              if (burnDvLeft > lastBurnDv + 0.1) { // Using a 0.1m/s tolerance
+                System.err.println("Maneuver failed: Delta-V increasing. Aborting burn.");
+                throttle(0);
+                burnCompleteLatch.countDown();
+                return;
+              }
+              lastBurnDv = burnDvLeft; // Update last known dV
+
+              if (burnDvLeft < (fineAdjustment ? 2 : 0.75)) {
+                burnCompleteLatch.countDown();
+                return;
+              }
+              navigation.aimAtManeuverNode(maneuverNode);
+              throttle(ctrlManeuver.calculate(0, burnDvLeft / 100.0));
+            } catch (Exception e) {
+              e.printStackTrace();
+              burnCompleteLatch.countDown();
+            }
+          });
+      remainingBurnStream.start();
 
       setCurrentStatus(Bundle.getString("status_maneuver_executing"));
-      while (!isBurnComplete && maneuverNode != null) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        navigation.aimAtManeuver(maneuverNode);
-        double burnDvLeft = remainingBurn.get().getValue1();
-        float limitValue = burnDvLeft > 100 ? 1000 : 100;
-        throttle(
-            ctrlManeuver.calculate(
-                (maneuverNode.getDeltaV() - Math.floor(burnDvLeft))
-                    / maneuverNode.getDeltaV()
-                    * limitValue,
-                limitValue));
-      }
-
+      burnCompleteLatch.await();
       throttle(0.0f);
+      remainingBurnStream.remove();
+
       if (fineAdjustment) {
-        adjustManeuverWithRCS(remainingBurn);
+        adjustManeuverWithRCS(maneuverNode);
       }
+
       ap.setReferenceFrame(surfaceReferenceFrame);
       ap.disengage();
       getActiveVessel().getControl().setSAS(true);
       getActiveVessel().getControl().setRCS(false);
-      remainingBurn.remove();
       maneuverNode.remove();
       setCurrentStatus(Bundle.getString("status_ready"));
-    } catch (StreamException | RPCException e) {
-      System.err.println("Erro: " + e.getMessage());
+    } catch (RPCException | StreamException e) {
       setCurrentStatus(Bundle.getString("status_data_unavailable"));
     } catch (InterruptedException e) {
-      System.err.println("Erro: " + e.getMessage());
       setCurrentStatus(Bundle.getString("status_maneuver_cancelled"));
       throw e;
     }
   }
 
-  private void cleanup() {
+  private void initializeParameters() {
+    ctrlRCS = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    ctrlManeuver = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    ctrlManeuver.setPIDValues(1, 0.001, 0.1);
+    ctrlManeuver.setOutput(0.1, 1.0);
+    ctrlRCS.setOutput(0.5, 1.0);
+    fineAdjustment = canFineAdjust(commands.get(Module.FINE_ADJUST.get()));
+    try {
+      lowOrbitAltitude = new Attributes().getLowOrbitAltitude(currentBody.getName());
+    } catch (RPCException e) {
+    }
+  }
+
+  private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart) {
+    double[] totalDv = {0, 0, 0};
     try {
-      if (headingErrorStream != null) {
-        headingErrorStream.removeCallback(headingErrorCallbackTag);
-        headingErrorStream.remove();
+      Orbit currentOrbit = getActiveVessel().getOrbit();
+      double startingRadius = currentOrbit.getApoapsis();
+      double gravParameter = currentBody.getGravitationalParameter();
+      double deltaV1 =
+          Math.sqrt(2 * gravParameter / startingRadius) - Math.sqrt(gravParameter / startingRadius);
+      double intermediateRadius = currentBody.getEquatorialRadius() + targetAltitude;
+      double deltaV2 =
+          Math.sqrt(gravParameter / intermediateRadius)
+              - Math.sqrt(2 * gravParameter / intermediateRadius);
+      double targetRadius = currentBody.getEquatorialRadius() + targetAltitude;
+      double deltaV3 =
+          Math.sqrt(2 * gravParameter / intermediateRadius)
+              - Math.sqrt(gravParameter / intermediateRadius);
+      double deltaV4 =
+          Math.sqrt(gravParameter / targetRadius) - Math.sqrt(2 * gravParameter / targetRadius);
+      totalDv[0] = deltaV1 + deltaV2 + deltaV3 + deltaV4;
+    } catch (RPCException e) {
+      System.err.println("ERRO: Cálculo de Transferência de Órbita" + e.getMessage());
+    }
+    return createManeuver(timeToStart, totalDv);
+  }
+
+  private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
+    Stream<Double> utStream = null;
+    try {
+      Vessel vessel = getActiveVessel();
+      Orbit vesselOrbit = getActiveVessel().getOrbit();
+      Orbit targetVesselOrbit =
+          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+      if (vessel.getControl().getNodes().isEmpty()) {
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
+      }
+      java.util.List<Node> currentManeuvers = vessel.getControl().getNodes();
+      Node currentManeuver = currentManeuvers.get(0);
+      double[] incNodesUt = {
+        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtAN(targetVesselOrbit)),
+        vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtDN(targetVesselOrbit))
+      };
+      boolean closestIsAN = incNodesUt[0] < incNodesUt[1];
+      MainGui.newInstance()
+          .getCreateManeuverPanel()
+          .positionManeuverAt(closestIsAN ? "ascending" : "descending");
+
+      ctrlManeuver.setTimeSample(25);
+
+      final CountDownLatch latch = new CountDownLatch(1);
+      utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+      final Stream<Double> finalUtStream = utStream;
+      final int[] utCallbackTag = new int[1];
+      utCallbackTag[0] =
+          finalUtStream.addCallback(
+              (ut) -> {
+                try {
+                  double currentInclination =
+                      Math.toDegrees(
+                          currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
+                  if (currentInclination <= 0.05) {
+                    latch.countDown();
+                    finalUtStream.removeCallback(utCallbackTag[0]);
+                    return;
+                  }
+                  double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
+                  currentManeuver.setNormal(
+                      currentManeuver.getNormal() + (closestIsAN ? ctrlOutput : -ctrlOutput));
+                } catch (Exception e) {
+                  e.printStackTrace();
+                  latch.countDown();
+                }
+              });
+      utStream.start();
+      latch.await(); // Wait until the alignment is done
+    } catch (Exception err) {
+      if (err instanceof InterruptedException) {
+        throw (InterruptedException) err;
       }
-      if (pitchErrorStream != null) {
-        pitchErrorStream.removeCallback(pitchErrorCallbackTag);
-        pitchErrorStream.remove();
+      System.err.println("Error aligning planes: " + err);
+    } finally {
+      if (utStream != null) {
+        utStream.remove();
       }
-      if (timeToNodeStream != null) {
-        timeToNodeStream.removeCallback(timeToBurnCallbackTag);
-        timeToNodeStream.remove();
+    }
+  }
+
+  private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
+    Stream<Double> utStream = null;
+    try {
+      List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
+      Node lastManeuverNode;
+      if (currentManeuvers.isEmpty()) {
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver();
+        currentManeuvers = getActiveVessel().getControl().getNodes();
+      } else {
+        double lastManeuverNodeUT = 60 + currentManeuvers.get(currentManeuvers.size() - 1).getUT();
+        MainGui.newInstance().getCreateManeuverPanel().createManeuver(lastManeuverNodeUT);
+        currentManeuvers = getActiveVessel().getControl().getNodes();
       }
-      if (remainingBurn != null) {
-        remainingBurn.removeCallback(burnCompleteCallbackTag);
-        remainingBurn.remove();
+      lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
+
+      final CountDownLatch latch = new CountDownLatch(1);
+      final RendezvousState state = new RendezvousState(lastManeuverNode);
+
+      utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+      final Stream<Double> finalUtStream = utStream;
+      final int[] utCallbackTag = new int[1];
+      utCallbackTag[0] =
+          finalUtStream.addCallback(
+              ut -> {
+                try {
+                  updateRendezvousState(state, latch, finalUtStream, utCallbackTag[0]);
+                } catch (Exception e) {
+                  e.printStackTrace();
+                  System.err.println("Error in rendezvous update: " + e);
+                  latch.countDown();
+                }
+              });
+      utStream.start();
+      latch.await();
+    } catch (Exception err) {
+      if (err instanceof InterruptedException) {
+        throw (InterruptedException) err;
       }
-      ap.disengage();
+      System.err.println("Error during rendezvous: " + err);
+    } finally {
+      if (utStream != null) {
+        utStream.remove();
+      }
+    }
+  }
+
+  private void updateRendezvousState(
+      RendezvousState state, CountDownLatch latch, Stream<Double> stream, int callbackTag)
+      throws RPCException, IOException {
+    Orbit targetVesselOrbit = getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+    ReferenceFrame currentBodyRefFrame =
+        getActiveVessel().getOrbit().getBody().getNonRotatingReferenceFrame();
+
+    switch (state.phase) {
+      case SETUP:
+        ctrlManeuver.setPIDValues(1, 0.001, 0.01);
+        ctrlManeuver.setOutput(-100, 100);
+        state.phase = RendezvousPhase.CHECK_ANGULAR_DIFFERENCE;
+        break;
+
+      case CHECK_ANGULAR_DIFFERENCE:
+        double maneuverUT = state.maneuverNode.getUT();
+        double angularDiff =
+            calculatePhaseAngle(
+                state.maneuverNode.getOrbit().positionAt(maneuverUT, currentBodyRefFrame),
+                targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame));
+        if (angularDiff < 0.005) {
+          state.phase = RendezvousPhase.DONE;
+          break;
+        }
+        state.targetOrbitPosition =
+            new Vector(targetVesselOrbit.positionAt(maneuverUT, currentBodyRefFrame)).magnitude();
+        state.maneuverAP = state.maneuverNode.getOrbit().getApoapsis();
+        state.maneuverPE = state.maneuverNode.getOrbit().getPeriapsis();
+
+        if (state.targetOrbitPosition < state.maneuverPE) {
+          state.phase = RendezvousPhase.ADJUST_PERIAPSIS;
+        } else if (state.targetOrbitPosition > state.maneuverAP) {
+          state.phase = RendezvousPhase.ADJUST_APOAPSIS;
+        } else {
+          state.phase = RendezvousPhase.ADJUST_UT;
+        }
+        break;
+
+      case ADJUST_PERIAPSIS:
+        if (Math.floor(state.targetOrbitPosition) == Math.floor(state.maneuverPE)) {
+          state.phase = RendezvousPhase.ADJUST_UT;
+          break;
+        }
+        state.maneuverNode.setPrograde(
+            state.maneuverNode.getPrograde()
+                + ctrlManeuver.calculate(
+                    state.maneuverPE / state.targetOrbitPosition * 1000, 1000));
+        state.maneuverPE = state.maneuverNode.getOrbit().getPeriapsis();
+        break;
+
+      case ADJUST_APOAPSIS:
+        if (Math.floor(state.targetOrbitPosition) == Math.floor(state.maneuverAP)) {
+          state.phase = RendezvousPhase.ADJUST_UT;
+          break;
+        }
+        state.maneuverNode.setPrograde(
+            state.maneuverNode.getPrograde()
+                + ctrlManeuver.calculate(
+                    state.maneuverAP / state.targetOrbitPosition * 1000, 1000));
+        state.maneuverAP = state.maneuverNode.getOrbit().getApoapsis();
+        break;
+
+      case ADJUST_UT:
+        double maneuverUT_adjust = state.maneuverNode.getUT();
+        double angularDiff_adjust =
+            calculatePhaseAngle(
+                state.maneuverNode.getOrbit().positionAt(maneuverUT_adjust, currentBodyRefFrame),
+                targetVesselOrbit.positionAt(maneuverUT_adjust, currentBodyRefFrame));
+        state.maneuverNode.setUT(
+            state.maneuverNode.getUT() + ctrlManeuver.calculate(-angularDiff_adjust * 100, 0));
+        state.phase = RendezvousPhase.CHECK_ANGULAR_DIFFERENCE;
+        break;
+
+      case DONE:
+        latch.countDown();
+        stream.removeCallback(callbackTag);
+        break;
+    }
+  }
+
+  private Node createManeuver(double laterTime, double[] deltaV) {
+    Node maneuverNode = null;
+    try {
+      getActiveVessel()
+          .getControl()
+          .addNode(
+              getConnectionManager().getSpaceCenter().getUT() + laterTime,
+              (float) deltaV[0],
+              (float) deltaV[1],
+              (float) deltaV[2]);
+      List<Node> currentNodes = getActiveVessel().getControl().getNodes();
+      maneuverNode = currentNodes.get(currentNodes.size() - 1);
+    } catch (UnsupportedOperationException | RPCException e) {
+      setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
+    }
+    return maneuverNode;
+  }
+
+  private void cleanup() {
+    try {
+      if (headingErrorStream != null) headingErrorStream.remove();
+      if (pitchErrorStream != null) pitchErrorStream.remove();
+      if (rollErrorStream != null) rollErrorStream.remove();
+      if (timeToNodeStream != null) timeToNodeStream.remove();
+      if (remainingBurnStream != null) remainingBurnStream.remove();
+      if (ap != null) ap.disengage();
       throttle(0);
-    } catch (RPCException e) {
+    } catch (RPCException | NullPointerException e) {
       // ignore
     }
   }
 
-  private void adjustManeuverWithRCS(Stream<Triplet<Double, Double, Double>> remainingDeltaV)
+  private void adjustManeuverWithRCS(Node maneuverNode)
       throws RPCException, StreamException, InterruptedException {
+    setCurrentStatus("Fine tuning with RCS...");
     getActiveVessel().getControl().setRCS(true);
-    while (Math.floor(remainingDeltaV.get().getValue1()) > 0.2) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
+    final CountDownLatch rcsLatch = new CountDownLatch(1);
+
+    Stream<Triplet<Double, Double, Double>> rcsStream = null;
+    try {
+      rcsStream =
+          connection.addStream(
+              maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
+      final Stream<Triplet<Double, Double, Double>> finalRcsStream = rcsStream;
+      final int[] rcsCallbackTag = new int[1];
+
+      rcsCallbackTag[0] =
+          finalRcsStream.addCallback(
+              (burn) -> {
+                try {
+                  double progradeDv = burn.getValue1();
+                  if (progradeDv <= 0.1) {
+                    rcsLatch.countDown();
+                    finalRcsStream.removeCallback(rcsCallbackTag[0]);
+                    return;
+                  }
+                  // Use the RCS PID controller to gently burn off remaining dV
+                  getActiveVessel()
+                      .getControl()
+                      .setForward((float) ctrlRCS.calculate(-progradeDv, 0));
+                } catch (Exception e) {
+                  e.printStackTrace();
+                  rcsLatch.countDown();
+                }
+              });
+      rcsStream.start();
+
+      // Wait for RCS burn to complete, with a timeout
+      if (!rcsLatch.await(60, TimeUnit.SECONDS)) {
+        System.err.println("Timeout during RCS fine tuning.");
+      }
+    } finally {
+      getActiveVessel().getControl().setForward(0);
+      if (rcsStream != null) {
+        rcsStream.remove();
       }
-      getActiveVessel()
-          .getControl()
-          .setForward((float) ctrlRCS.calculate(-remainingDeltaV.get().getValue1() * 10, 0));
     }
-    getActiveVessel().getControl().setForward(0);
   }
 
   private boolean canFineAdjust(String string) {
-    if (string.equals("true")) {
+    if ("true".equals(string)) {
       try {
         List<RCS> rcsEngines = getActiveVessel().getParts().getRCS();
         if (rcsEngines.size() > 0) {
@@ -619,7 +692,8 @@ private boolean canFineAdjust(String string) {
           }
         }
         return false;
-      } catch (RPCException ignored) {
+      } catch (RPCException e) {
+        System.err.println("ERRO: Ajuste fino de manobra." + e.getMessage());
       }
     }
     return false;
@@ -650,10 +724,4 @@ private double calculatePhaseAngle(
 
     return Math.abs(angularDifference);
   }
-
-  enum Compare {
-    INC,
-    AP,
-    PE
-  }
 }
diff --git a/src/main/java/com/pesterenan/utils/ControlePID.java b/src/main/java/com/pesterenan/utils/ControlePID.java
index b5b56fc..5aeb86d 100644
--- a/src/main/java/com/pesterenan/utils/ControlePID.java
+++ b/src/main/java/com/pesterenan/utils/ControlePID.java
@@ -55,9 +55,7 @@ public double calculate(double measurement, double setPoint) {
       proportionalTerm = kp * error;
 
       // Integral
-      // integralTerm += 0.5f * ki * timeSample * (error + previousError);
-      // integralTerm += ki * (error + previousError);
-      integralTerm = ki * (integralTerm + (error * timeSample));
+      integralTerm += 0.5 * ki * timeSample * (error + previousError);
       integralTerm = limitOutput(integralTerm);
 
       derivativeTerm = kd * ((error - previousError) / timeSample);
diff --git a/src/main/java/com/pesterenan/utils/Navigation.java b/src/main/java/com/pesterenan/utils/Navigation.java
index 1f76328..5eac8b8 100644
--- a/src/main/java/com/pesterenan/utils/Navigation.java
+++ b/src/main/java/com/pesterenan/utils/Navigation.java
@@ -26,153 +26,130 @@ public class Navigation {
   public Navigation(ConnectionManager connectionManager, Vessel currentVessel) {
     this.connectionManager = connectionManager;
     this.currentVessel = currentVessel;
-    initializeParameters();
-  }
-
-  private void initializeParameters() {
     try {
       // drawing = Drawing.newInstance(getConexao());
       orbitalReference = currentVessel.getOrbit().getBody().getReferenceFrame();
       flightParameters = currentVessel.flight(orbitalReference);
       horizontalSpeed =
           connectionManager.getConnection().addStream(flightParameters, "getHorizontalSpeed");
-    } catch (RPCException | StreamException ignored) {
+    } catch (RPCException | StreamException e) {
+      throw new IllegalStateException("ERRO: Inicialização de parâmetros de navegação.", e);
     }
   }
 
-  public void aimAtManeuver(Node maneuver) throws RPCException {
-    aimAtDirection(
-        connectionManager
-            .getSpaceCenter()
-            .transformDirection(PROGRADE, maneuver.getReferenceFrame(), orbitalReference));
+  public void aimAtManeuverNode(Node maneuver) throws RPCException {
+    currentVessel.getAutoPilot().setReferenceFrame(maneuver.getReferenceFrame());
+    currentVessel.getAutoPilot().setTargetDirection(PROGRADE);
   }
 
   public void aimForLanding() throws RPCException, StreamException {
-    Vector currentPosition = new Vector(currentVessel.position(orbitalReference));
     Vector retrograde =
         new Vector(
-                connectionManager
-                    .getSpaceCenter()
-                    .transformPosition(
-                        RETROGRADE,
-                        currentVessel.getSurfaceVelocityReferenceFrame(),
-                        orbitalReference))
-            .subtract(currentPosition);
+            transformDirection(RETROGRADE, currentVessel.getSurfaceVelocityReferenceFrame()));
     Vector radial =
-        new Vector(
-            connectionManager
-                .getSpaceCenter()
-                .transformDirection(
-                    RADIAL, currentVessel.getSurfaceReferenceFrame(), orbitalReference));
+        new Vector(transformDirection(RADIAL, currentVessel.getSurfaceReferenceFrame()));
+
     double angleLimit = Utilities.remap(0, 10, 0, 0.9, horizontalSpeed.get(), true);
     Vector landingVector = Utilities.linearInterpolation(radial, retrograde, angleLimit);
     aimAtDirection(landingVector.toTriplet());
   }
 
-  // public void aimAtTarget() throws RPCException, StreamException,
-  // InterruptedException {
-  // Vector currentPosition = new Vector(naveAtual.position(pontoRefSuperficie));
-  // Vector targetPosition = new
-  // Vector(centroEspacial.getTargetVessel().position(pontoRefSuperficie));
-  // targetPosition.x = 0.0;
-  // double distanceToTarget = Vector.distance(currentPosition, targetPosition);
-  //
-  // Vector toTargetDirection = Vector.targetDirection(currentPosition,
-  // targetPosition);
-  // Vector oppositeDirection = Vector.targetOppositeDirection(currentPosition,
-  // targetPosition);
-  // Vector progradeDirection = Vector.targetDirection(currentPosition, new
-  // Vector(
-  // centroEspacial.transformPosition(PROGRADE,
-  // naveAtual.getSurfaceVelocityReferenceFrame(),
-  // pontoRefSuperficie
-  // )));
-  // Vector retrogradeDirection = Vector.targetDirection(currentPosition, new
-  // Vector(
-  // centroEspacial.transformPosition(RETROGRADE,
-  // naveAtual.getSurfaceVelocityReferenceFrame(),
-  // pontoRefSuperficie
-  // )));
-  // progradeDirection.x = 0.0;
-  // retrogradeDirection.x = 0.0;
-  // drawing.addDirection(toTargetDirection.toTriplet(), pontoRefSuperficie, 10,
-  // true);
-  // drawing.addDirection(oppositeDirection.toTriplet(), pontoRefSuperficie, 5,
-  // true);
-  // double pointingToTargetThreshold = Utilities.remap(0, 200, 0, 1,
-  // distanceToTarget, true);
-  // double speedThreshold = Utilities.remap(0, 20, 0, 1, horizontalSpeed.get(),
-  // true);
-  //
-  // Vector currentDirection =
-  // Utilities.linearInterpolation(oppositeDirection, toTargetDirection,
-  // pointingToTargetThreshold);
-  // double angleCurrentDirection =
-  // new Vector(currentDirection.z, currentDirection.y,
-  // currentDirection.x).heading();
-  // double angleProgradeDirection =
-  // new Vector(progradeDirection.z, progradeDirection.y,
-  // progradeDirection.x).heading();
-  // double deltaAngle = angleProgradeDirection - angleCurrentDirection;
-  // System.out.println(deltaAngle);
-  // if (deltaAngle > 3) {
-  // currentDirection.sum(progradeDirection).normalize();
-  // } else if (deltaAngle < -3) {
-  // currentDirection.subtract(progradeDirection).normalize();
-  // }
-  // drawing.addDirection(currentDirection.toTriplet(), pontoRefSuperficie, 25,
-  // true);
-  //
-  //
-  // Vector currentDirectionOnOrbitalRef = new Vector(
-  // centroEspacial.transformDirection(currentDirection.toTriplet(),
-  // pontoRefSuperficie,
-  // pontoRefOrbital));
-  // Vector radial = new Vector(centroEspacial.transformDirection(RADIAL,
-  // pontoRefSuperficie,
-  // pontoRefOrbital));
-  // Vector speedVector = Utilities.linearInterpolation(retrogradeDirection,
-  // progradeDirection, speedThreshold);
-  // Vector speedVectorOnOrbitalRef = new Vector(
-  // centroEspacial.transformDirection(speedVector.toTriplet(),
-  // pontoRefSuperficie,
-  // pontoRefOrbital));
-  // Vector pointingVector =
-  // Utilities.linearInterpolation(currentDirectionOnOrbitalRef,
-  // radial.sum(speedVectorOnOrbitalRef),
-  // speedThreshold
-  // );
-  // Thread.sleep(50);
-  // drawing.clear(false);
-  // aimAtDirection(pointingVector.toTriplet());
-  // }
+  public void aimForDeorbit() throws RPCException {
+    aimAtDirection(flightParameters.getRetrograde());
+  }
 
   public void aimAtPrograde() throws RPCException {
-    aimAtDirection(
-        connectionManager
-            .getSpaceCenter()
-            .transformDirection(
-                PROGRADE, currentVessel.getSurfaceVelocityReferenceFrame(), orbitalReference));
+    transformAndAim(PROGRADE, currentVessel.getSurfaceVelocityReferenceFrame());
   }
 
   public void aimAtRadialOut() throws RPCException {
-    aimAtDirection(
-        connectionManager
-            .getSpaceCenter()
-            .transformDirection(
-                RADIAL, currentVessel.getSurfaceReferenceFrame(), orbitalReference));
+    transformAndAim(RADIAL, currentVessel.getSurfaceReferenceFrame());
   }
 
   public void aimAtRetrograde() throws RPCException {
-    aimAtDirection(
-        connectionManager
-            .getSpaceCenter()
-            .transformDirection(
-                RETROGRADE, currentVessel.getSurfaceVelocityReferenceFrame(), orbitalReference));
+    transformAndAim(RETROGRADE, currentVessel.getSurfaceVelocityReferenceFrame());
   }
 
   public void aimAtDirection(Triplet<Double, Double, Double> currentDirection) throws RPCException {
     currentVessel.getAutoPilot().setReferenceFrame(orbitalReference);
     currentVessel.getAutoPilot().setTargetDirection(currentDirection);
   }
+
+  // Método auxiliar para evitar duplicação
+  private void transformAndAim(
+      Triplet<Double, Double, Double> direction, ReferenceFrame referenceFrame)
+      throws RPCException {
+    aimAtDirection(transformDirection(direction, referenceFrame));
+  }
+
+  // Método auxiliar sobrecarregado para clareza
+  private Triplet<Double, Double, Double> transformDirection(
+      Triplet<Double, Double, Double> direction, ReferenceFrame fromReference) throws RPCException {
+    return connectionManager
+        .getSpaceCenter()
+        .transformDirection(direction, fromReference, orbitalReference);
+  }
+
+  // public void aimAtTarget() throws RPCException, StreamException, InterruptedException {
+  //   Vector currentPosition = new Vector(naveAtual.position(pontoRefSuperficie));
+  //   Vector targetPosition =
+  //       new Vector(centroEspacial.getTargetVessel().position(pontoRefSuperficie));
+  //   targetPosition.x = 0.0;
+  //   double distanceToTarget = Vector.distance(currentPosition, targetPosition);
+  //
+  //   Vector toTargetDirection = Vector.targetDirection(currentPosition, targetPosition);
+  //   Vector oppositeDirection = Vector.targetOppositeDirection(currentPosition, targetPosition);
+  //   Vector progradeDirection =
+  //       Vector.targetDirection(
+  //           currentPosition,
+  //           new Vector(
+  //               centroEspacial.transformPosition(
+  //                   PROGRADE, naveAtual.getSurfaceVelocityReferenceFrame(), pontoRefSuperficie)));
+  //   Vector retrogradeDirection =
+  //       Vector.targetDirection(
+  //           currentPosition,
+  //           new Vector(
+  //               centroEspacial.transformPosition(
+  //                   RETROGRADE, naveAtual.getSurfaceVelocityReferenceFrame(), pontoRefSuperficie)));
+  //   progradeDirection.x = 0.0;
+  //   retrogradeDirection.x = 0.0;
+  //   drawing.addDirection(toTargetDirection.toTriplet(), pontoRefSuperficie, 10, true);
+  //   drawing.addDirection(oppositeDirection.toTriplet(), pontoRefSuperficie, 5, true);
+  //   double pointingToTargetThreshold = Utilities.remap(0, 200, 0, 1, distanceToTarget, true);
+  //   double speedThreshold = Utilities.remap(0, 20, 0, 1, horizontalSpeed.get(), true);
+  //
+  //   Vector currentDirection =
+  //       Utilities.linearInterpolation(
+  //           oppositeDirection, toTargetDirection, pointingToTargetThreshold);
+  //   double angleCurrentDirection =
+  //       new Vector(currentDirection.z, currentDirection.y, currentDirection.x).heading();
+  //   double angleProgradeDirection =
+  //       new Vector(progradeDirection.z, progradeDirection.y, progradeDirection.x).heading();
+  //   double deltaAngle = angleProgradeDirection - angleCurrentDirection;
+  //   System.out.println(deltaAngle);
+  //   if (deltaAngle > 3) {
+  //     currentDirection.sum(progradeDirection).normalize();
+  //   } else if (deltaAngle < -3) {
+  //     currentDirection.subtract(progradeDirection).normalize();
+  //   }
+  //   drawing.addDirection(currentDirection.toTriplet(), pontoRefSuperficie, 25, true);
+  //
+  //   Vector currentDirectionOnOrbitalRef =
+  //       new Vector(
+  //           transformDirection(currentDirection.toTriplet(), pontoRefSuperficie));
+  //   Vector radial =
+  //       new Vector(centroEspacial.transformDirection(RADIAL, pontoRefSuperficie, pontoRefOrbital));
+  //   Vector speedVector =
+  //       Utilities.linearInterpolation(retrogradeDirection, progradeDirection, speedThreshold);
+  //   Vector speedVectorOnOrbitalRef =
+  //       new Vector(
+  //           centroEspacial.transformDirection(
+  //               speedVector.toTriplet(), pontoRefSuperficie, pontoRefOrbital));
+  //   Vector pointingVector =
+  //       Utilities.linearInterpolation(
+  //           currentDirectionOnOrbitalRef, radial.sum(speedVectorOnOrbitalRef), speedThreshold);
+  //   Thread.sleep(50);
+  //   drawing.clear(false);
+  //   aimAtDirection(pointingVector.toTriplet());
+  // }
 }
diff --git a/src/main/java/com/pesterenan/views/MainGui.java b/src/main/java/com/pesterenan/views/MainGui.java
index e065e3d..e9ce014 100644
--- a/src/main/java/com/pesterenan/views/MainGui.java
+++ b/src/main/java/com/pesterenan/views/MainGui.java
@@ -177,7 +177,7 @@ public void setupComponents() {
     setTitle("MechPeste - Pesterenan");
     setJMenuBar(menuBar);
     setResizable(false);
-    setLocation(100, 100);
+    setLocation(50, 50);
     setContentPane(ctpMainGui);
     setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
 
diff --git a/src/main/resources/MechPesteBundle.properties b/src/main/resources/MechPesteBundle.properties
index 91f4d43..a5a635a 100644
--- a/src/main/resources/MechPesteBundle.properties
+++ b/src/main/resources/MechPesteBundle.properties
@@ -123,3 +123,6 @@ status_separating_stage = Decoupling stage...
 status_starting_landing = Starting Automatic Landing\!
 status_starting_landing_at = Starting automatic landing at\:
 status_waiting_for_landing = Waiting for auto-landing...
+status_waiting_flight = Waiting for flight scene...
+status_stabilizing_roll=Stabilizing roll...
+status_orienting_to_maneuver=Orienting to maneuver...
\ No newline at end of file
diff --git a/src/main/resources/MechPesteBundle_pt.properties b/src/main/resources/MechPesteBundle_pt.properties
index b2636c5..efe0c51 100644
--- a/src/main/resources/MechPesteBundle_pt.properties
+++ b/src/main/resources/MechPesteBundle_pt.properties
@@ -122,3 +122,6 @@ status_separating_stage = Separando est\u00E1gio...
 status_starting_landing = Iniciando Pouso Autom\u00E1tico\!
 status_starting_landing_at = Iniciando pouso autom\u00E1tico em\:
 status_waiting_for_landing = Esperando pelo pouso autom\u00E1tico...
+status_waiting_flight = Aguardando cena de voo...
+status_stabilizing_roll=Estabilizando rolagem...                                                                                                                                                 │
+status_orienting_to_maneuver=Orientando para a manobra...                                                                                                                                        │

From 2f16f070747ad3f7d41b7ca8caa987f4d015c3f9 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 23:22:36 -0300
Subject: [PATCH 12/25] [MP-8]: Refactored LiftoffController

---
 .../controllers/LiftoffController.java        | 280 ++++++++++--------
 1 file changed, 163 insertions(+), 117 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index 26f6d1b..a2d181b 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -15,18 +15,30 @@
 import krpc.client.StreamException;
 import krpc.client.services.SpaceCenter.Engine;
 import krpc.client.services.SpaceCenter.Fairing;
+import krpc.client.services.SpaceCenter.VesselSituation;
 
 public class LiftoffController extends Controller {
 
+  private enum LIFTOFF_MODE {
+    GRAVITY_TURN,
+    FINALIZE_ORBIT,
+    CIRCULARIZE
+  }
+
   private static final float PITCH_UP = 90;
   private ControlePID thrControl;
   private float currentPitch, finalApoapsisAlt, heading, roll, maxTWR;
-  private volatile boolean targetApoapsisReached, dynamicPressureLowEnough = false;
-  private int apoapsisCallbackTag, pressureCallbackTag;
+  private volatile boolean targetApoapsisReached,
+      dynamicPressureLowEnough,
+      isLiftoffRunning = false;
+  private int apoapsisCallbackTag, pressureCallbackTag, utCallbackTag;
   private Stream<Float> pressureStream;
+  private Stream<Double> utStream;
   private boolean willDecoupleStages, willOpenPanelsAndAntenna;
   private String gravityCurveModel = Module.CIRCULAR.get();
   private Navigation navigation;
+  private LIFTOFF_MODE liftoffMode;
+  private double startCurveAlt;
 
   public LiftoffController(
       ConnectionManager connectionManager,
@@ -38,6 +50,65 @@ public LiftoffController(
     initializeParameters();
   }
 
+  @Override
+  public void run() {
+    try {
+      isLiftoffRunning = true;
+
+      // Part 1: Blocking Countdown and Launch
+      if (getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
+        throttleUp(getMaxThrottleForTWR(1.4), 1);
+        for (double count = 5.0; count >= 0; count -= 0.1) {
+          if (Thread.interrupted()) throw new InterruptedException();
+          setCurrentStatus(String.format(Bundle.getString("status_launching_in"), count));
+          Thread.sleep(100);
+        }
+        setCurrentStatus(Bundle.getString("status_liftoff"));
+        getActiveVessel().getControl().activateNextStage();
+      } else {
+        throttle(1.0f);
+      }
+
+      // Part 2: Async Gravity Turn
+      liftoffMode = LIFTOFF_MODE.GRAVITY_TURN; // Set initial state for async phase
+      setupCallbacks(); // This starts the UT stream
+      tuneAutoPilot();
+      startCurveAlt = altitude.get();
+      ap.setReferenceFrame(surfaceReferenceFrame);
+      ap.targetPitchAndHeading(currentPitch, heading);
+      ap.setTargetRoll(this.roll);
+      ap.engage();
+
+      // Loop to keep thread alive while async part runs
+      while (isLiftoffRunning) {
+        if (Thread.interrupted()) throw new InterruptedException();
+        Thread.sleep(250);
+      }
+    } catch (RPCException | InterruptedException | StreamException e) {
+      cleanup();
+      setCurrentStatus(Bundle.getString("status_ready"));
+    }
+  }
+
+  public void setHeading(float heading) {
+    final int MIN_HEADING = 0;
+    final int MAX_HEADING = 360;
+    this.heading = (float) Utilities.clamp(heading, MIN_HEADING, MAX_HEADING);
+  }
+
+  public void setRoll(float roll) {
+    final int MIN_ROLL = 0;
+    final int MAX_ROLL = 360;
+    this.roll = (float) Utilities.clamp(roll, MIN_ROLL, MAX_ROLL);
+  }
+
+  public void setFinalApoapsisAlt(float finalApoapsisAlt) {
+    final int MIN_FINAL_APOAPSIS = 10000;
+    final int MAX_FINAL_APOAPSIS = 2000000;
+    this.finalApoapsisAlt =
+        (float) Utilities.clamp(finalApoapsisAlt, MIN_FINAL_APOAPSIS, MAX_FINAL_APOAPSIS);
+  }
+
   private void initializeParameters() {
     currentPitch = PITCH_UP;
     setFinalApoapsisAlt(Float.parseFloat(commands.get(Module.APOAPSIS.get())));
@@ -45,82 +116,75 @@ private void initializeParameters() {
     setRoll(Float.parseFloat(commands.get(Module.ROLL.get())));
     maxTWR =
         (float) Utilities.clamp(Float.parseFloat(commands.get(Module.MAX_TWR.get())), 1.2, 5.0);
-    setGravityCurveModel(commands.get(Module.INCLINATION.get()));
+    gravityCurveModel = commands.get(Module.INCLINATION.get());
     willOpenPanelsAndAntenna = Boolean.parseBoolean(commands.get(Module.OPEN_PANELS.get()));
     willDecoupleStages = Boolean.parseBoolean(commands.get(Module.STAGE.get()));
     thrControl = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
     thrControl.setOutput(0.0, 1.0);
   }
 
-  @Override
-  public void run() {
-    try {
-      // Apoapsis Check using Stream Callback
-      apoapsisCallbackTag =
-          apoapsis.addCallback(
-              (apo) -> {
-                if (apo >= getFinalApoapsis()) {
-                  targetApoapsisReached = true;
-                  apoapsis.removeCallback(apoapsisCallbackTag);
-                }
-              });
-      apoapsis.start();
-
-      // Dynamic Pressure Check using Stream Callback
-      pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
-      pressureCallbackTag =
-          pressureStream.addCallback(
-              (pressure) -> {
-                if (pressure <= 10) {
-                  dynamicPressureLowEnough = true;
-                  pressureStream.removeCallback(pressureCallbackTag);
-                }
-              });
-      pressureStream.start();
+  private void setupCallbacks() throws RPCException, StreamException {
+    apoapsisCallbackTag =
+        apoapsis.addCallback(
+            (apo) -> {
+              if (apo >= finalApoapsisAlt) {
+                targetApoapsisReached = true;
+              }
+            });
+    apoapsis.start();
 
-      tuneAutoPilot();
-      liftoff();
-      gravityCurve();
-      finalizeCurve();
-      circularizeOrbitOnApoapsis();
-    } catch (RPCException | InterruptedException | StreamException e) {
-      cleanup();
-      setCurrentStatus(Bundle.getString("status_ready"));
-    }
+    pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
+    pressureCallbackTag =
+        pressureStream.addCallback(
+            (pressure) -> {
+              if (pressure <= 10) {
+                dynamicPressureLowEnough = true;
+              }
+            });
+    pressureStream.start();
+
+    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utCallbackTag =
+        utStream.addCallback(
+            (ut) -> {
+              try {
+                if (!isLiftoffRunning) {
+                  utStream.removeCallback(utCallbackTag);
+                  return;
+                }
+                handleLiftoff();
+              } catch (Exception e) {
+                System.err.println("Liftoff UT Callback error: " + e.getMessage());
+              }
+            });
+    utStream.start();
   }
 
-  private void cleanup() {
-    try {
-      apoapsis.removeCallback(apoapsisCallbackTag);
-      pressureStream.removeCallback(pressureCallbackTag);
-      pressureStream.remove();
-      ap.disengage();
-      throttle(0);
-    } catch (RPCException e) {
-      // ignore
+  private void handleLiftoff() throws RPCException, StreamException, InterruptedException {
+    switch (liftoffMode) {
+      case GRAVITY_TURN:
+        gravityTurn();
+        break;
+      case FINALIZE_ORBIT:
+        finalizeOrbit();
+        break;
+      case CIRCULARIZE:
+        circularizeOrbitOnApoapsis();
+        isLiftoffRunning = false;
+        break;
     }
   }
 
-  private void gravityCurve() throws RPCException, StreamException, InterruptedException {
-    ap.setReferenceFrame(surfaceReferenceFrame);
-    ap.targetPitchAndHeading(currentPitch, getHeading());
-    ap.setTargetRoll(getRoll());
-    ap.engage();
-    throttle(getMaxThrottleForTWR(maxTWR));
-    double startCurveAlt = altitude.get();
-
-    while (currentPitch > 1 && !targetApoapsisReached) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
-      }
+  private void gravityTurn() throws RPCException, StreamException, InterruptedException {
+    if (currentPitch > 1 && !targetApoapsisReached) {
       double altitudeProgress =
-          Utilities.remap(startCurveAlt, getFinalApoapsis(), 1, 0.01, altitude.get(), false);
+          Utilities.remap(startCurveAlt, finalApoapsisAlt, 1, 0.01, altitude.get(), false);
       currentPitch = (float) (calculateCurrentPitch(altitudeProgress));
       double currentMaxTWR = calculateTWRBasedOnPressure(currentPitch);
       ap.setTargetPitch(currentPitch);
       double throttleValue =
           Math.min(
-              thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000),
+              thrControl.calculate(apoapsis.get() / finalApoapsisAlt * 1000, 1000),
               getMaxThrottleForTWR(currentMaxTWR));
       throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
 
@@ -129,8 +193,45 @@ private void gravityCurve() throws RPCException, StreamException, InterruptedExc
       }
       setCurrentStatus(
           String.format(Bundle.getString("status_liftoff_inclination") + " %.1f", currentPitch));
+    } else {
+      throttle(0);
+      liftoffMode = LIFTOFF_MODE.FINALIZE_ORBIT;
+    }
+  }
+
+  private void finalizeOrbit() throws RPCException, StreamException, InterruptedException {
+    if (!dynamicPressureLowEnough) {
+      setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
+      getActiveVessel().getControl().setRCS(true);
+      navigation.aimAtPrograde();
+      throttle(thrControl.calculate(apoapsis.get() / finalApoapsisAlt * 1000, 1000));
+    } else {
+      throttle(0.0f);
+      if (willDecoupleStages) {
+        jettisonFairings();
+      }
+      if (willOpenPanelsAndAntenna) {
+        openPanelsAndAntenna();
+      }
+      apoapsis.removeCallback(apoapsisCallbackTag);
+      pressureStream.removeCallback(pressureCallbackTag);
+      liftoffMode = LIFTOFF_MODE.CIRCULARIZE;
+    }
+  }
+
+  private void cleanup() {
+    try {
+      isLiftoffRunning = false;
+      apoapsis.removeCallback(apoapsisCallbackTag);
+      pressureStream.removeCallback(pressureCallbackTag);
+      utStream.removeCallback(utCallbackTag);
+      pressureStream.remove();
+      utStream.remove();
+      ap.disengage();
+      throttle(0);
+    } catch (RPCException | NullPointerException e) {
+      // ignore
     }
-    throttle(0);
   }
 
   private double calculateTWRBasedOnPressure(float currentPitch) throws RPCException {
@@ -141,26 +242,6 @@ private double calculateTWRBasedOnPressure(float currentPitch) throws RPCExcepti
     return Utilities.remap(22000.0, 10.0, maxTWR, 5.0, currentPressure, true);
   }
 
-  private void finalizeCurve() throws RPCException, StreamException, InterruptedException {
-    setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
-    getActiveVessel().getControl().setRCS(true);
-
-    while (!dynamicPressureLowEnough) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
-      }
-      navigation.aimAtPrograde();
-      throttle(thrControl.calculate(apoapsis.get() / getFinalApoapsis() * 1000, 1000));
-    }
-    throttle(0.0f);
-    if (willDecoupleStages) {
-      jettisonFairings();
-    }
-    if (willOpenPanelsAndAntenna) {
-      openPanelsAndAntenna();
-    }
-  }
-
   private void circularizeOrbitOnApoapsis() {
     setCurrentStatus(Bundle.getString("status_planning_orbit"));
     Map<String, String> commands = new HashMap<>();
@@ -178,7 +259,7 @@ private void jettisonFairings() throws RPCException, InterruptedException {
         if (f.getJettisoned()) {
           String eventName = f.getPart().getModules().get(0).getEvents().get(0);
           f.getPart().getModules().get(0).triggerEvent(eventName);
-          Thread.sleep(10000);
+          Thread.sleep(5000);
         }
       }
     }
@@ -215,39 +296,4 @@ private boolean isCurrentStageWithoutFuel() throws RPCException {
     }
     return false;
   }
-
-  public float getHeading() {
-    return heading;
-  }
-
-  public void setHeading(float heading) {
-    final int MIN_HEADING = 0;
-    final int MAX_HEADING = 360;
-    this.heading = (float) Utilities.clamp(heading, MIN_HEADING, MAX_HEADING);
-  }
-
-  public float getFinalApoapsis() {
-    return finalApoapsisAlt;
-  }
-
-  public float getRoll() {
-    return this.roll;
-  }
-
-  public void setRoll(float roll) {
-    final int MIN_ROLL = 0;
-    final int MAX_ROLL = 360;
-    this.roll = (float) Utilities.clamp(roll, MIN_ROLL, MAX_ROLL);
-  }
-
-  private void setGravityCurveModel(String model) {
-    this.gravityCurveModel = model;
-  }
-
-  public void setFinalApoapsisAlt(float finalApoapsisAlt) {
-    final int MIN_FINAL_APOAPSIS = 10000;
-    final int MAX_FINAL_APOAPSIS = 2000000;
-    this.finalApoapsisAlt =
-        (float) Utilities.clamp(finalApoapsisAlt, MIN_FINAL_APOAPSIS, MAX_FINAL_APOAPSIS);
-  }
 }

From a6ed049d20125d645879baacbba7f063da4c26f8 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 23:37:35 -0300
Subject: [PATCH 13/25] [MP-8]: Refactored LandingController

---
 .../controllers/LandingController.java        | 292 ++++++++++--------
 1 file changed, 161 insertions(+), 131 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index 161152e..faab03c 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -18,6 +18,8 @@ public class LandingController extends Controller {
   private enum MODE {
     APPROACHING,
     DEORBITING,
+    ORIENTING_DEORBIT,
+    EXECUTING_DEORBIT_BURN,
     GOING_DOWN,
     GOING_UP,
     HOVERING,
@@ -34,12 +36,12 @@ private enum MODE {
   private ControlePID velocityCtrl;
   private Navigation navigation;
   private final int HUNDRED_PERCENT = 100;
-  private double altitudeErrorPercentage, hoverAltitude;
+  private double altitudeErrorPercentage, hoverAltitude, targetPeriapsis;
   private boolean hoveringMode, hoverAfterApproximation, landingMode;
   private MODE currentMode;
   private float maxTWR;
 
-  private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling = false;
+  private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling, wasAirborne = false;
   private int isOrientedCallbackTag,
       isDeorbitBurnDoneCallbackTag,
       isFallingCallbackTag,
@@ -70,56 +72,43 @@ public void run() {
         if (Thread.interrupted()) {
           throw new InterruptedException();
         }
-        Thread.sleep(1000);
+        Thread.sleep(100);
       }
-    } catch (InterruptedException | RPCException | StreamException e) {
+    } catch (InterruptedException e) {
+      Thread.currentThread().interrupt(); // Restore interrupted status
+      System.err.println("Controle de Pouso finalizado via interrupção.");
+    } catch (RPCException | StreamException e) {
       System.err.println("Erro no run do landingController:" + e.getMessage());
+      setCurrentStatus(Bundle.getString("status_data_unavailable"));
+    } finally {
       cleanup();
-      setCurrentStatus(Bundle.getString("status_ready"));
     }
   }
 
   private void initializeParameters() {
-    altitudeCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
-    velocityCtrl = new ControlePID(getConnectionManager().getSpaceCenter(), sleepTime);
+    maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
+    hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
+    altitudeCtrl = new ControlePID(spaceCenter, sleepTime);
+    velocityCtrl = new ControlePID(spaceCenter, sleepTime);
     altitudeCtrl.setOutput(0, 1);
     velocityCtrl.setOutput(0, 1);
   }
 
-  private void hoverArea() {
-    try {
-      hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-      hoveringMode = true;
-      ap.engage();
-      tuneAutoPilot();
-      while (hoveringMode) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        altitudeErrorPercentage = surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
-        if (altitudeErrorPercentage > HUNDRED_PERCENT) {
-          currentMode = MODE.GOING_DOWN;
-        } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
-          currentMode = MODE.GOING_UP;
-        } else {
-          currentMode = MODE.HOVERING;
-        }
-        changeControlMode();
-      }
-    } catch (InterruptedException | RPCException | StreamException e) {
-      cleanup();
-      setCurrentStatus(Bundle.getString("status_ready"));
-    }
+  private void hoverArea() throws RPCException, StreamException, InterruptedException {
+    hoveringMode = true;
+    ap.engage();
+    tuneAutoPilot();
+    setupCallbacks();
   }
 
   private void autoLanding() throws RPCException, StreamException, InterruptedException {
     landingMode = true;
-    maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
     hoverAfterApproximation = Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
-    hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
     if (!hoverAfterApproximation) {
       hoverAltitude = 100;
     }
+    altitudeCtrl.reset();
+    velocityCtrl.reset();
     setCurrentStatus(Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
     currentMode = MODE.DEORBITING;
     ap.engage();
@@ -127,8 +116,6 @@ private void autoLanding() throws RPCException, StreamException, InterruptedExce
     getActiveVessel().getControl().setBrakes(true);
     setCurrentStatus(Bundle.getString("status_starting_landing"));
     setupCallbacks();
-    altitudeCtrl.reset();
-    velocityCtrl.reset();
   }
 
   private void setupCallbacks() throws RPCException, StreamException {
@@ -148,11 +135,19 @@ private void setupCallbacks() throws RPCException, StreamException {
         periapsis.addCallback(
             p -> {
               try {
-                if (p <= -apoapsis.get()) {
-                  isDeorbitBurnDone = true;
-                  periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
+                if (isDeorbitBurnDone) return; // Stop if flag is already set
+
+                if (currentMode == MODE.EXECUTING_DEORBIT_BURN) {
+                  // During de-orbit, actively control throttle
+                  if (p <= targetPeriapsis) {
+                    isDeorbitBurnDone = true;
+                    throttle(0.0f);
+                    periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
+                  } else {
+                    throttle(altitudeCtrl.calculate(targetPeriapsis, p));
+                  }
                 }
-              } catch (RPCException | StreamException e) {
+              } catch (RPCException e) {
                 System.err.println("isDeorbitBurnDoneCallbackTag error: " + e.getMessage());
               }
             });
@@ -161,7 +156,7 @@ private void setupCallbacks() throws RPCException, StreamException {
     isFallingCallbackTag =
         verticalVelocity.addCallback(
             (vv) -> {
-              if (vv <= 0) {
+              if (vv <= -1) {
                 isFalling = true;
                 verticalVelocity.removeCallback(isFallingCallbackTag);
               }
@@ -172,11 +167,21 @@ private void setupCallbacks() throws RPCException, StreamException {
         utStream.addCallback(
             (ut) -> {
               try {
-                if (!landingMode) {
+                if (landingMode) {
+                  executeLandingStep();
+                } else if (hoveringMode) {
+                  altitudeErrorPercentage = surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
+                  if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.05) {
+                    currentMode = MODE.GOING_DOWN;
+                  } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.95) {
+                    currentMode = MODE.GOING_UP;
+                  } else {
+                    currentMode = MODE.HOVERING;
+                  }
+                  executeHoverStep();
+                } else {
                   utStream.removeCallback(utCallbackTag);
-                  return;
                 }
-                changeControlMode();
               } catch (Exception e) {
                 System.err.println("UT Callback error: " + e.getMessage());
               }
@@ -190,14 +195,38 @@ private void setupCallbacks() throws RPCException, StreamException {
     utStream.start();
   }
 
-  private void changeControlMode() throws RPCException, StreamException, InterruptedException {
-    adjustPIDbyTWR();
-    double velPID, altPID = 0;
+  private void executeLandingStep() throws RPCException, StreamException, InterruptedException {
+    adjustLandingPID();
     // Change vessel behavior depending on which mode is active
     switch (currentMode) {
       case DEORBITING:
-        deOrbitShip();
-        currentMode = MODE.WAITING;
+        if (getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
+            || getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
+          setCurrentStatus(Bundle.getString("status_going_suborbital"));
+          getActiveVessel().getControl().setRCS(true);
+          throttle(0.0f);
+          targetPeriapsis = currentBody.getAtmosphereDepth();
+          targetPeriapsis =
+              targetPeriapsis > 0 ? targetPeriapsis / 2 : -currentBody.getEquatorialRadius() / 2;
+          currentMode = MODE.ORIENTING_DEORBIT;
+        } else {
+          currentMode = MODE.APPROACHING;
+        }
+        break;
+      case ORIENTING_DEORBIT:
+        setCurrentStatus(Bundle.getString("status_orienting_ship"));
+        navigation.aimForDeorbit();
+        if (isOrientedForDeorbit) {
+          currentMode = MODE.EXECUTING_DEORBIT_BURN;
+        }
+        break;
+      case EXECUTING_DEORBIT_BURN:
+        setCurrentStatus(Bundle.getString("status_lowering_periapsis"));
+        if (isDeorbitBurnDone) {
+          getActiveVessel().getControl().setRCS(false);
+          throttle(0.0f);
+          currentMode = MODE.WAITING;
+        }
         break;
       case WAITING:
         if (isFalling) {
@@ -212,22 +241,15 @@ private void changeControlMode() throws RPCException, StreamException, Interrupt
         velocityCtrl.setOutput(0, 1);
         double currentVelocity = calculateCurrentVelocityMagnitude();
         double zeroVelocity = calculateZeroVelocityMagnitude();
-        double landingDistanceThreshold = Math.max(hoverAltitude, getMaxAcel(maxTWR) * 3);
+        double landingDistanceThreshold = Math.max(hoverAltitude, getMaxAcel(maxTWR) * 5);
         double threshold =
             Utilities.clamp(
                 ((currentVelocity + zeroVelocity) - landingDistanceThreshold)
-                    / landingDistanceThreshold / sleepTime,
+                    / landingDistanceThreshold,
                 0,
                 1);
-        System.out.println(
-            "Current: "
-                + currentVelocity / sleepTime
-                + " Zero: "
-                + zeroVelocity / sleepTime
-                + " Threshold: "
-                + threshold);
-        altPID = altitudeCtrl.calculate(currentVelocity / sleepTime, zeroVelocity / sleepTime);
-        velPID =
+        double altPID = altitudeCtrl.calculate(currentVelocity, zeroVelocity);
+        double velPID =
             velocityCtrl.calculate(
                 verticalVelocity.get(), (-Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20)));
         throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
@@ -244,9 +266,28 @@ private void changeControlMode() throws RPCException, StreamException, Interrupt
         }
         setCurrentStatus("Se aproximando do momento do pouso...");
         break;
+      case LANDING:
+        if (hasTheVesselLanded()) break;
+        controlThrottleByMatchingVerticalVelocity(
+            horizontalVelocity.get() > 4
+                ? 0
+                : -Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20));
+        navigation.aimForLanding();
+        setCurrentStatus("Pousando...");
+        break;
+      default:
+        break;
+    }
+  }
+
+  private void executeHoverStep() throws RPCException, StreamException, InterruptedException {
+    if (hasTheVesselLanded()) {
+      hoveringMode = false;
+      return;
+    }
+    adjustHoverPID();
+    switch (currentMode) {
       case GOING_UP:
-        altitudeCtrl.reset();
-        velocityCtrl.reset();
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
         throttle(
@@ -256,24 +297,11 @@ private void changeControlMode() throws RPCException, StreamException, Interrupt
         setCurrentStatus("Subindo altitude...");
         break;
       case GOING_DOWN:
-        altitudeCtrl.reset();
-        velocityCtrl.reset();
         controlThrottleByMatchingVerticalVelocity(-MAX_VELOCITY);
         navigation.aimAtRadialOut();
         setCurrentStatus("Baixando altitude...");
         break;
-      case LANDING:
-        if (hasTheVesselLanded()) break;
-        controlThrottleByMatchingVerticalVelocity(
-            horizontalVelocity.get() > 4
-                ? 0
-                : -Utilities.clamp(surfaceAltitude.get() * 0.1, 1, 10));
-        navigation.aimForLanding();
-        setCurrentStatus("Pousando...");
-        break;
       case HOVERING:
-        altitudeCtrl.reset();
-        velocityCtrl.reset();
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
         throttle(
@@ -282,20 +310,46 @@ private void changeControlMode() throws RPCException, StreamException, Interrupt
         navigation.aimAtRadialOut();
         setCurrentStatus("Sobrevoando area...");
         break;
+      default:
+        break;
     }
   }
 
-  private void adjustPIDbyTWR() throws RPCException, StreamException {
-    // double currentTWR = Math.min(getTWR(), maxTWR);
-    // // double currentTWR = getMaxAcel(maxTWR);
-    // double pGain = currentTWR / (sleepTime);
-    // System.out.println(pGain);
-    // altitudeCtrl.setPIDValues(pGain * 0.1, 0.0002, pGain * 0.1 * 2);
-    // velocityCtrl.setPIDValues(pGain * 0.1, 0.1, 0.001);
-    double currentTWR = getMaxAcel(maxTWR);
-    double pGain = Math.min(getTWR(), maxTWR);
-    altitudeCtrl.setPIDValues(currentTWR * velP * velP, 0.1, velD);
-    velocityCtrl.setPIDValues(pGain * velP, 0.1, velD);
+  private void adjustLandingPID() throws RPCException, StreamException {
+    double maxAccel = getMaxAcel(maxTWR);
+    double currentTWR = Math.min(getTWR(), maxTWR);
+
+    if (currentMode == MODE.APPROACHING) {
+      // 1. Calcula a distância de trajetória restante (usando o método que já temos)
+      double trajectoryLength = calculateCurrentVelocityMagnitude();
+      // 2. Calcula a velocidade total (vetorial)
+      double totalVelocity =
+          Math.sqrt(Math.pow(verticalVelocity.get(), 2) + Math.pow(horizontalVelocity.get(), 2));
+
+      // 3. Calcula o tempo de impacto baseado na TRAJETÓRIA
+      double timeToImpact = 10.0; // Default seguro
+      if (totalVelocity > 1) { // Evita divisão por zero
+        timeToImpact = Utilities.clamp(trajectoryLength / totalVelocity, 0.5, 20);
+      }
+
+      // O resto da lógica permanece o mesmo, mas agora usando o novo timeToImpact
+      double Kp = (currentTWR * velP) / timeToImpact;
+      double Kd = Kp * (velD / velP);
+      double Ki = 0.0;
+      altitudeCtrl.setPIDValues(Kp, Ki, Kd);
+    } else {
+      // Para outros modos, usa um PID mais simples e estável
+      altitudeCtrl.setPIDValues(maxAccel * velP, velI, velD);
+    }
+
+    // O controlador de velocidade pode usar uma sintonia mais simples
+    velocityCtrl.setPIDValues(currentTWR * velP, velI, velD);
+  }
+
+  private void adjustHoverPID() throws RPCException, StreamException {
+    double currentTWR = Math.min(getTWR(), maxTWR);
+    altitudeCtrl.setPIDValues(currentTWR * velP, currentTWR * velI, currentTWR * velD);
+    velocityCtrl.setPIDValues(currentTWR * velP, currentTWR * velI, currentTWR * velD);
   }
 
   private void controlThrottleByMatchingVerticalVelocity(double velocityToMatch)
@@ -305,44 +359,11 @@ private void controlThrottleByMatchingVerticalVelocity(double velocityToMatch)
         velocityCtrl.calculate(verticalVelocity.get(), velocityToMatch + horizontalVelocity.get()));
   }
 
-  private void deOrbitShip() throws RPCException, InterruptedException, StreamException {
-    throttle(0.0f);
-    if (getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
-        || getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
-
-      setCurrentStatus(Bundle.getString("status_going_suborbital"));
-      ap.engage();
-      getActiveVessel().getControl().setRCS(true);
-
-      while (!isOrientedForDeorbit) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        navigation.aimForLanding();
-        setCurrentStatus(Bundle.getString("status_orienting_ship"));
-        Thread.sleep(100); // Prevent tight loop while waiting for event
-      }
-
-      double targetPeriapsis = currentBody.getAtmosphereDepth();
-      targetPeriapsis =
-          targetPeriapsis > 0 ? targetPeriapsis / 2 : -currentBody.getEquatorialRadius() / 2;
-
-      while (!isDeorbitBurnDone) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        navigation.aimForLanding();
-        throttle(altitudeCtrl.calculate(targetPeriapsis, periapsis.get()));
-        setCurrentStatus(Bundle.getString("status_lowering_periapsis"));
-      }
-      getActiveVessel().getControl().setRCS(false);
-      throttle(0.0f);
-    }
-  }
-
   private boolean hasTheVesselLanded() throws RPCException {
-    if (getActiveVessel().getSituation().equals(VesselSituation.LANDED)
-        || getActiveVessel().getSituation().equals(VesselSituation.SPLASHED)) {
+    VesselSituation situation = getActiveVessel().getSituation();
+    if (wasAirborne
+        && (situation.equals(VesselSituation.LANDED)
+            || situation.equals(VesselSituation.SPLASHED))) {
       setCurrentStatus(Bundle.getString("status_landed"));
       hoveringMode = false;
       landingMode = false;
@@ -353,6 +374,12 @@ private boolean hasTheVesselLanded() throws RPCException {
       ap.disengage();
       return true;
     }
+    // If we are not landed, we must be airborne
+    if (!situation.equals(VesselSituation.LANDED)
+        && !situation.equals(VesselSituation.SPLASHED)
+        && !situation.equals(VesselSituation.PRE_LAUNCH)) {
+      wasAirborne = true;
+    }
     return false;
   }
 
@@ -379,16 +406,19 @@ private void cleanup() {
     try {
       landingMode = false;
       hoveringMode = false;
-      utStream.removeCallback(utCallbackTag);
-      utStream.remove();
-      apErrorStream.removeCallback(isOrientedCallbackTag);
-      apErrorStream.remove();
-      periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
-      verticalVelocity.removeCallback(isFallingCallbackTag);
-      ap.disengage();
+      if (ap != null) {
+        ap.disengage();
+      }
+      if (apErrorStream != null) {
+        apErrorStream.remove();
+      }
+      if (utStream != null) {
+        utStream.remove();
+      }
       throttle(0);
-    } catch (RPCException e) {
-      // ignore
+      setCurrentStatus(Bundle.getString("status_ready"));
+    } catch (RPCException | NullPointerException e) {
+      System.err.println("Erro durante a limpeza do LandingController: " + e.getMessage());
     }
   }
 }

From dd2b74feddbad51cdd30ecc660b5879e042d2dc1 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Thu, 2 Oct 2025 23:49:46 -0300
Subject: [PATCH 14/25] [MP-8]: Refactoring DockingController to use callbacks
 on streams

---
 .gitignore                                    |   1 +
 .../controllers/DockingController.java        | 248 +++++++++++-------
 2 files changed, 157 insertions(+), 92 deletions(-)

diff --git a/.gitignore b/.gitignore
index 7b89667..9b1d9de 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,3 +13,4 @@ local.properties
 workspace.xml
 settings.json
 target/
+GEMINI.MD
diff --git a/src/main/java/com/pesterenan/controllers/DockingController.java b/src/main/java/com/pesterenan/controllers/DockingController.java
index aac2165..9004282 100644
--- a/src/main/java/com/pesterenan/controllers/DockingController.java
+++ b/src/main/java/com/pesterenan/controllers/DockingController.java
@@ -9,20 +9,41 @@
 import com.pesterenan.views.DockingJPanel;
 import java.util.Map;
 import krpc.client.RPCException;
+import krpc.client.Stream;
+import krpc.client.StreamException;
 import krpc.client.services.Drawing;
 import krpc.client.services.Drawing.Line;
+import krpc.client.services.KRPC;
 import krpc.client.services.SpaceCenter.Control;
 import krpc.client.services.SpaceCenter.DockingPort;
+import krpc.client.services.SpaceCenter.DockingPortState;
 import krpc.client.services.SpaceCenter.ReferenceFrame;
 import krpc.client.services.SpaceCenter.SASMode;
 import krpc.client.services.SpaceCenter.Vessel;
 
 public class DockingController extends Controller {
 
+  private enum DockingPhase {
+    SETUP,
+    ORIENT_TO_TARGET,
+    APPROACH_TARGET,
+    ORIENT_TO_PORT,
+    FINAL_APPROACH,
+    FINISHED
+  }
+
+  private enum DOCKING_STEPS {
+    APPROACH,
+    STOP_RELATIVE_SPEED,
+    LINE_UP_WITH_TARGET,
+    GO_IN_FRONT_OF_TARGET
+  }
+
   private Drawing drawing;
   private Vessel targetVessel;
-  private Control control;
 
+  private Control control;
+  private KRPC krpc;
   private ReferenceFrame orbitalRefVessel;
   private ReferenceFrame vesselRefFrame;
   private Line distanceLine;
@@ -31,9 +52,9 @@ public class DockingController extends Controller {
   private Line distLineZAxis;
   private DockingPort myDockingPort;
   private DockingPort targetDockingPort;
+
   private Vector positionMyDockingPort;
   private Vector positionTargetDockingPort;
-
   private double DOCKING_MAX_SPEED = 3.0;
   private double SAFE_DISTANCE = 25.0;
   private double currentXAxisSpeed = 0.0;
@@ -43,8 +64,17 @@ public class DockingController extends Controller {
   private double lastYTargetPos = 0.0;
   private double lastZTargetPos = 0.0;
   private long sleepTime = 25;
+
   private DOCKING_STEPS dockingStep;
   private ConnectionManager connectionManager;
+  private boolean isDocking, isOriented = false;
+
+  private Stream<Double> utStream;
+  private Stream<Double> errorStream;
+
+  private int utCallbackTag, errorCallbackTag;
+
+  private DockingPhase currentPhase;
 
   public DockingController(
       ConnectionManager connectionManager,
@@ -56,6 +86,47 @@ public DockingController(
     initializeParameters();
   }
 
+  @Override
+  public void run() {
+    if (commands.get(Module.MODULO.get()).equals(Module.DOCKING.get())) {
+      try {
+        startDocking();
+        while (isDocking) {
+          if (Thread.interrupted()) {
+            throw new InterruptedException();
+          }
+          Thread.sleep(250);
+        }
+      } catch (RPCException | InterruptedException | StreamException | IllegalArgumentException e) {
+        cleanup();
+        setCurrentStatus("Docking interrupted: " + e.getMessage());
+      }
+    }
+  }
+
+  public void startDocking() throws RPCException, StreamException {
+    isDocking = true;
+    krpc = KRPC.newInstance(connectionManager.getConnection());
+    currentPhase = DockingPhase.SETUP;
+
+    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utCallbackTag =
+        utStream.addCallback(
+            (ut) -> {
+              try {
+                if (isDocking) {
+                  updateDockingState();
+                } else {
+                  utStream.removeCallback(utCallbackTag);
+                }
+              } catch (Exception e) {
+                setCurrentStatus("Docking failed: " + e.getMessage());
+                cleanup();
+              }
+            });
+    utStream.start();
+  }
+
   private void initializeParameters() {
     try {
       DOCKING_MAX_SPEED = Double.parseDouble(commands.get(Module.MAX_SPEED.get()));
@@ -76,96 +147,68 @@ private void initializeParameters() {
     }
   }
 
-  @Override
-  public void run() {
-    if (commands.get(Module.MODULO.get()).equals(Module.DOCKING.get())) {
-      startDocking();
-    }
-  }
-
-  private void pointToTarget(Vector targetDirection) throws RPCException, InterruptedException {
-    getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
-    getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
-    getActiveVessel().getAutoPilot().setTargetRoll(90);
-    getActiveVessel().getAutoPilot().engage();
-    // Fazer a nave apontar usando o piloto automático, na marra
-    while (Math.abs(getActiveVessel().getAutoPilot().getError()) > 3) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
-      }
-      Thread.sleep(100);
-      System.out.println(getActiveVessel().getAutoPilot().getError());
-    }
-    getActiveVessel().getAutoPilot().disengage();
-    control.setSAS(true);
-    control.setSASMode(SASMode.STABILITY_ASSIST);
-  }
-
-  private void getCloserToTarget(Vector targetPosition) throws InterruptedException, RPCException {
-    lastXTargetPos = targetPosition.x;
-    lastYTargetPos = targetPosition.y;
-    lastZTargetPos = targetPosition.z;
-
-    while (Math.abs(lastYTargetPos) >= SAFE_DISTANCE) {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
-      }
-      targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-      controlShipRCS(targetPosition, SAFE_DISTANCE);
-      Thread.sleep(sleepTime);
-    }
-  }
-
-  public void startDocking() {
-    try {
-      // Setting up the control
-      control.setSAS(true);
-      control.setRCS(false);
-      control.setSASMode(SASMode.STABILITY_ASSIST);
-      createLines(positionMyDockingPort, positionTargetDockingPort);
-
-      // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
-      Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-      if (targetPosition.magnitude() > SAFE_DISTANCE) {
-        // Apontar para o alvo:
-        Vector targetDirection =
-            new Vector(getActiveVessel().position(orbitalRefVessel))
-                .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
-                .multiply(-1);
-        pointToTarget(targetDirection);
-
+  private void updateDockingState() throws RPCException, StreamException, InterruptedException {
+    Vector targetPosition;
+    switch (currentPhase) {
+      case SETUP:
+        setCurrentStatus("Setting up for docking...");
+        control.setSAS(true);
+        control.setRCS(false);
+        control.setSASMode(SASMode.STABILITY_ASSIST);
+        createLines(positionMyDockingPort, positionTargetDockingPort);
+        currentPhase = DockingPhase.ORIENT_TO_TARGET;
+        break;
+      case ORIENT_TO_TARGET:
+        setCurrentStatus("Orienting to target vessel...");
+        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+        if (targetPosition.magnitude() > SAFE_DISTANCE) {
+          Vector targetDirection =
+              new Vector(getActiveVessel().position(orbitalRefVessel))
+                  .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
+                  .multiply(-1);
+          pointToTarget(targetDirection);
+          control.setRCS(true);
+          currentPhase = DockingPhase.APPROACH_TARGET;
+        } else {
+          currentPhase = DockingPhase.ORIENT_TO_PORT;
+        }
+        break;
+      case APPROACH_TARGET:
+        setCurrentStatus("Approaching target vessel...");
+        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+        if (targetPosition.magnitude() > SAFE_DISTANCE) {
+          controlShipRCS(targetPosition, SAFE_DISTANCE);
+        } else {
+          currentPhase = DockingPhase.ORIENT_TO_PORT;
+        }
+        break;
+      case ORIENT_TO_PORT:
+        setCurrentStatus("Orienting to docking port...");
+        control.setSAS(false);
+        control.setRCS(false);
+        Vector targetDockingPortDirection =
+            new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
+        pointToTarget(targetDockingPortDirection);
         control.setRCS(true);
-
-        getCloserToTarget(targetPosition);
-      }
-
-      control.setSAS(false);
-      control.setRCS(false);
-
-      // SEGUNDA PARTE FICAR DE FRENTE COM A DOCKING PORT:
-      Vector targetDockingPortDirection =
-          new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
-      pointToTarget(targetDockingPortDirection);
-
-      Thread.sleep(1000);
-      control.setRCS(true);
-      double safeDistance = 10;
-      while (true) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
+        if (isOriented) {
+          currentPhase = DockingPhase.FINAL_APPROACH;
         }
+        break;
+      case FINAL_APPROACH:
+        setCurrentStatus("Final approach...");
         targetPosition =
             new Vector(targetDockingPort.position(vesselRefFrame))
                 .subtract(new Vector(myDockingPort.position(vesselRefFrame)));
-        if (targetPosition.magnitude() < safeDistance) {
-          safeDistance = 1;
-        }
+        double safeDistance = targetPosition.magnitude() < 10 ? 1 : 10;
         controlShipRCS(targetPosition, safeDistance);
-        Thread.sleep(sleepTime);
-      }
-    } catch (RPCException | InterruptedException | IllegalArgumentException e) {
-      cleanup();
-      setCurrentStatus("Docking interrupted.");
+        if (myDockingPort.getState() == DockingPortState.DOCKED) {
+          setCurrentStatus("Docking successful!");
+          currentPhase = DockingPhase.FINISHED;
+        }
+        break;
+      case FINISHED:
+        cleanup();
+        break;
     }
   }
 
@@ -177,11 +220,25 @@ public void startDocking() {
    * nave primeiro, Y negativo
    */
 
-  private enum DOCKING_STEPS {
-    APPROACH,
-    STOP_RELATIVE_SPEED,
-    LINE_UP_WITH_TARGET,
-    GO_IN_FRONT_OF_TARGET
+  private void pointToTarget(Vector targetDirection)
+      throws RPCException, InterruptedException, StreamException {
+    getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
+    getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
+    getActiveVessel().getAutoPilot().setTargetRoll(90);
+    getActiveVessel().getAutoPilot().engage();
+    errorStream = connection.addStream(ap, "getError");
+    errorCallbackTag =
+        errorStream.addCallback(
+            (error) -> {
+              if (error < 3.0) {
+                isOriented = true;
+                errorStream.removeCallback(errorCallbackTag);
+              }
+            });
+    errorStream.start();
+    getActiveVessel().getAutoPilot().disengage();
+    control.setSAS(true);
+    control.setSASMode(SASMode.STABILITY_ASSIST);
   }
 
   private void controlShipRCS(Vector targetPosition, double forwardsDistanceLimit) {
@@ -335,13 +392,20 @@ private void updateLines(Vector start, Vector end) {
 
   private void cleanup() {
     try {
+      isDocking = false;
+      if (utStream != null) {
+        utStream.remove();
+      }
+      if (errorStream != null) {
+        errorStream.remove();
+      }
       distanceLine.remove();
       distLineXAxis.remove();
       distLineYAxis.remove();
       distLineZAxis.remove();
       ap.disengage();
       throttle(0);
-    } catch (RPCException e) {
+    } catch (RPCException | NullPointerException e) {
       // ignore
     }
   }

From ef4bc160fc81cb2e607a86393d283a8d07d57474 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Fri, 10 Oct 2025 09:23:44 -0300
Subject: [PATCH 15/25] [MP-8]: Finalize work on streams

---
 .../pesterenan/controllers/Controller.java    |   9 +-
 .../controllers/DockingController.java        |  47 +++---
 .../controllers/LandingController.java        | 141 ++++++++--------
 .../controllers/LiftoffController.java        |  87 +++++-----
 .../controllers/ManeuverController.java       | 150 +++++++++---------
 .../controllers/RoverController.java          | 108 +++++++------
 .../com/pesterenan/model/ActiveVessel.java    |  88 +++++++---
 .../com/pesterenan/model/VesselManager.java   |  25 ++-
 .../com/pesterenan/utils/PathFinding.java     | 108 +++++++------
 9 files changed, 414 insertions(+), 349 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/Controller.java b/src/main/java/com/pesterenan/controllers/Controller.java
index 57fd2bc..6f0f98c 100644
--- a/src/main/java/com/pesterenan/controllers/Controller.java
+++ b/src/main/java/com/pesterenan/controllers/Controller.java
@@ -1,14 +1,13 @@
 package com.pesterenan.controllers;
 
 import com.pesterenan.model.ActiveVessel;
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
 
-public class Controller extends ActiveVessel implements Runnable {
+public class Controller implements Runnable {
+  protected final ActiveVessel vessel;
   private String currentStatus = "";
 
-  public Controller(ConnectionManager connectionManager, VesselManager vesselManager) {
-    super(connectionManager, vesselManager);
+  public Controller(ActiveVessel vessel) {
+    this.vessel = vessel;
   }
 
   public void run() {
diff --git a/src/main/java/com/pesterenan/controllers/DockingController.java b/src/main/java/com/pesterenan/controllers/DockingController.java
index 9004282..894eccf 100644
--- a/src/main/java/com/pesterenan/controllers/DockingController.java
+++ b/src/main/java/com/pesterenan/controllers/DockingController.java
@@ -1,7 +1,6 @@
 package com.pesterenan.controllers;
 
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
+import com.pesterenan.model.ActiveVessel;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.Module;
 import com.pesterenan.utils.Utilities;
@@ -66,8 +65,8 @@ private enum DOCKING_STEPS {
   private long sleepTime = 25;
 
   private DOCKING_STEPS dockingStep;
-  private ConnectionManager connectionManager;
   private boolean isDocking, isOriented = false;
+  private final Map<String, String> commands;
 
   private Stream<Double> utStream;
   private Stream<Double> errorStream;
@@ -76,12 +75,8 @@ private enum DOCKING_STEPS {
 
   private DockingPhase currentPhase;
 
-  public DockingController(
-      ConnectionManager connectionManager,
-      VesselManager vesselManager,
-      Map<String, String> commands) {
-    super(connectionManager, vesselManager);
-    this.connectionManager = connectionManager;
+  public DockingController(ActiveVessel vessel, Map<String, String> commands) {
+    super(vessel);
     this.commands = commands;
     initializeParameters();
   }
@@ -106,10 +101,10 @@ public void run() {
 
   public void startDocking() throws RPCException, StreamException {
     isDocking = true;
-    krpc = KRPC.newInstance(connectionManager.getConnection());
+    krpc = KRPC.newInstance(vessel.getConnectionManager().getConnection());
     currentPhase = DockingPhase.SETUP;
 
-    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
         utStream.addCallback(
             (ut) -> {
@@ -131,13 +126,13 @@ private void initializeParameters() {
     try {
       DOCKING_MAX_SPEED = Double.parseDouble(commands.get(Module.MAX_SPEED.get()));
       SAFE_DISTANCE = Double.parseDouble(commands.get(Module.SAFE_DISTANCE.get()));
-      drawing = Drawing.newInstance(connectionManager.getConnection());
-      targetVessel = connectionManager.getSpaceCenter().getTargetVessel();
-      control = getActiveVessel().getControl();
-      vesselRefFrame = getActiveVessel().getReferenceFrame();
-      orbitalRefVessel = getActiveVessel().getOrbitalReferenceFrame();
+      drawing = Drawing.newInstance(vessel.getConnectionManager().getConnection());
+      targetVessel = vessel.getConnectionManager().getSpaceCenter().getTargetVessel();
+      control = vessel.getActiveVessel().getControl();
+      vesselRefFrame = vessel.getActiveVessel().getReferenceFrame();
+      orbitalRefVessel = vessel.getActiveVessel().getOrbitalReferenceFrame();
 
-      myDockingPort = getActiveVessel().getParts().getDockingPorts().get(0);
+      myDockingPort = vessel.getActiveVessel().getParts().getDockingPorts().get(0);
       targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
       dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
 
@@ -163,7 +158,7 @@ private void updateDockingState() throws RPCException, StreamException, Interrup
         targetPosition = new Vector(targetVessel.position(vesselRefFrame));
         if (targetPosition.magnitude() > SAFE_DISTANCE) {
           Vector targetDirection =
-              new Vector(getActiveVessel().position(orbitalRefVessel))
+              new Vector(vessel.getActiveVessel().position(orbitalRefVessel))
                   .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
                   .multiply(-1);
           pointToTarget(targetDirection);
@@ -222,11 +217,11 @@ private void updateDockingState() throws RPCException, StreamException, Interrup
 
   private void pointToTarget(Vector targetDirection)
       throws RPCException, InterruptedException, StreamException {
-    getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
-    getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
-    getActiveVessel().getAutoPilot().setTargetRoll(90);
-    getActiveVessel().getAutoPilot().engage();
-    errorStream = connection.addStream(ap, "getError");
+    vessel.getActiveVessel().getAutoPilot().setReferenceFrame(orbitalRefVessel);
+    vessel.getActiveVessel().getAutoPilot().setTargetDirection(targetDirection.toTriplet());
+    vessel.getActiveVessel().getAutoPilot().setTargetRoll(90);
+    vessel.getActiveVessel().getAutoPilot().engage();
+    errorStream = vessel.connection.addStream(vessel.ap, "getError");
     errorCallbackTag =
         errorStream.addCallback(
             (error) -> {
@@ -236,7 +231,7 @@ private void pointToTarget(Vector targetDirection)
               }
             });
     errorStream.start();
-    getActiveVessel().getAutoPilot().disengage();
+    vessel.getActiveVessel().getAutoPilot().disengage();
     control.setSAS(true);
     control.setSASMode(SASMode.STABILITY_ASSIST);
   }
@@ -403,8 +398,8 @@ private void cleanup() {
       distLineXAxis.remove();
       distLineYAxis.remove();
       distLineZAxis.remove();
-      ap.disengage();
-      throttle(0);
+      vessel.ap.disengage();
+      vessel.throttle(0);
     } catch (RPCException | NullPointerException e) {
       // ignore
     }
diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index faab03c..de94552 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -1,7 +1,6 @@
 package com.pesterenan.controllers;
 
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
+import com.pesterenan.model.ActiveVessel;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.ControlePID;
 import com.pesterenan.utils.Module;
@@ -40,6 +39,7 @@ private enum MODE {
   private boolean hoveringMode, hoverAfterApproximation, landingMode;
   private MODE currentMode;
   private float maxTWR;
+  private final Map<String, String> commands;
 
   private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling, wasAirborne = false;
   private int isOrientedCallbackTag,
@@ -49,13 +49,10 @@ private enum MODE {
   private Stream<Float> apErrorStream;
   private Stream<Double> utStream;
 
-  public LandingController(
-      ConnectionManager connectionManager,
-      VesselManager vesselManager,
-      Map<String, String> commands) {
-    super(connectionManager, vesselManager);
+  public LandingController(ActiveVessel vessel, Map<String, String> commands) {
+    super(vessel);
     this.commands = commands;
-    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    this.navigation = new Navigation(vessel.getConnectionManager(), vessel.getActiveVessel());
     this.initializeParameters();
   }
 
@@ -88,16 +85,16 @@ public void run() {
   private void initializeParameters() {
     maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
     hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-    altitudeCtrl = new ControlePID(spaceCenter, sleepTime);
-    velocityCtrl = new ControlePID(spaceCenter, sleepTime);
+    altitudeCtrl = new ControlePID(vessel.spaceCenter, sleepTime);
+    velocityCtrl = new ControlePID(vessel.spaceCenter, sleepTime);
     altitudeCtrl.setOutput(0, 1);
     velocityCtrl.setOutput(0, 1);
   }
 
   private void hoverArea() throws RPCException, StreamException, InterruptedException {
     hoveringMode = true;
-    ap.engage();
-    tuneAutoPilot();
+    vessel.ap.engage();
+    vessel.tuneAutoPilot();
     setupCallbacks();
   }
 
@@ -109,18 +106,19 @@ private void autoLanding() throws RPCException, StreamException, InterruptedExce
     }
     altitudeCtrl.reset();
     velocityCtrl.reset();
-    setCurrentStatus(Bundle.getString("status_starting_landing_at") + " " + currentBody.getName());
+    setCurrentStatus(
+        Bundle.getString("status_starting_landing_at") + " " + vessel.currentBody.getName());
     currentMode = MODE.DEORBITING;
-    ap.engage();
-    tuneAutoPilot();
-    getActiveVessel().getControl().setBrakes(true);
+    vessel.ap.engage();
+    vessel.tuneAutoPilot();
+    vessel.getActiveVessel().getControl().setBrakes(true);
     setCurrentStatus(Bundle.getString("status_starting_landing"));
     setupCallbacks();
   }
 
   private void setupCallbacks() throws RPCException, StreamException {
     // Callback for ship orientation
-    apErrorStream = connection.addStream(ap, "getError");
+    apErrorStream = vessel.connection.addStream(vessel.ap, "getError");
     isOrientedCallbackTag =
         apErrorStream.addCallback(
             (error) -> {
@@ -132,7 +130,7 @@ private void setupCallbacks() throws RPCException, StreamException {
 
     // Callback for de-orbit burn completion
     isDeorbitBurnDoneCallbackTag =
-        periapsis.addCallback(
+        vessel.periapsis.addCallback(
             p -> {
               try {
                 if (isDeorbitBurnDone) return; // Stop if flag is already set
@@ -141,10 +139,10 @@ private void setupCallbacks() throws RPCException, StreamException {
                   // During de-orbit, actively control throttle
                   if (p <= targetPeriapsis) {
                     isDeorbitBurnDone = true;
-                    throttle(0.0f);
-                    periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
+                    vessel.throttle(0.0f);
+                    vessel.periapsis.removeCallback(isDeorbitBurnDoneCallbackTag);
                   } else {
-                    throttle(altitudeCtrl.calculate(targetPeriapsis, p));
+                    vessel.throttle(altitudeCtrl.calculate(targetPeriapsis, p));
                   }
                 }
               } catch (RPCException e) {
@@ -154,15 +152,15 @@ private void setupCallbacks() throws RPCException, StreamException {
 
     // Callback for when the ship starts falling back to the ground
     isFallingCallbackTag =
-        verticalVelocity.addCallback(
+        vessel.verticalVelocity.addCallback(
             (vv) -> {
               if (vv <= -1) {
                 isFalling = true;
-                verticalVelocity.removeCallback(isFallingCallbackTag);
+                vessel.verticalVelocity.removeCallback(isFallingCallbackTag);
               }
             });
 
-    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
         utStream.addCallback(
             (ut) -> {
@@ -170,7 +168,8 @@ private void setupCallbacks() throws RPCException, StreamException {
                 if (landingMode) {
                   executeLandingStep();
                 } else if (hoveringMode) {
-                  altitudeErrorPercentage = surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
+                  altitudeErrorPercentage =
+                      vessel.surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
                   if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.05) {
                     currentMode = MODE.GOING_DOWN;
                   } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.95) {
@@ -189,9 +188,9 @@ private void setupCallbacks() throws RPCException, StreamException {
 
     // Start all streams
     apErrorStream.start();
-    apoapsis.start();
-    periapsis.start();
-    verticalVelocity.start();
+    vessel.apoapsis.start();
+    vessel.periapsis.start();
+    vessel.verticalVelocity.start();
     utStream.start();
   }
 
@@ -200,14 +199,16 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
     // Change vessel behavior depending on which mode is active
     switch (currentMode) {
       case DEORBITING:
-        if (getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
-            || getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
+        if (vessel.getActiveVessel().getSituation().equals(VesselSituation.ORBITING)
+            || vessel.getActiveVessel().getSituation().equals(VesselSituation.SUB_ORBITAL)) {
           setCurrentStatus(Bundle.getString("status_going_suborbital"));
-          getActiveVessel().getControl().setRCS(true);
-          throttle(0.0f);
-          targetPeriapsis = currentBody.getAtmosphereDepth();
+          vessel.getActiveVessel().getControl().setRCS(true);
+          vessel.throttle(0.0f);
+          targetPeriapsis = vessel.currentBody.getAtmosphereDepth();
           targetPeriapsis =
-              targetPeriapsis > 0 ? targetPeriapsis / 2 : -currentBody.getEquatorialRadius() / 2;
+              targetPeriapsis > 0
+                  ? targetPeriapsis / 2
+                  : -vessel.currentBody.getEquatorialRadius() / 2;
           currentMode = MODE.ORIENTING_DEORBIT;
         } else {
           currentMode = MODE.APPROACHING;
@@ -223,8 +224,8 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
       case EXECUTING_DEORBIT_BURN:
         setCurrentStatus(Bundle.getString("status_lowering_periapsis"));
         if (isDeorbitBurnDone) {
-          getActiveVessel().getControl().setRCS(false);
-          throttle(0.0f);
+          vessel.getActiveVessel().getControl().setRCS(false);
+          vessel.throttle(0.0f);
           currentMode = MODE.WAITING;
         }
         break;
@@ -233,7 +234,7 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
           currentMode = MODE.APPROACHING;
         } else {
           setCurrentStatus(Bundle.getString("status_waiting_for_landing"));
-          throttle(0.0f);
+          vessel.throttle(0.0f);
         }
         break;
       case APPROACHING:
@@ -241,7 +242,7 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
         velocityCtrl.setOutput(0, 1);
         double currentVelocity = calculateCurrentVelocityMagnitude();
         double zeroVelocity = calculateZeroVelocityMagnitude();
-        double landingDistanceThreshold = Math.max(hoverAltitude, getMaxAcel(maxTWR) * 5);
+        double landingDistanceThreshold = Math.max(hoverAltitude, vessel.getMaxAcel(maxTWR) * 5);
         double threshold =
             Utilities.clamp(
                 ((currentVelocity + zeroVelocity) - landingDistanceThreshold)
@@ -251,12 +252,13 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
         double altPID = altitudeCtrl.calculate(currentVelocity, zeroVelocity);
         double velPID =
             velocityCtrl.calculate(
-                verticalVelocity.get(), (-Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20)));
-        throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
+                vessel.verticalVelocity.get(),
+                (-Utilities.clamp(vessel.surfaceAltitude.get() * 0.1, 3, 20)));
+        vessel.throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
         navigation.aimForLanding();
-        if (threshold < 0.15 || surfaceAltitude.get() < landingDistanceThreshold) {
+        if (threshold < 0.15 || vessel.surfaceAltitude.get() < landingDistanceThreshold) {
           hoverAltitude = landingDistanceThreshold;
-          getActiveVessel().getControl().setGear(true);
+          vessel.getActiveVessel().getControl().setGear(true);
           if (hoverAfterApproximation) {
             landingMode = false;
             hoverArea();
@@ -269,9 +271,9 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
       case LANDING:
         if (hasTheVesselLanded()) break;
         controlThrottleByMatchingVerticalVelocity(
-            horizontalVelocity.get() > 4
+            vessel.horizontalVelocity.get() > 4
                 ? 0
-                : -Utilities.clamp(surfaceAltitude.get() * 0.1, 3, 20));
+                : -Utilities.clamp(vessel.surfaceAltitude.get() * 0.1, 3, 20));
         navigation.aimForLanding();
         setCurrentStatus("Pousando...");
         break;
@@ -290,9 +292,9 @@ private void executeHoverStep() throws RPCException, StreamException, Interrupte
       case GOING_UP:
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
-        throttle(
+        vessel.throttle(
             altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
-                + velocityCtrl.calculate(verticalVelocity.get(), MAX_VELOCITY));
+                + velocityCtrl.calculate(vessel.verticalVelocity.get(), MAX_VELOCITY));
         navigation.aimAtRadialOut();
         setCurrentStatus("Subindo altitude...");
         break;
@@ -304,9 +306,9 @@ private void executeHoverStep() throws RPCException, StreamException, Interrupte
       case HOVERING:
         altitudeCtrl.setOutput(-0.5, 0.5);
         velocityCtrl.setOutput(-0.5, 0.5);
-        throttle(
+        vessel.throttle(
             altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
-                + velocityCtrl.calculate(verticalVelocity.get(), 0));
+                + velocityCtrl.calculate(vessel.verticalVelocity.get(), 0));
         navigation.aimAtRadialOut();
         setCurrentStatus("Sobrevoando area...");
         break;
@@ -316,15 +318,17 @@ private void executeHoverStep() throws RPCException, StreamException, Interrupte
   }
 
   private void adjustLandingPID() throws RPCException, StreamException {
-    double maxAccel = getMaxAcel(maxTWR);
-    double currentTWR = Math.min(getTWR(), maxTWR);
+    double maxAccel = vessel.getMaxAcel(maxTWR);
+    double currentTWR = Math.min(vessel.getTWR(), maxTWR);
 
     if (currentMode == MODE.APPROACHING) {
       // 1. Calcula a distância de trajetória restante (usando o método que já temos)
       double trajectoryLength = calculateCurrentVelocityMagnitude();
       // 2. Calcula a velocidade total (vetorial)
       double totalVelocity =
-          Math.sqrt(Math.pow(verticalVelocity.get(), 2) + Math.pow(horizontalVelocity.get(), 2));
+          Math.sqrt(
+              Math.pow(vessel.verticalVelocity.get(), 2)
+                  + Math.pow(vessel.horizontalVelocity.get(), 2));
 
       // 3. Calcula o tempo de impacto baseado na TRAJETÓRIA
       double timeToImpact = 10.0; // Default seguro
@@ -347,7 +351,7 @@ private void adjustLandingPID() throws RPCException, StreamException {
   }
 
   private void adjustHoverPID() throws RPCException, StreamException {
-    double currentTWR = Math.min(getTWR(), maxTWR);
+    double currentTWR = Math.min(vessel.getTWR(), maxTWR);
     altitudeCtrl.setPIDValues(currentTWR * velP, currentTWR * velI, currentTWR * velD);
     velocityCtrl.setPIDValues(currentTWR * velP, currentTWR * velI, currentTWR * velD);
   }
@@ -355,23 +359,24 @@ private void adjustHoverPID() throws RPCException, StreamException {
   private void controlThrottleByMatchingVerticalVelocity(double velocityToMatch)
       throws RPCException, StreamException {
     velocityCtrl.setOutput(0, 1);
-    throttle(
-        velocityCtrl.calculate(verticalVelocity.get(), velocityToMatch + horizontalVelocity.get()));
+    vessel.throttle(
+        velocityCtrl.calculate(
+            vessel.verticalVelocity.get(), velocityToMatch + vessel.horizontalVelocity.get()));
   }
 
   private boolean hasTheVesselLanded() throws RPCException {
-    VesselSituation situation = getActiveVessel().getSituation();
+    VesselSituation situation = vessel.getActiveVessel().getSituation();
     if (wasAirborne
         && (situation.equals(VesselSituation.LANDED)
             || situation.equals(VesselSituation.SPLASHED))) {
       setCurrentStatus(Bundle.getString("status_landed"));
       hoveringMode = false;
       landingMode = false;
-      throttle(0.0f);
-      getActiveVessel().getControl().setSAS(true);
-      getActiveVessel().getControl().setRCS(true);
-      getActiveVessel().getControl().setBrakes(false);
-      ap.disengage();
+      vessel.throttle(0.0f);
+      vessel.getActiveVessel().getControl().setSAS(true);
+      vessel.getActiveVessel().getControl().setRCS(true);
+      vessel.getActiveVessel().getControl().setBrakes(false);
+      vessel.ap.disengage();
       return true;
     }
     // If we are not landed, we must be airborne
@@ -384,15 +389,15 @@ private boolean hasTheVesselLanded() throws RPCException {
   }
 
   private double calculateCurrentVelocityMagnitude() throws RPCException, StreamException {
-    double timeToGround = surfaceAltitude.get() / verticalVelocity.get();
-    double horizontalDistance = horizontalVelocity.get() * timeToGround;
-    return calculateEllipticTrajectory(horizontalDistance, surfaceAltitude.get());
+    double timeToGround = vessel.surfaceAltitude.get() / vessel.verticalVelocity.get();
+    double horizontalDistance = vessel.horizontalVelocity.get() * timeToGround;
+    return calculateEllipticTrajectory(horizontalDistance, vessel.surfaceAltitude.get());
   }
 
   private double calculateZeroVelocityMagnitude() throws RPCException, StreamException {
     double zeroVelocityDistance =
-        calculateEllipticTrajectory(horizontalVelocity.get(), verticalVelocity.get());
-    double zeroVelocityBurnTime = zeroVelocityDistance / getMaxAcel(maxTWR);
+        calculateEllipticTrajectory(vessel.horizontalVelocity.get(), vessel.verticalVelocity.get());
+    double zeroVelocityBurnTime = zeroVelocityDistance / vessel.getMaxAcel(maxTWR);
     return zeroVelocityDistance * zeroVelocityBurnTime;
   }
 
@@ -406,8 +411,8 @@ private void cleanup() {
     try {
       landingMode = false;
       hoveringMode = false;
-      if (ap != null) {
-        ap.disengage();
+      if (vessel.ap != null) {
+        vessel.ap.disengage();
       }
       if (apErrorStream != null) {
         apErrorStream.remove();
@@ -415,7 +420,7 @@ private void cleanup() {
       if (utStream != null) {
         utStream.remove();
       }
-      throttle(0);
+      vessel.throttle(0);
       setCurrentStatus(Bundle.getString("status_ready"));
     } catch (RPCException | NullPointerException e) {
       System.err.println("Erro durante a limpeza do LandingController: " + e.getMessage());
diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index a2d181b..fc65387 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -1,7 +1,6 @@
 package com.pesterenan.controllers;
 
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
+import com.pesterenan.model.ActiveVessel;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.ControlePID;
 import com.pesterenan.utils.Module;
@@ -39,14 +38,12 @@ private enum LIFTOFF_MODE {
   private Navigation navigation;
   private LIFTOFF_MODE liftoffMode;
   private double startCurveAlt;
+  private final Map<String, String> commands;
 
-  public LiftoffController(
-      ConnectionManager connectionManager,
-      VesselManager vesselManager,
-      Map<String, String> commands) {
-    super(connectionManager, vesselManager);
+  public LiftoffController(ActiveVessel vessel, Map<String, String> commands) {
+    super(vessel);
     this.commands = commands;
-    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    this.navigation = new Navigation(vessel.getConnectionManager(), vessel.getActiveVessel());
     initializeParameters();
   }
 
@@ -56,28 +53,28 @@ public void run() {
       isLiftoffRunning = true;
 
       // Part 1: Blocking Countdown and Launch
-      if (getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
-        throttleUp(getMaxThrottleForTWR(1.4), 1);
+      if (vessel.getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
+        vessel.throttleUp(vessel.getMaxThrottleForTWR(1.4), 1);
         for (double count = 5.0; count >= 0; count -= 0.1) {
           if (Thread.interrupted()) throw new InterruptedException();
           setCurrentStatus(String.format(Bundle.getString("status_launching_in"), count));
           Thread.sleep(100);
         }
         setCurrentStatus(Bundle.getString("status_liftoff"));
-        getActiveVessel().getControl().activateNextStage();
+        vessel.getActiveVessel().getControl().activateNextStage();
       } else {
-        throttle(1.0f);
+        vessel.throttle(1.0f);
       }
 
       // Part 2: Async Gravity Turn
       liftoffMode = LIFTOFF_MODE.GRAVITY_TURN; // Set initial state for async phase
       setupCallbacks(); // This starts the UT stream
-      tuneAutoPilot();
-      startCurveAlt = altitude.get();
-      ap.setReferenceFrame(surfaceReferenceFrame);
-      ap.targetPitchAndHeading(currentPitch, heading);
-      ap.setTargetRoll(this.roll);
-      ap.engage();
+      vessel.tuneAutoPilot();
+      startCurveAlt = vessel.altitude.get();
+      vessel.ap.setReferenceFrame(vessel.surfaceReferenceFrame);
+      vessel.ap.targetPitchAndHeading(currentPitch, heading);
+      vessel.ap.setTargetRoll(this.roll);
+      vessel.ap.engage();
 
       // Loop to keep thread alive while async part runs
       while (isLiftoffRunning) {
@@ -119,21 +116,21 @@ private void initializeParameters() {
     gravityCurveModel = commands.get(Module.INCLINATION.get());
     willOpenPanelsAndAntenna = Boolean.parseBoolean(commands.get(Module.OPEN_PANELS.get()));
     willDecoupleStages = Boolean.parseBoolean(commands.get(Module.STAGE.get()));
-    thrControl = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    thrControl = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
     thrControl.setOutput(0.0, 1.0);
   }
 
   private void setupCallbacks() throws RPCException, StreamException {
     apoapsisCallbackTag =
-        apoapsis.addCallback(
+        vessel.apoapsis.addCallback(
             (apo) -> {
               if (apo >= finalApoapsisAlt) {
                 targetApoapsisReached = true;
               }
             });
-    apoapsis.start();
+    vessel.apoapsis.start();
 
-    pressureStream = connection.addStream(flightParameters, "getDynamicPressure");
+    pressureStream = vessel.connection.addStream(vessel.flightParameters, "getDynamicPressure");
     pressureCallbackTag =
         pressureStream.addCallback(
             (pressure) -> {
@@ -143,7 +140,7 @@ private void setupCallbacks() throws RPCException, StreamException {
             });
     pressureStream.start();
 
-    utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
         utStream.addCallback(
             (ut) -> {
@@ -178,23 +175,23 @@ private void handleLiftoff() throws RPCException, StreamException, InterruptedEx
   private void gravityTurn() throws RPCException, StreamException, InterruptedException {
     if (currentPitch > 1 && !targetApoapsisReached) {
       double altitudeProgress =
-          Utilities.remap(startCurveAlt, finalApoapsisAlt, 1, 0.01, altitude.get(), false);
+          Utilities.remap(startCurveAlt, finalApoapsisAlt, 1, 0.01, vessel.altitude.get(), false);
       currentPitch = (float) (calculateCurrentPitch(altitudeProgress));
       double currentMaxTWR = calculateTWRBasedOnPressure(currentPitch);
-      ap.setTargetPitch(currentPitch);
+      vessel.ap.setTargetPitch(currentPitch);
       double throttleValue =
           Math.min(
-              thrControl.calculate(apoapsis.get() / finalApoapsisAlt * 1000, 1000),
-              getMaxThrottleForTWR(currentMaxTWR));
-      throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
+              thrControl.calculate(vessel.apoapsis.get() / finalApoapsisAlt * 1000, 1000),
+              vessel.getMaxThrottleForTWR(currentMaxTWR));
+      vessel.throttle(Utilities.clamp(throttleValue, 0.05, 1.0));
 
       if (willDecoupleStages && isCurrentStageWithoutFuel()) {
-        decoupleStage();
+        vessel.decoupleStage();
       }
       setCurrentStatus(
           String.format(Bundle.getString("status_liftoff_inclination") + " %.1f", currentPitch));
     } else {
-      throttle(0);
+      vessel.throttle(0);
       liftoffMode = LIFTOFF_MODE.FINALIZE_ORBIT;
     }
   }
@@ -202,18 +199,18 @@ private void gravityTurn() throws RPCException, StreamException, InterruptedExce
   private void finalizeOrbit() throws RPCException, StreamException, InterruptedException {
     if (!dynamicPressureLowEnough) {
       setCurrentStatus(Bundle.getString("status_maintaining_until_orbit"));
-      getActiveVessel().getControl().setRCS(true);
+      vessel.getActiveVessel().getControl().setRCS(true);
       navigation.aimAtPrograde();
-      throttle(thrControl.calculate(apoapsis.get() / finalApoapsisAlt * 1000, 1000));
+      vessel.throttle(thrControl.calculate(vessel.apoapsis.get() / finalApoapsisAlt * 1000, 1000));
     } else {
-      throttle(0.0f);
+      vessel.throttle(0.0f);
       if (willDecoupleStages) {
         jettisonFairings();
       }
       if (willOpenPanelsAndAntenna) {
         openPanelsAndAntenna();
       }
-      apoapsis.removeCallback(apoapsisCallbackTag);
+      vessel.apoapsis.removeCallback(apoapsisCallbackTag);
       pressureStream.removeCallback(pressureCallbackTag);
       liftoffMode = LIFTOFF_MODE.CIRCULARIZE;
     }
@@ -222,20 +219,20 @@ private void finalizeOrbit() throws RPCException, StreamException, InterruptedEx
   private void cleanup() {
     try {
       isLiftoffRunning = false;
-      apoapsis.removeCallback(apoapsisCallbackTag);
+      vessel.apoapsis.removeCallback(apoapsisCallbackTag);
       pressureStream.removeCallback(pressureCallbackTag);
       utStream.removeCallback(utCallbackTag);
       pressureStream.remove();
       utStream.remove();
-      ap.disengage();
-      throttle(0);
+      vessel.ap.disengage();
+      vessel.throttle(0);
     } catch (RPCException | NullPointerException e) {
       // ignore
     }
   }
 
   private double calculateTWRBasedOnPressure(float currentPitch) throws RPCException {
-    float currentPressure = flightParameters.getDynamicPressure();
+    float currentPressure = vessel.flightParameters.getDynamicPressure();
     if (currentPressure <= 10) {
       return Utilities.remap(90.0, 0.0, maxTWR, 5.0, currentPitch, true);
     }
@@ -248,11 +245,11 @@ private void circularizeOrbitOnApoapsis() {
     commands.put(Module.MODULO.get(), Module.MANEUVER.get());
     commands.put(Module.FUNCTION.get(), Module.APOAPSIS.get());
     commands.put(Module.FINE_ADJUST.get(), String.valueOf(false));
-    getVesselManager().startModule(commands);
+    vessel.getVesselManager().startModule(commands);
   }
 
   private void jettisonFairings() throws RPCException, InterruptedException {
-    List<Fairing> fairings = getActiveVessel().getParts().getFairings();
+    List<Fairing> fairings = vessel.getActiveVessel().getParts().getFairings();
     if (fairings.size() > 0) {
       setCurrentStatus(Bundle.getString("status_jettisoning_shields"));
       for (Fairing f : fairings) {
@@ -266,9 +263,9 @@ private void jettisonFairings() throws RPCException, InterruptedException {
   }
 
   private void openPanelsAndAntenna() throws RPCException, InterruptedException {
-    getActiveVessel().getControl().setSolarPanels(true);
-    getActiveVessel().getControl().setRadiators(true);
-    getActiveVessel().getControl().setAntennas(true);
+    vessel.getActiveVessel().getControl().setSolarPanels(true);
+    vessel.getActiveVessel().getControl().setRadiators(true);
+    vessel.getActiveVessel().getControl().setAntennas(true);
   }
 
   private double calculateCurrentPitch(double currentAltitude) {
@@ -288,8 +285,8 @@ private double calculateCurrentPitch(double currentAltitude) {
   }
 
   private boolean isCurrentStageWithoutFuel() throws RPCException {
-    for (Engine engine : getActiveVessel().getParts().getEngines()) {
-      if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
+    for (Engine engine : vessel.getActiveVessel().getParts().getEngines()) {
+      if (engine.getPart().getStage() == vessel.getActiveVessel().getControl().getCurrentStage()
           && !engine.getHasFuel()) {
         return true;
       }
diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 237ee56..25b74d4 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -1,7 +1,6 @@
 package com.pesterenan.controllers;
 
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
+import com.pesterenan.model.ActiveVessel;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.Attributes;
 import com.pesterenan.utils.ControlePID;
@@ -70,14 +69,12 @@ private static class RendezvousState {
   private Stream<Triplet<Double, Double, Double>> remainingBurnStream;
 
   private double lastBurnDv = Double.MAX_VALUE;
+  private final Map<String, String> commands;
 
-  public ManeuverController(
-      ConnectionManager connectionManager,
-      VesselManager vesselManager,
-      Map<String, String> commands) {
-    super(connectionManager, vesselManager);
+  public ManeuverController(ActiveVessel vessel, Map<String, String> commands) {
+    super(vessel);
     this.commands = commands;
-    this.navigation = new Navigation(connectionManager, getActiveVessel());
+    this.navigation = new Navigation(vessel.getConnectionManager(), vessel.getActiveVessel());
     initializeParameters();
   }
 
@@ -98,12 +95,12 @@ public void run() {
 
   public void calculateManeuver() {
     try {
-      tuneAutoPilot();
+      vessel.tuneAutoPilot();
       if (commands.get(Module.FUNCTION.get()).equals(Module.EXECUTE.get())) {
         return;
       }
-      if (getActiveVessel().getSituation() == VesselSituation.LANDED
-          || getActiveVessel().getSituation() == VesselSituation.SPLASHED) {
+      if (vessel.getActiveVessel().getSituation() == VesselSituation.LANDED
+          || vessel.getActiveVessel().getSituation() == VesselSituation.SPLASHED) {
         throw new InterruptedException();
       }
       if (commands.get(Module.FUNCTION.get()).equals(Module.ADJUST.get())) {
@@ -116,21 +113,21 @@ public void calculateManeuver() {
       }
       if (commands.get(Module.FUNCTION.get()).equals(Module.LOW_ORBIT.get())) {
         biEllipticTransferToOrbit(
-            lowOrbitAltitude, getActiveVessel().getOrbit().getTimeToPeriapsis());
+            lowOrbitAltitude, vessel.getActiveVessel().getOrbit().getTimeToPeriapsis());
         return;
       }
-      double gravParameter = currentBody.getGravitationalParameter();
+      double gravParameter = vessel.currentBody.getGravitationalParameter();
       double startingAltitutde = 0, timeUntilAltitude = 0;
       if (commands.get(Module.FUNCTION.get()).equals(Module.APOAPSIS.get())) {
-        startingAltitutde = getActiveVessel().getOrbit().getApoapsis();
-        timeUntilAltitude = getActiveVessel().getOrbit().getTimeToApoapsis();
+        startingAltitutde = vessel.getActiveVessel().getOrbit().getApoapsis();
+        timeUntilAltitude = vessel.getActiveVessel().getOrbit().getTimeToApoapsis();
       }
       if (commands.get(Module.FUNCTION.get()).equals(Module.PERIAPSIS.get())) {
-        startingAltitutde = getActiveVessel().getOrbit().getPeriapsis();
-        timeUntilAltitude = getActiveVessel().getOrbit().getTimeToPeriapsis();
+        startingAltitutde = vessel.getActiveVessel().getOrbit().getPeriapsis();
+        timeUntilAltitude = vessel.getActiveVessel().getOrbit().getTimeToPeriapsis();
       }
 
-      double semiMajorAxis = getActiveVessel().getOrbit().getSemiMajorAxis();
+      double semiMajorAxis = vessel.getActiveVessel().getOrbit().getSemiMajorAxis();
       double currentOrbitalVelocity =
           Math.sqrt(gravParameter * ((2.0 / startingAltitutde) - (1.0 / semiMajorAxis)));
       double targetOrbitalVelocity =
@@ -145,7 +142,7 @@ public void calculateManeuver() {
 
   public void executeNextManeuver() throws InterruptedException {
     try {
-      Node maneuverNode = getActiveVessel().getControl().getNodes().get(0);
+      Node maneuverNode = vessel.getActiveVessel().getControl().getNodes().get(0);
       double burnTime = calculateBurnTime(maneuverNode);
       executeBurn(maneuverNode, burnTime);
     } catch (UnsupportedOperationException e) {
@@ -167,18 +164,18 @@ public void executeNextManeuver() throws InterruptedException {
   public void orientToManeuverNode(Node maneuverNode)
       throws RPCException, StreamException, InterruptedException {
     setCurrentStatus(Bundle.getString("status_orienting_ship"));
-    ap.engage();
-    ap.setReferenceFrame(maneuverNode.getReferenceFrame());
+    vessel.ap.engage();
+    vessel.ap.setReferenceFrame(maneuverNode.getReferenceFrame());
 
     // --- STAGE 1: ORIENT TO MANEUVER (PITCH/HEADING) ---
     try {
       setCurrentStatus(Bundle.getString("status_orienting_to_maneuver"));
-      ap.setTargetDirection(new Triplet<>(0.0, 1.0, 0.0)); // Prograde in node's frame
-      ap.setTargetRoll(Float.NaN); // Disable roll control
+      vessel.ap.setTargetDirection(new Triplet<>(0.0, 1.0, 0.0)); // Prograde in node's frame
+      vessel.ap.setTargetRoll(Float.NaN); // Disable roll control
 
       final CountDownLatch directionLatch = new CountDownLatch(1);
-      this.headingErrorStream = connection.addStream(ap, "getHeadingError");
-      this.pitchErrorStream = connection.addStream(ap, "getPitchError");
+      this.headingErrorStream = vessel.connection.addStream(vessel.ap, "getHeadingError");
+      this.pitchErrorStream = vessel.connection.addStream(vessel.ap, "getPitchError");
 
       final Stream<Float> finalHeadingErrorStream = this.headingErrorStream;
       final Stream<Float> finalPitchErrorStream = this.pitchErrorStream;
@@ -217,9 +214,9 @@ public void orientToManeuverNode(Node maneuverNode)
     // --- STAGE 2: STABILIZE ROLL ---
     try {
       setCurrentStatus(Bundle.getString("status_stabilizing_roll"));
-      ap.setTargetRoll(0.0f);
+      vessel.ap.setTargetRoll(0.0f);
       final CountDownLatch rollLatch = new CountDownLatch(1);
-      this.rollErrorStream = connection.addStream(ap, "getRollError");
+      this.rollErrorStream = vessel.connection.addStream(vessel.ap, "getRollError");
       final Stream<Float> finalRollErrorStream = this.rollErrorStream;
       final int[] rollCallbackTag = new int[1];
       rollCallbackTag[0] =
@@ -248,9 +245,9 @@ public void orientToManeuverNode(Node maneuverNode)
 
   public double calculateBurnTime(Node maneuverNode) {
     try {
-      List<Engine> engines = getActiveVessel().getParts().getEngines();
+      List<Engine> engines = vessel.getActiveVessel().getParts().getEngines();
       for (Engine engine : engines) {
-        if (engine.getPart().getStage() == getActiveVessel().getControl().getCurrentStage()
+        if (engine.getPart().getStage() == vessel.getActiveVessel().getControl().getCurrentStage()
             && !engine.getActive()) {
           engine.setActive(true);
         }
@@ -260,9 +257,9 @@ public double calculateBurnTime(Node maneuverNode) {
     }
     double burnDuration = 0;
     try {
-      double thrust = getActiveVessel().getAvailableThrust();
-      double isp = getActiveVessel().getSpecificImpulse() * CONST_GRAV;
-      double totalMass = getActiveVessel().getMass();
+      double thrust = vessel.getActiveVessel().getAvailableThrust();
+      double isp = vessel.getActiveVessel().getSpecificImpulse() * CONST_GRAV;
+      double totalMass = vessel.getActiveVessel().getMass();
       double dryMass = totalMass / Math.exp(maneuverNode.getDeltaV() / isp);
       double burnRatio = thrust / isp;
       burnDuration = (totalMass - dryMass) / burnRatio;
@@ -281,7 +278,7 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
       // 2. WARP AND COUNTDOWN
       // Wait until it's time to burn
       final CountDownLatch timeToBurnLatch = new CountDownLatch(1);
-      timeToNodeStream = connection.addStream(maneuverNode, "getTimeTo");
+      timeToNodeStream = vessel.connection.addStream(maneuverNode, "getTimeTo");
       timeToNodeStream.addCallback(
           (time) -> {
             // Countdown for the last 5 seconds of warp
@@ -307,9 +304,13 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
       double burnStartTime = maneuverNode.getTimeTo() - (burnDuration / 2.0) - 30;
       if (burnStartTime > 0) {
         setCurrentStatus(Bundle.getString("status_maneuver_warp"));
-        getConnectionManager()
+        vessel
+            .getConnectionManager()
             .getSpaceCenter()
-            .warpTo((getConnectionManager().getSpaceCenter().getUT() + burnStartTime), 100000, 4);
+            .warpTo(
+                (vessel.getConnectionManager().getSpaceCenter().getUT() + burnStartTime),
+                100000,
+                4);
       }
 
       // 2. ORIENT (AFTER WARP)
@@ -324,7 +325,7 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
       // 4. EXECUTE THE BURN
       final CountDownLatch burnCompleteLatch = new CountDownLatch(1);
       remainingBurnStream =
-          connection.addStream(
+          vessel.connection.addStream(
               maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
       remainingBurnStream.addCallback(
           (burn) -> {
@@ -334,7 +335,7 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
               // SAFETY STOP: Check if dV is increasing
               if (burnDvLeft > lastBurnDv + 0.1) { // Using a 0.1m/s tolerance
                 System.err.println("Maneuver failed: Delta-V increasing. Aborting burn.");
-                throttle(0);
+                vessel.throttle(0);
                 burnCompleteLatch.countDown();
                 return;
               }
@@ -345,7 +346,7 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
                 return;
               }
               navigation.aimAtManeuverNode(maneuverNode);
-              throttle(ctrlManeuver.calculate(0, burnDvLeft / 100.0));
+              vessel.throttle(ctrlManeuver.calculate(0, burnDvLeft / 100.0));
             } catch (Exception e) {
               e.printStackTrace();
               burnCompleteLatch.countDown();
@@ -355,17 +356,17 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
 
       setCurrentStatus(Bundle.getString("status_maneuver_executing"));
       burnCompleteLatch.await();
-      throttle(0.0f);
+      vessel.throttle(0.0f);
       remainingBurnStream.remove();
 
       if (fineAdjustment) {
         adjustManeuverWithRCS(maneuverNode);
       }
 
-      ap.setReferenceFrame(surfaceReferenceFrame);
-      ap.disengage();
-      getActiveVessel().getControl().setSAS(true);
-      getActiveVessel().getControl().setRCS(false);
+      vessel.ap.setReferenceFrame(vessel.surfaceReferenceFrame);
+      vessel.ap.disengage();
+      vessel.getActiveVessel().getControl().setSAS(true);
+      vessel.getActiveVessel().getControl().setRCS(false);
       maneuverNode.remove();
       setCurrentStatus(Bundle.getString("status_ready"));
     } catch (RPCException | StreamException e) {
@@ -377,14 +378,14 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
   }
 
   private void initializeParameters() {
-    ctrlRCS = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
-    ctrlManeuver = new ControlePID(getConnectionManager().getSpaceCenter(), 25);
+    ctrlRCS = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
+    ctrlManeuver = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
     ctrlManeuver.setPIDValues(1, 0.001, 0.1);
     ctrlManeuver.setOutput(0.1, 1.0);
     ctrlRCS.setOutput(0.5, 1.0);
     fineAdjustment = canFineAdjust(commands.get(Module.FINE_ADJUST.get()));
     try {
-      lowOrbitAltitude = new Attributes().getLowOrbitAltitude(currentBody.getName());
+      lowOrbitAltitude = new Attributes().getLowOrbitAltitude(vessel.currentBody.getName());
     } catch (RPCException e) {
     }
   }
@@ -392,16 +393,16 @@ private void initializeParameters() {
   private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart) {
     double[] totalDv = {0, 0, 0};
     try {
-      Orbit currentOrbit = getActiveVessel().getOrbit();
+      Orbit currentOrbit = vessel.getActiveVessel().getOrbit();
       double startingRadius = currentOrbit.getApoapsis();
-      double gravParameter = currentBody.getGravitationalParameter();
+      double gravParameter = vessel.currentBody.getGravitationalParameter();
       double deltaV1 =
           Math.sqrt(2 * gravParameter / startingRadius) - Math.sqrt(gravParameter / startingRadius);
-      double intermediateRadius = currentBody.getEquatorialRadius() + targetAltitude;
+      double intermediateRadius = vessel.currentBody.getEquatorialRadius() + targetAltitude;
       double deltaV2 =
           Math.sqrt(gravParameter / intermediateRadius)
               - Math.sqrt(2 * gravParameter / intermediateRadius);
-      double targetRadius = currentBody.getEquatorialRadius() + targetAltitude;
+      double targetRadius = vessel.currentBody.getEquatorialRadius() + targetAltitude;
       double deltaV3 =
           Math.sqrt(2 * gravParameter / intermediateRadius)
               - Math.sqrt(gravParameter / intermediateRadius);
@@ -417,14 +418,14 @@ private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart
   private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
     Stream<Double> utStream = null;
     try {
-      Vessel vessel = getActiveVessel();
-      Orbit vesselOrbit = getActiveVessel().getOrbit();
+      Vessel vesselObj = this.vessel.getActiveVessel();
+      Orbit vesselOrbit = this.vessel.getActiveVessel().getOrbit();
       Orbit targetVesselOrbit =
-          getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
-      if (vessel.getControl().getNodes().isEmpty()) {
+          this.vessel.getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+      if (vesselObj.getControl().getNodes().isEmpty()) {
         MainGui.newInstance().getCreateManeuverPanel().createManeuver();
       }
-      java.util.List<Node> currentManeuvers = vessel.getControl().getNodes();
+      java.util.List<Node> currentManeuvers = vesselObj.getControl().getNodes();
       Node currentManeuver = currentManeuvers.get(0);
       double[] incNodesUt = {
         vesselOrbit.uTAtTrueAnomaly(vesselOrbit.trueAnomalyAtAN(targetVesselOrbit)),
@@ -438,7 +439,7 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
       ctrlManeuver.setTimeSample(25);
 
       final CountDownLatch latch = new CountDownLatch(1);
-      utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+      utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
       final Stream<Double> finalUtStream = utStream;
       final int[] utCallbackTag = new int[1];
       utCallbackTag[0] =
@@ -478,22 +479,22 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
   private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
     Stream<Double> utStream = null;
     try {
-      List<Node> currentManeuvers = getActiveVessel().getControl().getNodes();
+      List<Node> currentManeuvers = vessel.getActiveVessel().getControl().getNodes();
       Node lastManeuverNode;
       if (currentManeuvers.isEmpty()) {
         MainGui.newInstance().getCreateManeuverPanel().createManeuver();
-        currentManeuvers = getActiveVessel().getControl().getNodes();
+        currentManeuvers = vessel.getActiveVessel().getControl().getNodes();
       } else {
         double lastManeuverNodeUT = 60 + currentManeuvers.get(currentManeuvers.size() - 1).getUT();
         MainGui.newInstance().getCreateManeuverPanel().createManeuver(lastManeuverNodeUT);
-        currentManeuvers = getActiveVessel().getControl().getNodes();
+        currentManeuvers = vessel.getActiveVessel().getControl().getNodes();
       }
       lastManeuverNode = currentManeuvers.get(currentManeuvers.size() - 1);
 
       final CountDownLatch latch = new CountDownLatch(1);
       final RendezvousState state = new RendezvousState(lastManeuverNode);
 
-      utStream = connection.addStream(spaceCenter.getClass(), "getUT");
+      utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
       final Stream<Double> finalUtStream = utStream;
       final int[] utCallbackTag = new int[1];
       utCallbackTag[0] =
@@ -524,9 +525,10 @@ private void rendezvousWithTargetVessel() throws InterruptedException, RPCExcept
   private void updateRendezvousState(
       RendezvousState state, CountDownLatch latch, Stream<Double> stream, int callbackTag)
       throws RPCException, IOException {
-    Orbit targetVesselOrbit = getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
+    Orbit targetVesselOrbit =
+        vessel.getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
     ReferenceFrame currentBodyRefFrame =
-        getActiveVessel().getOrbit().getBody().getNonRotatingReferenceFrame();
+        vessel.getActiveVessel().getOrbit().getBody().getNonRotatingReferenceFrame();
 
     switch (state.phase) {
       case SETUP:
@@ -604,14 +606,15 @@ private void updateRendezvousState(
   private Node createManeuver(double laterTime, double[] deltaV) {
     Node maneuverNode = null;
     try {
-      getActiveVessel()
+      vessel
+          .getActiveVessel()
           .getControl()
           .addNode(
-              getConnectionManager().getSpaceCenter().getUT() + laterTime,
+              vessel.getConnectionManager().getSpaceCenter().getUT() + laterTime,
               (float) deltaV[0],
               (float) deltaV[1],
               (float) deltaV[2]);
-      List<Node> currentNodes = getActiveVessel().getControl().getNodes();
+      List<Node> currentNodes = vessel.getActiveVessel().getControl().getNodes();
       maneuverNode = currentNodes.get(currentNodes.size() - 1);
     } catch (UnsupportedOperationException | RPCException e) {
       setCurrentStatus(Bundle.getString("status_maneuver_not_possible"));
@@ -626,8 +629,8 @@ private void cleanup() {
       if (rollErrorStream != null) rollErrorStream.remove();
       if (timeToNodeStream != null) timeToNodeStream.remove();
       if (remainingBurnStream != null) remainingBurnStream.remove();
-      if (ap != null) ap.disengage();
-      throttle(0);
+      if (vessel.ap != null) vessel.ap.disengage();
+      vessel.throttle(0);
     } catch (RPCException | NullPointerException e) {
       // ignore
     }
@@ -636,13 +639,13 @@ private void cleanup() {
   private void adjustManeuverWithRCS(Node maneuverNode)
       throws RPCException, StreamException, InterruptedException {
     setCurrentStatus("Fine tuning with RCS...");
-    getActiveVessel().getControl().setRCS(true);
+    vessel.getActiveVessel().getControl().setRCS(true);
     final CountDownLatch rcsLatch = new CountDownLatch(1);
 
     Stream<Triplet<Double, Double, Double>> rcsStream = null;
     try {
       rcsStream =
-          connection.addStream(
+          vessel.connection.addStream(
               maneuverNode, "remainingBurnVector", maneuverNode.getReferenceFrame());
       final Stream<Triplet<Double, Double, Double>> finalRcsStream = rcsStream;
       final int[] rcsCallbackTag = new int[1];
@@ -658,7 +661,8 @@ private void adjustManeuverWithRCS(Node maneuverNode)
                     return;
                   }
                   // Use the RCS PID controller to gently burn off remaining dV
-                  getActiveVessel()
+                  vessel
+                      .getActiveVessel()
                       .getControl()
                       .setForward((float) ctrlRCS.calculate(-progradeDv, 0));
                 } catch (Exception e) {
@@ -673,7 +677,7 @@ private void adjustManeuverWithRCS(Node maneuverNode)
         System.err.println("Timeout during RCS fine tuning.");
       }
     } finally {
-      getActiveVessel().getControl().setForward(0);
+      vessel.getActiveVessel().getControl().setForward(0);
       if (rcsStream != null) {
         rcsStream.remove();
       }
@@ -683,7 +687,7 @@ private void adjustManeuverWithRCS(Node maneuverNode)
   private boolean canFineAdjust(String string) {
     if ("true".equals(string)) {
       try {
-        List<RCS> rcsEngines = getActiveVessel().getParts().getRCS();
+        List<RCS> rcsEngines = vessel.getActiveVessel().getParts().getRCS();
         if (rcsEngines.size() > 0) {
           for (RCS rcs : rcsEngines) {
             if (rcs.getHasFuel()) {
@@ -714,7 +718,7 @@ private double calculatePhaseAngle(
 
     double targetOrbit = endPosition.magnitude();
 
-    double activeVesselSMA = getActiveVessel().getOrbit().getSemiMajorAxis();
+    double activeVesselSMA = vessel.getActiveVessel().getOrbit().getSemiMajorAxis();
     angularDifference =
         targetPhaseAngle
             + Math.PI
diff --git a/src/main/java/com/pesterenan/controllers/RoverController.java b/src/main/java/com/pesterenan/controllers/RoverController.java
index f07ac55..374a8fd 100644
--- a/src/main/java/com/pesterenan/controllers/RoverController.java
+++ b/src/main/java/com/pesterenan/controllers/RoverController.java
@@ -1,7 +1,6 @@
 package com.pesterenan.controllers;
 
-import com.pesterenan.model.ConnectionManager;
-import com.pesterenan.model.VesselManager;
+import com.pesterenan.model.ActiveVessel;
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.ControlePID;
 import com.pesterenan.utils.Module;
@@ -32,7 +31,7 @@ public class RoverController extends Controller {
   private Vector targetPoint = new Vector();
   private Vector roverDirection = new Vector();
   private MODE currentMode;
-  private ConnectionManager connectionManager;
+  private final Map<String, String> commands;
 
   private volatile double currentDistanceToTarget = 0;
   private volatile float currentChargePercentage = 100;
@@ -40,12 +39,8 @@ public class RoverController extends Controller {
   private Stream<Triplet<Double, Double, Double>> positionStream;
   private Stream<Float> chargeAmountStream;
 
-  public RoverController(
-      ConnectionManager connectionManager,
-      VesselManager vesselManager,
-      Map<String, String> commands) {
-    super(connectionManager, vesselManager);
-    this.connectionManager = connectionManager;
+  public RoverController(ActiveVessel vessel, Map<String, String> commands) {
+    super(vessel);
     this.commands = commands;
     initializeParameters();
   }
@@ -53,9 +48,9 @@ public RoverController(
   private void initializeParameters() {
     try {
       maxSpeed = Float.parseFloat(commands.get(Module.MAX_SPEED.get()));
-      roverReferenceFrame = getActiveVessel().getReferenceFrame();
-      roverDirection = new Vector(getActiveVessel().direction(roverReferenceFrame));
-      pathFinding = new PathFinding(getConnectionManager(), getVesselManager());
+      roverReferenceFrame = vessel.getActiveVessel().getReferenceFrame();
+      roverDirection = new Vector(vessel.getActiveVessel().direction(roverReferenceFrame));
+      pathFinding = new PathFinding(vessel.getConnectionManager(), vessel.getVesselManager());
       acelCtrl.setOutput(0, 1);
       sterringCtrl.setOutput(-1, 1);
       isAutoRoverRunning = true;
@@ -80,7 +75,9 @@ public void run() {
   }
 
   private void setupCallbacks() throws RPCException, IOException, StreamException {
-    positionStream = connection.addStream(getActiveVessel(), "position", orbitalReferenceFrame);
+    positionStream =
+        vessel.connection.addStream(
+            vessel.getActiveVessel(), "position", vessel.orbitalReferenceFrame);
     distanceCallbackTag =
         positionStream.addCallback(
             (pos) -> {
@@ -89,12 +86,13 @@ private void setupCallbacks() throws RPCException, IOException, StreamException
     positionStream.start();
 
     chargeAmountStream =
-        connection.addStream(getActiveVessel().getResources(), "amount", "ElectricCharge");
+        vessel.connection.addStream(
+            vessel.getActiveVessel().getResources(), "amount", "ElectricCharge");
     chargeCallbackTag =
         chargeAmountStream.addCallback(
             (amount) -> {
               try {
-                float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
+                float totalCharge = vessel.getActiveVessel().getResources().max("ElectricCharge");
                 currentChargePercentage = (float) Math.ceil(amount * 100 / totalCharge);
               } catch (RPCException e) {
               }
@@ -112,10 +110,11 @@ private void setTarget() {
       if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.TARGET_VESSEL.get())) {
         Vector targetVesselPosition =
             new Vector(
-                connectionManager
+                vessel
+                    .getConnectionManager()
                     .getSpaceCenter()
                     .getTargetVessel()
-                    .position(orbitalReferenceFrame));
+                    .position(vessel.orbitalReferenceFrame));
         setCurrentStatus("Calculando rota até o alvo...");
         pathFinding.buildPathToTarget(targetVesselPosition);
       }
@@ -163,7 +162,7 @@ private void driveRoverToTarget() {
 
   private void cleanup() {
     try {
-      getActiveVessel().getControl().setBrakes(true);
+      vessel.getActiveVessel().getControl().setBrakes(true);
       pathFinding.removeDrawnPath();
       isAutoRoverRunning = false;
       if (positionStream != null) {
@@ -181,7 +180,7 @@ private void cleanup() {
 
   private void setNextPointInPath() throws RPCException, IOException, InterruptedException {
     pathFinding.removePathsCurrentPoint();
-    getActiveVessel().getControl().setBrakes(true);
+    vessel.getActiveVessel().getControl().setBrakes(true);
     if (pathFinding.isPathToTargetEmpty()) {
       if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
         pathFinding.removeWaypointFromList();
@@ -207,19 +206,19 @@ private boolean needToChargeBatteries() {
 
   private void rechargeRover() throws RPCException, StreamException, InterruptedException {
 
-    float totalCharge = getActiveVessel().getResources().max("ElectricCharge");
-    float currentCharge = getActiveVessel().getResources().amount("ElectricCharge");
+    float totalCharge = vessel.getActiveVessel().getResources().max("ElectricCharge");
+    float currentCharge = vessel.getActiveVessel().getResources().amount("ElectricCharge");
 
     setRoverThrottle(0);
-    getActiveVessel().getControl().setLights(false);
-    getActiveVessel().getControl().setBrakes(true);
+    vessel.getActiveVessel().getControl().setLights(false);
+    vessel.getActiveVessel().getControl().setBrakes(true);
 
-    if (horizontalVelocity.get() < 1 && getActiveVessel().getControl().getBrakes()) {
+    if (vessel.horizontalVelocity.get() < 1 && vessel.getActiveVessel().getControl().getBrakes()) {
       Thread.sleep(1000);
       double chargeTime;
       double totalEnergyFlow = 0;
       List<SolarPanel> solarPanels =
-          getActiveVessel().getParts().getSolarPanels().stream()
+          vessel.getActiveVessel().getParts().getSolarPanels().stream()
               .filter(this::isSolarPanelNotBroken)
               .collect(Collectors.toList());
 
@@ -231,10 +230,11 @@ private void rechargeRover() throws RPCException, StreamException, InterruptedEx
       if (chargeTime < 1 || chargeTime > 21600) {
         chargeTime = 3600;
       }
-      connectionManager
+      vessel
+          .getConnectionManager()
           .getSpaceCenter()
-          .warpTo((connectionManager.getSpaceCenter().getUT() + chargeTime), 10000, 4);
-      getActiveVessel().getControl().setLights(true);
+          .warpTo((vessel.getConnectionManager().getSpaceCenter().getUT() + chargeTime), 10000, 4);
+      vessel.getActiveVessel().getControl().setLights(true);
     }
   }
 
@@ -242,26 +242,29 @@ private void driveRover() throws RPCException, IOException, StreamException {
     Vector targetDirection = posSurfToRover(posOrbToSurf(targetPoint)).normalize();
     Vector radarSourcePosition =
         posRoverToSurf(
-            new Vector(getActiveVessel().position(roverReferenceFrame))
+            new Vector(vessel.getActiveVessel().position(roverReferenceFrame))
                 .sum(new Vector(0.0, 3.0, 0.0)));
 
     double roverAngle = (roverDirection.heading());
     // fazer um raycast pra frente e verificar a distancia
     double obstacleAhead =
         pathFinding.raycastDistance(
-            radarSourcePosition, transformDirection(roverDirection), surfaceReferenceFrame, 30);
+            radarSourcePosition,
+            transformDirection(roverDirection),
+            vessel.surfaceReferenceFrame,
+            30);
     double steeringPower = Utilities.remap(3, 30, 0.1, 0.5, obstacleAhead, true);
     // usar esse valor pra muiltiplicar a direcao alvo
     double targetAndRadarAngle =
         (targetDirection
                 .multiply(steeringPower)
-                .sum(directionFromRadar(getActiveVessel().boundingBox(roverReferenceFrame)))
+                .sum(directionFromRadar(vessel.getActiveVessel().boundingBox(roverReferenceFrame)))
                 .normalize())
             .heading();
     double deltaAngle = Math.abs(targetAndRadarAngle - roverAngle);
-    getActiveVessel().getControl().setSAS(deltaAngle < 1);
+    vessel.getActiveVessel().getControl().setSAS(deltaAngle < 1);
     // Control Rover Throttle
-    setRoverThrottle(acelCtrl.calculate(horizontalVelocity.get() / maxSpeed * 50, 50));
+    setRoverThrottle(acelCtrl.calculate(vessel.horizontalVelocity.get() / maxSpeed * 50, 50));
     // Control Rover Steering
     if (deltaAngle > 1) {
       setRoverSteering(sterringCtrl.calculate(roverAngle / (targetAndRadarAngle) * 100, 100));
@@ -340,49 +343,60 @@ private Vector calculateRaycastDirection(Vector point, Vector direction, double
       throws RPCException {
     double raycast =
         pathFinding.raycastDistance(
-            posRoverToSurf(point), transformDirection(direction), surfaceReferenceFrame, distance);
+            posRoverToSurf(point),
+            transformDirection(direction),
+            vessel.surfaceReferenceFrame,
+            distance);
     return direction.multiply(raycast);
   }
 
   private Vector transformDirection(Vector vector) throws RPCException {
     return new Vector(
-        connectionManager
+        vessel
+            .getConnectionManager()
             .getSpaceCenter()
-            .transformDirection(vector.toTriplet(), roverReferenceFrame, surfaceReferenceFrame));
+            .transformDirection(
+                vector.toTriplet(), roverReferenceFrame, vessel.surfaceReferenceFrame));
   }
 
   private Vector posSurfToRover(Vector vector) throws RPCException {
     return new Vector(
-        connectionManager
+        vessel
+            .getConnectionManager()
             .getSpaceCenter()
-            .transformPosition(vector.toTriplet(), surfaceReferenceFrame, roverReferenceFrame));
+            .transformPosition(
+                vector.toTriplet(), vessel.surfaceReferenceFrame, roverReferenceFrame));
   }
 
   private Vector posRoverToSurf(Vector vector) throws RPCException {
     return new Vector(
-        connectionManager
+        vessel
+            .getConnectionManager()
             .getSpaceCenter()
-            .transformPosition(vector.toTriplet(), roverReferenceFrame, surfaceReferenceFrame));
+            .transformPosition(
+                vector.toTriplet(), roverReferenceFrame, vessel.surfaceReferenceFrame));
   }
 
   private Vector posOrbToSurf(Vector vector) throws RPCException {
     return new Vector(
-        connectionManager
+        vessel
+            .getConnectionManager()
             .getSpaceCenter()
-            .transformPosition(vector.toTriplet(), orbitalReferenceFrame, surfaceReferenceFrame));
+            .transformPosition(
+                vector.toTriplet(), vessel.orbitalReferenceFrame, vessel.surfaceReferenceFrame));
   }
 
   private void setRoverThrottle(double throttle) throws RPCException, StreamException {
-    if (horizontalVelocity.get() < (maxSpeed * 1.01)) {
-      getActiveVessel().getControl().setBrakes(false);
-      getActiveVessel().getControl().setWheelThrottle((float) throttle);
+    if (vessel.horizontalVelocity.get() < (maxSpeed * 1.01)) {
+      vessel.getActiveVessel().getControl().setBrakes(false);
+      vessel.getActiveVessel().getControl().setWheelThrottle((float) throttle);
     } else {
-      getActiveVessel().getControl().setBrakes(true);
+      vessel.getActiveVessel().getControl().setBrakes(true);
     }
   }
 
   private void setRoverSteering(double steering) throws RPCException {
-    getActiveVessel().getControl().setWheelSteering((float) steering);
+    vessel.getActiveVessel().getControl().setWheelSteering((float) steering);
   }
 
   private enum MODE {
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 8f92649..3d721af 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -26,9 +26,9 @@
 
 public class ActiveVessel {
 
-  protected Vessel activeVessel;
-  protected SpaceCenter spaceCenter;
-  protected Connection connection;
+  public Vessel activeVessel;
+  public SpaceCenter spaceCenter;
+  public Connection connection;
   private final Map<Telemetry, Double> telemetryData = new ConcurrentHashMap<>();
   public AutoPilot ap;
   public Flight flightParameters;
@@ -46,10 +46,10 @@ public class ActiveVessel {
   public Stream<Double> missionTime;
   public Stream<Double> horizontalVelocity;
   public Map<String, String> commands;
-  protected int currentVesselId = 0;
-  protected Thread controllerThread = null;
-  protected Controller controller;
-  protected long timer = 0;
+  public int currentVesselId = 0;
+  public Thread controllerThread = null;
+  public Controller controller;
+  public long timer = 0;
   private String currentStatus = Bundle.getString("status_ready");
   private boolean runningModule;
   private ConnectionManager connectionManager;
@@ -60,7 +60,7 @@ public ActiveVessel(ConnectionManager connectionManager, VesselManager vesselMan
     this.vesselManager = vesselManager;
     this.connection = connectionManager.getConnection();
     this.spaceCenter = connectionManager.getSpaceCenter();
-    initializeParameters();
+    reinitialize();
   }
 
   public ConnectionManager getConnectionManager() {
@@ -151,24 +151,24 @@ public void startModule(Map<String, String> commands) {
       runningModule = false;
     }
     if (currentFunction.equals(Module.LIFTOFF.get())) {
-      controller = new LiftoffController(this.connectionManager, this.vesselManager, commands);
+      controller = new LiftoffController(this, commands);
       runningModule = true;
     }
     if (currentFunction.equals(Module.HOVERING.get())
         || currentFunction.equals(Module.LANDING.get())) {
-      controller = new LandingController(this.connectionManager, this.vesselManager, commands);
+      controller = new LandingController(this, commands);
       runningModule = true;
     }
     if (currentFunction.equals(Module.MANEUVER.get())) {
-      controller = new ManeuverController(this.connectionManager, this.vesselManager, commands);
+      controller = new ManeuverController(this, commands);
       runningModule = true;
     }
     if (currentFunction.equals(Module.ROVER.get())) {
-      controller = new RoverController(this.connectionManager, this.vesselManager, commands);
+      controller = new RoverController(this, commands);
       runningModule = true;
     }
     if (currentFunction.equals(Module.DOCKING.get())) {
-      controller = new DockingController(this.connectionManager, this.vesselManager, commands);
+      controller = new DockingController(this, commands);
       runningModule = true;
     }
     String controllerThreadName = "MP_CTRL_" + currentFunction + "_" + currentVesselId;
@@ -188,20 +188,54 @@ public void cancelControl() {
   }
 
   public void removeStreams() {
+    // Interrupt any running controller thread
+    if (controllerThread != null && controllerThread.isAlive()) {
+      controllerThread.interrupt();
+      runningModule = false;
+    }
+    // Close all streams safely
     try {
       if (totalMass != null) totalMass.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (altitude != null) altitude.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (surfaceAltitude != null) surfaceAltitude.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (apoapsis != null) apoapsis.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (periapsis != null) periapsis.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (verticalVelocity != null) verticalVelocity.remove();
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
       if (horizontalVelocity != null) horizontalVelocity.remove();
-      if (controllerThread != null && controllerThread.isAlive()) {
-        controllerThread.interrupt();
-      }
-    } catch (RPCException e) {
-      System.err.println("ERRO: Ao remover streams da nave atual. " + e.getMessage());
+    } catch (Exception e) {
+      /* ignore */
+    }
+    try {
+      if (missionTime != null) missionTime.remove();
+    } catch (Exception e) {
+      /* ignore */
     }
+    // Clear the telemetry data map
+    telemetryData.clear();
   }
 
   public Map<Telemetry, Double> getTelemetryData() {
@@ -212,7 +246,7 @@ public boolean hasModuleRunning() {
     return runningModule;
   }
 
-  protected void decoupleStage() throws RPCException, InterruptedException {
+  public void decoupleStage() throws RPCException, InterruptedException {
     setCurrentStatus(Bundle.getString("status_separating_stage"));
     spaceCenter.setActiveVessel(getActiveVessel());
     double currentThrottle = getActiveVessel().getControl().getThrottle();
@@ -222,7 +256,7 @@ protected void decoupleStage() throws RPCException, InterruptedException {
     throttleUp(currentThrottle, 1);
   }
 
-  protected void throttleUp(double throttleAmount, double seconds)
+  public void throttleUp(double throttleAmount, double seconds)
       throws RPCException, InterruptedException {
     double secondsElapsed = 0;
     while (secondsElapsed < seconds) {
@@ -232,8 +266,11 @@ protected void throttleUp(double throttleAmount, double seconds)
     }
   }
 
-  private void initializeParameters() {
-    System.out.println("DEBUG: Initializing ActiveVessel parameters...");
+  public void reinitialize() {
+    // Clean up any existing streams or threads before creating new ones
+    removeStreams();
+
+    System.out.println("DEBUG: Re-initializing ActiveVessel parameters...");
     try {
       setActiveVessel(spaceCenter.getActiveVessel());
       currentVesselId = getActiveVessel().hashCode();
@@ -252,10 +289,12 @@ private void initializeParameters() {
       surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
       totalMass = connection.addStream(getActiveVessel(), "getMass");
       verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
+      missionTime = connection.addStream(spaceCenter.getClass(), "getUT");
 
       altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
       apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
-      horizontalVelocity.addCallback( val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
+      horizontalVelocity.addCallback(
+          val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
       periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
       surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
       verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
@@ -267,10 +306,11 @@ private void initializeParameters() {
       surfaceAltitude.start();
       totalMass.start();
       verticalVelocity.start();
+      missionTime.start();
       System.out.println("DEBUG: All streams created successfully.");
     } catch (RPCException | StreamException e) {
       System.err.println(
-          "DEBUG: CRITICAL ERROR while initializing parameters for active vessel: "
+          "DEBUG: CRITICAL ERROR while re-initializing parameters for active vessel: "
               + e.getMessage());
     }
   }
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 6f2ecf4..edf40ce 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -166,27 +166,22 @@ public void checkAndUpdateActiveVessel() {
     try {
       int activeVesselId = getSpaceCenter().getActiveVessel().hashCode();
       if (currentVesselId != activeVesselId) {
-        System.out.println("DEBUG: Vessel ID mismatch. Re-initializing...");
+        System.out.println("DEBUG: Active vessel changed. Re-initializing...");
         if (currentVessel != null) {
-          Thread oldThread = currentVessel.getControllerThread();
-          currentVessel.removeStreams(); // This will set flags and interrupt
-          if (oldThread != null) {
-            try {
-              oldThread.join(1000); // Wait for the old thread to die, with a timeout
-            } catch (InterruptedException e) {
-              System.err.println("Interrupted while waiting for old controller thread to die.");
-            }
-          }
+          currentVessel.reinitialize();
+        } else {
+          currentVessel = new ActiveVessel(connectionManager, this);
         }
-        currentVessel = new ActiveVessel(connectionManager, this);
         currentVesselId = currentVessel.getCurrentVesselId();
         MainGui.getInstance().setVesselManager(this);
       }
     } catch (RPCException e) {
-      System.err.println(
-          "ERRO: Atualização de nave interrompida. Não foi possível buscar o ID da nave atual."
-              + e.getMessage());
-      e.printStackTrace();
+      if (currentVessel != null) {
+        System.out.println("DEBUG: Could not get active vessel. Cleaning up.");
+        currentVessel.removeStreams();
+        currentVessel = null;
+        currentVesselId = -1;
+      }
     }
   }
 
diff --git a/src/main/java/com/pesterenan/utils/PathFinding.java b/src/main/java/com/pesterenan/utils/PathFinding.java
index bed5c53..700125d 100644
--- a/src/main/java/com/pesterenan/utils/PathFinding.java
+++ b/src/main/java/com/pesterenan/utils/PathFinding.java
@@ -1,6 +1,5 @@
 package com.pesterenan.utils;
 
-import com.pesterenan.controllers.Controller;
 import com.pesterenan.model.ConnectionManager;
 import com.pesterenan.model.VesselManager;
 import java.io.IOException;
@@ -16,7 +15,7 @@
 import krpc.client.services.SpaceCenter.WaypointManager;
 import org.javatuples.Triplet;
 
-public class PathFinding extends Controller {
+public class PathFinding {
 
   private WaypointManager waypointManager;
   private String waypointName;
@@ -24,18 +23,21 @@ public class PathFinding extends Controller {
   private List<Vector> pathToTarget;
   private Drawing drawing;
   private Drawing.Polygon polygonPath;
+  private final ConnectionManager connectionManager;
+  private final VesselManager vesselManager;
 
   public PathFinding(ConnectionManager connectionManager, VesselManager vesselManager) {
-    super(connectionManager, vesselManager);
+    this.connectionManager = connectionManager;
+    this.vesselManager = vesselManager;
     initializeParameters();
   }
 
   private void initializeParameters() {
     try {
-      waypointManager = getConnectionManager().getSpaceCenter().getWaypointManager();
+      waypointManager = connectionManager.getSpaceCenter().getWaypointManager();
       waypointsToReach = new ArrayList<>();
       pathToTarget = new ArrayList<>();
-      drawing = Drawing.newInstance(getConnectionManager().getConnection());
+      drawing = Drawing.newInstance(connectionManager.getConnection());
     } catch (RPCException ignored) {
     }
   }
@@ -51,7 +53,7 @@ public void addWaypointsOnSameBody(String waypointName) throws RPCException {
   private boolean hasSameName(Waypoint waypoint) {
     try {
       return waypoint.getName().toLowerCase().contains(waypointName.toLowerCase())
-          && waypoint.getBody().equals(currentBody);
+          && waypoint.getBody().equals(vesselManager.getCurrentVessel().currentBody);
     } catch (RPCException e) {
       return false;
     }
@@ -67,11 +69,21 @@ public Vector findNearestWaypoint() throws RPCException, IOException, Interrupte
                   try {
                     w1Distance =
                         Vector.distance(
-                            new Vector(getActiveVessel().position(orbitalReferenceFrame)),
+                            new Vector(
+                                vesselManager
+                                    .getCurrentVessel()
+                                    .getActiveVessel()
+                                    .position(
+                                        vesselManager.getCurrentVessel().orbitalReferenceFrame)),
                             waypointPosOnSurface(w1));
                     w2Distance =
                         Vector.distance(
-                            new Vector(getActiveVessel().position(orbitalReferenceFrame)),
+                            new Vector(
+                                vesselManager
+                                    .getCurrentVessel()
+                                    .getActiveVessel()
+                                    .position(
+                                        vesselManager.getCurrentVessel().orbitalReferenceFrame)),
                             waypointPosOnSurface(w2));
                   } catch (RPCException e) {
                   }
@@ -80,23 +92,18 @@ public Vector findNearestWaypoint() throws RPCException, IOException, Interrupte
             .collect(Collectors.toList());
     waypointsToReach.forEach(System.out::println);
     Waypoint currentWaypoint = waypointsToReach.get(0);
-    // for (Waypoint waypoint : waypointsToReach) {
-    // double waypointDistance = Vector.distance(new
-    // Vector(getNaveAtual().position(orbitalReferenceFrame)),
-    // waypointPosOnSurface(waypoint)
-    // );
-    // if (currentDistance > waypointDistance) {
-    // currentDistance = waypointDistance;
-    // currentWaypoint = waypoint;
-    // }
-    // }
     return waypointPosOnSurface(currentWaypoint);
   }
 
   private Vector waypointPosOnSurface(Waypoint waypoint) throws RPCException {
     return new Vector(
-        currentBody.surfacePosition(
-            waypoint.getLatitude(), waypoint.getLongitude(), orbitalReferenceFrame));
+        vesselManager
+            .getCurrentVessel()
+            .currentBody
+            .surfacePosition(
+                waypoint.getLatitude(),
+                waypoint.getLongitude(),
+                vesselManager.getCurrentVessel().orbitalReferenceFrame));
   }
 
   public boolean isPathToTargetEmpty() {
@@ -135,27 +142,19 @@ public void removeWaypointFromList() throws RPCException {
     waypointsToReach.remove(0);
   }
 
-  /**
-   * Builds the path to the targetPosition, on the Celestial Body Reference ( Orbital Ref )
-   *
-   * @param targetPosition the target pos to build the path to
-   * @throws IOException
-   * @throws RPCException
-   * @throws InterruptedException
-   */
   public void buildPathToTarget(Vector targetPosition)
       throws IOException, RPCException, InterruptedException {
-    // Get current rover Position on Orbital Ref, transform to Surf Ref and add 20
-    // centimeters on height:
     Vector roverHeight = new Vector(0.2, 0.0, 0.0);
     Vector currentRoverPos =
         transformSurfToOrb(
-            new Vector(getActiveVessel().position(surfaceReferenceFrame)).sum(roverHeight));
-    // Calculate distance from rover to target on Orbital Ref:
+            new Vector(
+                    vesselManager
+                        .getCurrentVessel()
+                        .getActiveVessel()
+                        .position(vesselManager.getCurrentVessel().surfaceReferenceFrame))
+                .sum(roverHeight));
     double distanceToTarget = Vector.distance(currentRoverPos, targetPosition);
-    // Add rover pos as first point, on Orbital Ref
     pathToTarget.add(currentRoverPos);
-    // Calculate the next points positions and add to the list on Orbital Ref
     int index = 0;
     while (distanceToTarget > 50) {
       if (Thread.interrupted()) {
@@ -183,7 +182,9 @@ private void drawPathToTarget(List<Vector> path) throws RPCException {
     drawablePath.offerLast(new Triplet<>(0.0, 0.0, 0.0));
     polygonPath =
         drawing.addPolygon(
-            drawablePath.stream().collect(Collectors.toList()), orbitalReferenceFrame, true);
+            drawablePath.stream().collect(Collectors.toList()),
+            vesselManager.getCurrentVessel().orbitalReferenceFrame,
+            true);
     polygonPath.setThickness(0.5f);
     polygonPath.setColor(new Triplet<>(1.0, 0.5, 0.0));
   }
@@ -197,9 +198,7 @@ public void removeDrawnPath() {
 
   private Vector calculateNextPoint(Vector currentPoint, Vector targetDirection)
       throws RPCException, IOException {
-    // PONTO REF SUPERFICIE: X = CIMA, Y = NORTE, Z = LESTE;
     double stepDistance = 100.0;
-    // Calculate the next point position on surface:
     Vector nextPoint =
         getPosOnSurface(
             transformSurfToOrb(currentPoint.sum(targetDirection.multiply(stepDistance))));
@@ -213,7 +212,7 @@ public double raycastDistance(
       double searchDistance)
       throws RPCException {
     return Math.min(
-        getConnectionManager()
+        connectionManager
             .getSpaceCenter()
             .raycastDistance(currentPoint.toTriplet(), targetDirection.toTriplet(), reference),
         searchDistance);
@@ -221,23 +220,40 @@ public double raycastDistance(
 
   private Vector getPosOnSurface(Vector vector) throws RPCException {
     return new Vector(
-        currentBody.surfacePosition(
-            currentBody.latitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame),
-            currentBody.longitudeAtPosition(vector.toTriplet(), orbitalReferenceFrame),
-            orbitalReferenceFrame));
+        vesselManager
+            .getCurrentVessel()
+            .currentBody
+            .surfacePosition(
+                vesselManager
+                    .getCurrentVessel()
+                    .currentBody
+                    .latitudeAtPosition(
+                        vector.toTriplet(), vesselManager.getCurrentVessel().orbitalReferenceFrame),
+                vesselManager
+                    .getCurrentVessel()
+                    .currentBody
+                    .longitudeAtPosition(
+                        vector.toTriplet(), vesselManager.getCurrentVessel().orbitalReferenceFrame),
+                vesselManager.getCurrentVessel().orbitalReferenceFrame));
   }
 
   private Vector transformSurfToOrb(Vector vector) throws IOException, RPCException {
     return new Vector(
-        getConnectionManager()
+        connectionManager
             .getSpaceCenter()
-            .transformPosition(vector.toTriplet(), surfaceReferenceFrame, orbitalReferenceFrame));
+            .transformPosition(
+                vector.toTriplet(),
+                vesselManager.getCurrentVessel().surfaceReferenceFrame,
+                vesselManager.getCurrentVessel().orbitalReferenceFrame));
   }
 
   private Vector transformOrbToSurf(Vector vector) throws IOException, RPCException {
     return new Vector(
-        getConnectionManager()
+        connectionManager
             .getSpaceCenter()
-            .transformPosition(vector.toTriplet(), orbitalReferenceFrame, surfaceReferenceFrame));
+            .transformPosition(
+                vector.toTriplet(),
+                vesselManager.getCurrentVessel().orbitalReferenceFrame,
+                vesselManager.getCurrentVessel().surfaceReferenceFrame));
   }
 }

From 3b991983ee6815bc96c521bf50dc2fb457f26a00 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Sun, 12 Oct 2025 14:29:03 -0300
Subject: [PATCH 16/25] [MP-8]: Using MissionTime Stream instead of utStream

---
 .../controllers/DockingController.java        | 10 +---
 .../controllers/LandingController.java        | 42 +++++++--------
 .../controllers/LiftoffController.java        | 10 ++--
 .../controllers/ManeuverController.java       | 30 +++--------
 .../com/pesterenan/model/ActiveVessel.java    |  5 --
 .../pesterenan/model/ConnectionManager.java   |  2 +-
 .../com/pesterenan/model/VesselManager.java   | 51 +++++++++++--------
 7 files changed, 66 insertions(+), 84 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/DockingController.java b/src/main/java/com/pesterenan/controllers/DockingController.java
index 894eccf..dc2c324 100644
--- a/src/main/java/com/pesterenan/controllers/DockingController.java
+++ b/src/main/java/com/pesterenan/controllers/DockingController.java
@@ -68,7 +68,6 @@ private enum DOCKING_STEPS {
   private boolean isDocking, isOriented = false;
   private final Map<String, String> commands;
 
-  private Stream<Double> utStream;
   private Stream<Double> errorStream;
 
   private int utCallbackTag, errorCallbackTag;
@@ -104,22 +103,20 @@ public void startDocking() throws RPCException, StreamException {
     krpc = KRPC.newInstance(vessel.getConnectionManager().getConnection());
     currentPhase = DockingPhase.SETUP;
 
-    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
-        utStream.addCallback(
+        vessel.missionTime.addCallback(
             (ut) -> {
               try {
                 if (isDocking) {
                   updateDockingState();
                 } else {
-                  utStream.removeCallback(utCallbackTag);
+                  vessel.missionTime.removeCallback(utCallbackTag);
                 }
               } catch (Exception e) {
                 setCurrentStatus("Docking failed: " + e.getMessage());
                 cleanup();
               }
             });
-    utStream.start();
   }
 
   private void initializeParameters() {
@@ -388,9 +385,6 @@ private void updateLines(Vector start, Vector end) {
   private void cleanup() {
     try {
       isDocking = false;
-      if (utStream != null) {
-        utStream.remove();
-      }
       if (errorStream != null) {
         errorStream.remove();
       }
diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index de94552..77a7de3 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -10,6 +10,7 @@
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
+import krpc.client.services.SpaceCenter.Engine;
 import krpc.client.services.SpaceCenter.VesselSituation;
 
 public class LandingController extends Controller {
@@ -27,9 +28,8 @@ private enum MODE {
   }
 
   public static final double MAX_VELOCITY = 5;
-  private static final long sleepTime = 50;
   private static final double velP = 0.05;
-  private static final double velI = 0.005;
+  private static final double velI = 0.000001;
   private static final double velD = 0.001;
   private ControlePID altitudeCtrl;
   private ControlePID velocityCtrl;
@@ -47,7 +47,6 @@ private enum MODE {
       isFallingCallbackTag,
       utCallbackTag;
   private Stream<Float> apErrorStream;
-  private Stream<Double> utStream;
 
   public LandingController(ActiveVessel vessel, Map<String, String> commands) {
     super(vessel);
@@ -74,6 +73,7 @@ public void run() {
     } catch (InterruptedException e) {
       Thread.currentThread().interrupt(); // Restore interrupted status
       System.err.println("Controle de Pouso finalizado via interrupção.");
+      setCurrentStatus(Bundle.getString("status_ready"));
     } catch (RPCException | StreamException e) {
       System.err.println("Erro no run do landingController:" + e.getMessage());
       setCurrentStatus(Bundle.getString("status_data_unavailable"));
@@ -85,8 +85,8 @@ public void run() {
   private void initializeParameters() {
     maxTWR = Float.parseFloat(commands.get(Module.MAX_TWR.get()));
     hoverAltitude = Double.parseDouble(commands.get(Module.HOVER_ALTITUDE.get()));
-    altitudeCtrl = new ControlePID(vessel.spaceCenter, sleepTime);
-    velocityCtrl = new ControlePID(vessel.spaceCenter, sleepTime);
+    altitudeCtrl = new ControlePID(vessel.spaceCenter);
+    velocityCtrl = new ControlePID(vessel.spaceCenter);
     altitudeCtrl.setOutput(0, 1);
     velocityCtrl.setOutput(0, 1);
   }
@@ -154,15 +154,14 @@ private void setupCallbacks() throws RPCException, StreamException {
     isFallingCallbackTag =
         vessel.verticalVelocity.addCallback(
             (vv) -> {
-              if (vv <= -1) {
+              if (vv <= 0) {
                 isFalling = true;
                 vessel.verticalVelocity.removeCallback(isFallingCallbackTag);
               }
             });
 
-    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
-        utStream.addCallback(
+        vessel.missionTime.addCallback(
             (ut) -> {
               try {
                 if (landingMode) {
@@ -179,7 +178,7 @@ private void setupCallbacks() throws RPCException, StreamException {
                   }
                   executeHoverStep();
                 } else {
-                  utStream.removeCallback(utCallbackTag);
+                  vessel.missionTime.removeCallback(utCallbackTag);
                 }
               } catch (Exception e) {
                 System.err.println("UT Callback error: " + e.getMessage());
@@ -191,7 +190,6 @@ private void setupCallbacks() throws RPCException, StreamException {
     vessel.apoapsis.start();
     vessel.periapsis.start();
     vessel.verticalVelocity.start();
-    utStream.start();
   }
 
   private void executeLandingStep() throws RPCException, StreamException, InterruptedException {
@@ -238,11 +236,17 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
         }
         break;
       case APPROACHING:
+        for (Engine engine : vessel.getActiveVessel().getParts().getEngines()) {
+          if (engine.getPart().getStage() == vessel.getActiveVessel().getControl().getCurrentStage()
+              && !engine.getActive()) {
+            engine.setActive(true);
+          }
+        }
         altitudeCtrl.setOutput(0, 1);
         velocityCtrl.setOutput(0, 1);
         double currentVelocity = calculateCurrentVelocityMagnitude();
         double zeroVelocity = calculateZeroVelocityMagnitude();
-        double landingDistanceThreshold = Math.max(hoverAltitude, vessel.getMaxAcel(maxTWR) * 5);
+        double landingDistanceThreshold = Math.max(hoverAltitude, vessel.getMaxAcel(maxTWR) * 3);
         double threshold =
             Utilities.clamp(
                 ((currentVelocity + zeroVelocity) - landingDistanceThreshold)
@@ -268,10 +272,11 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
         }
         setCurrentStatus("Se aproximando do momento do pouso...");
         break;
+
       case LANDING:
         if (hasTheVesselLanded()) break;
         controlThrottleByMatchingVerticalVelocity(
-            vessel.horizontalVelocity.get() > 4
+            vessel.horizontalVelocity.get() > 5
                 ? 0
                 : -Utilities.clamp(vessel.surfaceAltitude.get() * 0.1, 3, 20));
         navigation.aimForLanding();
@@ -288,10 +293,10 @@ private void executeHoverStep() throws RPCException, StreamException, Interrupte
       return;
     }
     adjustHoverPID();
+    altitudeCtrl.setOutput(-0.5, 0.5);
+    velocityCtrl.setOutput(-0.5, 0.5);
     switch (currentMode) {
       case GOING_UP:
-        altitudeCtrl.setOutput(-0.5, 0.5);
-        velocityCtrl.setOutput(-0.5, 0.5);
         vessel.throttle(
             altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
                 + velocityCtrl.calculate(vessel.verticalVelocity.get(), MAX_VELOCITY));
@@ -304,11 +309,9 @@ private void executeHoverStep() throws RPCException, StreamException, Interrupte
         setCurrentStatus("Baixando altitude...");
         break;
       case HOVERING:
-        altitudeCtrl.setOutput(-0.5, 0.5);
-        velocityCtrl.setOutput(-0.5, 0.5);
         vessel.throttle(
             altitudeCtrl.calculate(altitudeErrorPercentage, HUNDRED_PERCENT)
-                + velocityCtrl.calculate(vessel.verticalVelocity.get(), 0));
+                + velocityCtrl.calculate(0, -vessel.verticalVelocity.get()));
         navigation.aimAtRadialOut();
         setCurrentStatus("Sobrevoando area...");
         break;
@@ -339,7 +342,7 @@ private void adjustLandingPID() throws RPCException, StreamException {
       // O resto da lógica permanece o mesmo, mas agora usando o novo timeToImpact
       double Kp = (currentTWR * velP) / timeToImpact;
       double Kd = Kp * (velD / velP);
-      double Ki = 0.0;
+      double Ki = 0.0001;
       altitudeCtrl.setPIDValues(Kp, Ki, Kd);
     } else {
       // Para outros modos, usa um PID mais simples e estável
@@ -417,9 +420,6 @@ private void cleanup() {
       if (apErrorStream != null) {
         apErrorStream.remove();
       }
-      if (utStream != null) {
-        utStream.remove();
-      }
       vessel.throttle(0);
       setCurrentStatus(Bundle.getString("status_ready"));
     } catch (RPCException | NullPointerException e) {
diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index fc65387..4819f41 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -32,7 +32,6 @@ private enum LIFTOFF_MODE {
       isLiftoffRunning = false;
   private int apoapsisCallbackTag, pressureCallbackTag, utCallbackTag;
   private Stream<Float> pressureStream;
-  private Stream<Double> utStream;
   private boolean willDecoupleStages, willOpenPanelsAndAntenna;
   private String gravityCurveModel = Module.CIRCULAR.get();
   private Navigation navigation;
@@ -140,13 +139,12 @@ private void setupCallbacks() throws RPCException, StreamException {
             });
     pressureStream.start();
 
-    utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
     utCallbackTag =
-        utStream.addCallback(
+        vessel.missionTime.addCallback(
             (ut) -> {
               try {
                 if (!isLiftoffRunning) {
-                  utStream.removeCallback(utCallbackTag);
+                  vessel.missionTime.removeCallback(utCallbackTag);
                   return;
                 }
                 handleLiftoff();
@@ -154,7 +152,6 @@ private void setupCallbacks() throws RPCException, StreamException {
                 System.err.println("Liftoff UT Callback error: " + e.getMessage());
               }
             });
-    utStream.start();
   }
 
   private void handleLiftoff() throws RPCException, StreamException, InterruptedException {
@@ -221,9 +218,8 @@ private void cleanup() {
       isLiftoffRunning = false;
       vessel.apoapsis.removeCallback(apoapsisCallbackTag);
       pressureStream.removeCallback(pressureCallbackTag);
-      utStream.removeCallback(utCallbackTag);
+      vessel.missionTime.removeCallback(utCallbackTag);
       pressureStream.remove();
-      utStream.remove();
       vessel.ap.disengage();
       vessel.throttle(0);
     } catch (RPCException | NullPointerException e) {
diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 25b74d4..40657cf 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -416,7 +416,7 @@ private Node biEllipticTransferToOrbit(double targetAltitude, double timeToStart
   }
 
   private void alignPlanesWithTargetVessel() throws InterruptedException, RPCException {
-    Stream<Double> utStream = null;
+    final int[] utCallbackTag = new int[1];
     try {
       Vessel vesselObj = this.vessel.getActiveVessel();
       Orbit vesselOrbit = this.vessel.getActiveVessel().getOrbit();
@@ -439,11 +439,8 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
       ctrlManeuver.setTimeSample(25);
 
       final CountDownLatch latch = new CountDownLatch(1);
-      utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
-      final Stream<Double> finalUtStream = utStream;
-      final int[] utCallbackTag = new int[1];
       utCallbackTag[0] =
-          finalUtStream.addCallback(
+          vessel.missionTime.addCallback(
               (ut) -> {
                 try {
                   double currentInclination =
@@ -451,7 +448,6 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
                           currentManeuver.getOrbit().relativeInclination(targetVesselOrbit));
                   if (currentInclination <= 0.05) {
                     latch.countDown();
-                    finalUtStream.removeCallback(utCallbackTag[0]);
                     return;
                   }
                   double ctrlOutput = ctrlManeuver.calculate(currentInclination * 100, 0);
@@ -462,7 +458,6 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
                   latch.countDown();
                 }
               });
-      utStream.start();
       latch.await(); // Wait until the alignment is done
     } catch (Exception err) {
       if (err instanceof InterruptedException) {
@@ -470,14 +465,12 @@ private void alignPlanesWithTargetVessel() throws InterruptedException, RPCExcep
       }
       System.err.println("Error aligning planes: " + err);
     } finally {
-      if (utStream != null) {
-        utStream.remove();
-      }
+      vessel.missionTime.removeCallback(utCallbackTag[0]);
     }
   }
 
   private void rendezvousWithTargetVessel() throws InterruptedException, RPCException {
-    Stream<Double> utStream = null;
+    final int[] utCallbackTag = new int[1];
     try {
       List<Node> currentManeuvers = vessel.getActiveVessel().getControl().getNodes();
       Node lastManeuverNode;
@@ -494,21 +487,17 @@ private void rendezvousWithTargetVessel() throws InterruptedException, RPCExcept
       final CountDownLatch latch = new CountDownLatch(1);
       final RendezvousState state = new RendezvousState(lastManeuverNode);
 
-      utStream = vessel.connection.addStream(vessel.spaceCenter.getClass(), "getUT");
-      final Stream<Double> finalUtStream = utStream;
-      final int[] utCallbackTag = new int[1];
       utCallbackTag[0] =
-          finalUtStream.addCallback(
+          vessel.missionTime.addCallback(
               ut -> {
                 try {
-                  updateRendezvousState(state, latch, finalUtStream, utCallbackTag[0]);
+                  updateRendezvousState(state, latch, utCallbackTag[0]);
                 } catch (Exception e) {
                   e.printStackTrace();
                   System.err.println("Error in rendezvous update: " + e);
                   latch.countDown();
                 }
               });
-      utStream.start();
       latch.await();
     } catch (Exception err) {
       if (err instanceof InterruptedException) {
@@ -516,14 +505,12 @@ private void rendezvousWithTargetVessel() throws InterruptedException, RPCExcept
       }
       System.err.println("Error during rendezvous: " + err);
     } finally {
-      if (utStream != null) {
-        utStream.remove();
-      }
+      vessel.missionTime.removeCallback(utCallbackTag[0]);
     }
   }
 
   private void updateRendezvousState(
-      RendezvousState state, CountDownLatch latch, Stream<Double> stream, int callbackTag)
+      RendezvousState state, CountDownLatch latch, int callbackTag)
       throws RPCException, IOException {
     Orbit targetVesselOrbit =
         vessel.getConnectionManager().getSpaceCenter().getTargetVessel().getOrbit();
@@ -598,7 +585,6 @@ private void updateRendezvousState(
 
       case DONE:
         latch.countDown();
-        stream.removeCallback(callbackTag);
         break;
     }
   }
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index 3d721af..eaab29a 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -229,11 +229,6 @@ public void removeStreams() {
     } catch (Exception e) {
       /* ignore */
     }
-    try {
-      if (missionTime != null) missionTime.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
     // Clear the telemetry data map
     telemetryData.clear();
   }
diff --git a/src/main/java/com/pesterenan/model/ConnectionManager.java b/src/main/java/com/pesterenan/model/ConnectionManager.java
index 4c4140f..4708736 100644
--- a/src/main/java/com/pesterenan/model/ConnectionManager.java
+++ b/src/main/java/com/pesterenan/model/ConnectionManager.java
@@ -90,7 +90,7 @@ private void attemptConnection() {
 
   public boolean isConnectionAlive() {
     try {
-      if (krpc == null || connection == null)  return false;
+      if (krpc == null || connection == null) return false;
       krpc.getStatus();
       return true;
     } catch (RPCException e) {
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index edf40ce..9c9491d 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -3,6 +3,7 @@
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.Vector;
 import com.pesterenan.views.FunctionsAndTelemetryJPanel;
+import com.pesterenan.views.CreateManeuverJPanel;
 import com.pesterenan.views.MainGui;
 import com.pesterenan.views.StatusDisplay;
 import java.awt.event.ActionEvent;
@@ -27,6 +28,7 @@ public class VesselManager {
   private FunctionsAndTelemetryJPanel telemetryPanel;
   private StatusDisplay statusDisplay;
   private int currentVesselId = -1;
+  private ScheduledExecutorService telemetryMonitor;
 
   public VesselManager(
       final ConnectionManager connectionManager,
@@ -54,9 +56,10 @@ public int getCurrentVesselId() {
   }
 
   public void startTelemetryLoop() {
-    ScheduledExecutorService scheduler =
+    if (telemetryMonitor != null && !telemetryMonitor.isShutdown()) return;
+    telemetryMonitor =
         Executors.newSingleThreadScheduledExecutor(r -> new Thread(r, "MP_TELEMETRY_UPDATER"));
-    scheduler.scheduleAtFixedRate(
+    telemetryMonitor.scheduleAtFixedRate(
         () -> {
           if (connectionManager.isConnectionAlive()) {
             checkAndUpdateActiveVessel();
@@ -92,7 +95,7 @@ public ListModel<String> getCurrentManeuvers() {
             }
           });
     } catch (RPCException | NullPointerException | UnsupportedOperationException e) {
-      System.err.println("ERRO: Não foi possivel atualizar as manobras atuais." + e.getMessage());
+      System.err.println("ERRO: Não foi possivel atualizar as manobras atuais. " + e.getClass().getSimpleName());
     }
     return list;
   }
@@ -162,7 +165,7 @@ public void cancelControl(ActionEvent e) {
     }
   }
 
-  public void checkAndUpdateActiveVessel() {
+  private void checkAndUpdateActiveVessel() {
     try {
       int activeVesselId = getSpaceCenter().getActiveVessel().hashCode();
       if (currentVesselId != activeVesselId) {
@@ -175,28 +178,36 @@ public void checkAndUpdateActiveVessel() {
         currentVesselId = currentVessel.getCurrentVesselId();
         MainGui.getInstance().setVesselManager(this);
       }
+    } catch (IllegalArgumentException e) {
+      System.out.println("DEBUG: SpaceCenter not ready yet, skipping...");
     } catch (RPCException e) {
-      if (currentVessel != null) {
-        System.out.println("DEBUG: Could not get active vessel. Cleaning up.");
-        currentVessel.removeStreams();
-        currentVessel = null;
-        currentVesselId = -1;
-      }
+      System.out.println("DEBUG: Could not get active vessel. Cleaning up.");
+      clearVessel();
+    }
+  }
+
+  public void clearVessel() {
+    if (currentVessel != null) {
+      currentVessel.removeStreams();
     }
+    currentVessel = null;
+    currentVesselId = -1;
   }
 
   private void updateUI() {
     SwingUtilities.invokeLater(
-        () -> {
-          if (currentVessel != null && telemetryPanel != null) {
-            telemetryPanel.updateTelemetry(currentVessel.getTelemetryData());
-            MainGui.getInstance().getCreateManeuverPanel().updatePanel(getCurrentManeuvers());
-            if (currentVessel.hasModuleRunning()) {
-              statusDisplay.setStatusMessage(currentVessel.getCurrentStatus());
-            }
-          }
-        });
-  }
+                  () -> {
+                    if (currentVessel != null && telemetryPanel != null) {
+                      telemetryPanel.updateTelemetry(currentVessel.getTelemetryData());
+                      CreateManeuverJPanel createManeuverPanel = MainGui.getInstance().getCreateManeuverPanel();
+                      if (createManeuverPanel.isShowing()) {
+                        createManeuverPanel.updatePanel(getCurrentManeuvers());
+                      }
+                      if (currentVessel.hasModuleRunning()) {
+                        statusDisplay.setStatusMessage(currentVessel.getCurrentStatus());
+                      }
+                    }
+                  });  }
 
   private boolean filterVessels(Vessel vessel, String search) {
     if ("all".equals(search)) {

From 9e5dbe6713fa1102cef9e993aa77d514c0c701fb Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 19:43:10 -0300
Subject: [PATCH 17/25] [MP-8]: Cleaning up PID controller use

---
 src/main/java/com/pesterenan/Main.java        | 246 ------------------
 .../controllers/LiftoffController.java        |   2 +-
 .../controllers/ManeuverController.java       |   4 +-
 .../com/pesterenan/model/ActiveVessel.java    | 123 +++++----
 .../com/pesterenan/utils/ControlePID.java     |   6 +-
 .../pesterenan/views/RunManeuverJPanel.java   |   2 -
 6 files changed, 71 insertions(+), 312 deletions(-)
 delete mode 100644 src/main/java/com/pesterenan/Main.java

diff --git a/src/main/java/com/pesterenan/Main.java b/src/main/java/com/pesterenan/Main.java
deleted file mode 100644
index 1a6d8bb..0000000
--- a/src/main/java/com/pesterenan/Main.java
+++ /dev/null
@@ -1,246 +0,0 @@
-package com.pesterenan;
-
-import com.pesterenan.utils.Utilities;
-import com.pesterenan.utils.Vector;
-import java.io.IOException;
-import krpc.client.Connection;
-import krpc.client.RPCException;
-import krpc.client.services.Drawing;
-import krpc.client.services.Drawing.Line;
-import krpc.client.services.SpaceCenter;
-import krpc.client.services.SpaceCenter.Control;
-import krpc.client.services.SpaceCenter.DockingPort;
-import krpc.client.services.SpaceCenter.ReferenceFrame;
-import krpc.client.services.SpaceCenter.SASMode;
-import krpc.client.services.SpaceCenter.Vessel;
-
-public class Main {
-  private static Connection connection;
-  private static SpaceCenter spaceCenter;
-  private static Drawing drawing;
-  private static Control control;
-
-  private static Vessel activeVessel;
-  private static Vessel targetVessel;
-
-  private static ReferenceFrame orbitalRefVessel;
-  private static ReferenceFrame vesselRefFrame;
-  private static ReferenceFrame orbitalRefBody;
-  private static final double SPEED_LIMIT = 3.0;
-  private static final double DISTANCE_LIMIT = 25.0;
-  private static Line distanceLine;
-  private static Line distLineXAxis;
-  private static Line distLineYAxis;
-  private static Line distLineZAxis;
-  private static DockingPort myDockingPort;
-  private static DockingPort targetDockingPort;
-  private static Vector positionMyDockingPort;
-  private static Vector positionTargetDockingPort;
-
-  private static void initializeParameters() {
-    try {
-      connection = Connection.newInstance();
-      spaceCenter = SpaceCenter.newInstance(connection);
-      drawing = Drawing.newInstance(connection);
-      activeVessel = spaceCenter.getActiveVessel();
-      targetVessel = spaceCenter.getTargetVessel();
-      vesselRefFrame = activeVessel.getReferenceFrame();
-      orbitalRefVessel = activeVessel.getOrbitalReferenceFrame();
-      orbitalRefBody = activeVessel.getOrbit().getBody().getReferenceFrame();
-
-      myDockingPort = activeVessel.getParts().getDockingPorts().get(0);
-      targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
-
-      positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
-      positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
-
-      createLines(positionMyDockingPort, positionTargetDockingPort);
-
-    } catch (IOException | RPCException e) {
-      e.printStackTrace();
-    }
-  }
-
-  public static void main(String[] args) {
-    try {
-      // Initialize parameters for the script, connection and setup:
-      initializeParameters();
-
-      // Setting up the control
-      control = activeVessel.getControl();
-      control.setSAS(true);
-      control.setRCS(false);
-      control.setSASMode(SASMode.STABILITY_ASSIST);
-
-      Vector targetDirection =
-          new Vector(activeVessel.position(orbitalRefVessel))
-              .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
-              .multiply(-1);
-      activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
-      activeVessel.getAutoPilot().setTargetDirection(targetDirection.toTriplet());
-      activeVessel.getAutoPilot().setTargetRoll(90);
-      activeVessel.getAutoPilot().engage();
-      // Fazer a nave apontar usando o piloto automático, na marra
-      while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
-        activeVessel.getAutoPilot().wait_();
-      }
-      control.setRCS(true);
-      activeVessel.getAutoPilot().disengage();
-      control.setSAS(true);
-      control.setSASMode(SASMode.STABILITY_ASSIST);
-
-      // PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
-
-      Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-      double lastXTargetPos = targetPosition.x;
-      double lastYTargetPos = targetPosition.y;
-      double lastZTargetPos = targetPosition.z;
-      long sleepTime = 25;
-      double currentXAxisSpeed = 0;
-      double currentYAxisSpeed = 0;
-      double currentZAxisSpeed = 0;
-      while (Math.abs(lastYTargetPos) >= DISTANCE_LIMIT) {
-        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-
-        // Atualizar posições para linhas
-        positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
-        positionTargetDockingPort = new Vector(targetDockingPort.position(vesselRefFrame));
-        updateLines(positionMyDockingPort, positionTargetDockingPort);
-
-        // Calcular velocidade de cada eixo:
-        currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
-        currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
-        currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
-
-        // Calcular a aceleração para cada eixo no RCS:
-        float forwardsError =
-            calculateThrottle(
-                DISTANCE_LIMIT,
-                DISTANCE_LIMIT * 2,
-                currentYAxisSpeed,
-                targetPosition.y,
-                SPEED_LIMIT);
-        float sidewaysError =
-            calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-        float upwardsError =
-            calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
-        control.setForward((float) forwardsError);
-        control.setRight((float) sidewaysError);
-        control.setUp((float) -upwardsError);
-
-        // Guardar últimas posições:
-        lastXTargetPos = targetPosition.x;
-        lastYTargetPos = targetPosition.y;
-        lastZTargetPos = targetPosition.z;
-        Thread.sleep(sleepTime);
-      }
-
-      // SEGUNDA PARTE APONTAR PRO LADO CONTRARIO:
-      Vector direcaoContrariaDockingPortAlvo =
-          new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
-      control.setSAS(false);
-      control.setRCS(false);
-      activeVessel.getAutoPilot().engage();
-      activeVessel.getAutoPilot().setReferenceFrame(orbitalRefVessel);
-      activeVessel.getAutoPilot().setTargetDirection(direcaoContrariaDockingPortAlvo.toTriplet());
-      activeVessel.getAutoPilot().setTargetRoll(90);
-      while (Math.abs(activeVessel.getAutoPilot().getError()) > 1) {
-        activeVessel.getAutoPilot().wait_();
-      }
-      activeVessel.getAutoPilot().disengage();
-      control.setSAS(true);
-      control.setSASMode(SASMode.STABILITY_ASSIST);
-      Thread.sleep(1000);
-      control.setRCS(true);
-
-      while (targetVessel != null) {
-        targetPosition = new Vector(targetDockingPort.position(vesselRefFrame));
-
-        // Atualizar posições para linhas
-        positionMyDockingPort = new Vector(myDockingPort.position(vesselRefFrame));
-        updateLines(positionMyDockingPort, targetPosition);
-
-        // Calcular velocidade de cada eixo:
-        currentXAxisSpeed = (targetPosition.x - lastXTargetPos) * sleepTime;
-        currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
-        currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
-
-        // Calcular a aceleração para cada eixo no RCS:
-        float forwardsError =
-            calculateThrottle(5, 10, currentYAxisSpeed, targetPosition.y, SPEED_LIMIT);
-        float sidewaysError =
-            calculateThrottle(-1, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-        float upwardsError =
-            calculateThrottle(-1, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
-        control.setForward((float) forwardsError);
-        control.setRight((float) sidewaysError);
-        control.setUp((float) -upwardsError);
-
-        // Guardar últimas posições:
-        lastXTargetPos = targetPosition.x;
-        lastYTargetPos = targetPosition.y;
-        lastZTargetPos = targetPosition.z;
-        Thread.sleep(sleepTime);
-      }
-      // // Close the connection when finished
-      // connection.close();
-    } catch (RPCException | InterruptedException e) {
-      e.printStackTrace();
-    }
-  }
-
-  private static float calculateThrottle(
-      double minDistance,
-      double maxDistance,
-      double currentSpeed,
-      double currentPosition,
-      double speedLimit) {
-    double limiter =
-        Utilities.remap(minDistance, maxDistance, 0, 1, Math.abs(currentPosition), true);
-    double change =
-        (Utilities.remap(
-            -speedLimit,
-            speedLimit,
-            -1.0,
-            1.0,
-            currentSpeed + (Math.signum(currentPosition) * (limiter * speedLimit)),
-            true));
-    return (float) change;
-  }
-
-  private static void createLines(Vector start, Vector end) {
-    try {
-      distanceLine = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-      distLineXAxis =
-          drawing.addLine(
-              start.toTriplet(), new Vector(end.x, 0.0, 0.0).toTriplet(), vesselRefFrame, true);
-      distLineYAxis =
-          drawing.addLine(
-              start.toTriplet(), new Vector(end.x, end.y, 0.0).toTriplet(), vesselRefFrame, true);
-      distLineZAxis = drawing.addLine(start.toTriplet(), end.toTriplet(), vesselRefFrame, true);
-      distanceLine.setThickness(0.5f);
-      distLineXAxis.setThickness(0.25f);
-      distLineYAxis.setThickness(0.25f);
-      distLineZAxis.setThickness(0.25f);
-      distLineXAxis.setColor(new Vector(1.0, 0.0, 0.0).toTriplet());
-      distLineYAxis.setColor(new Vector(0.0, 1.0, 0.0).toTriplet());
-      distLineZAxis.setColor(new Vector(0.0, 0.0, 1.0).toTriplet());
-    } catch (RPCException e) {
-    }
-  }
-
-  private static void updateLines(Vector start, Vector end) {
-    // Updating drawing lines:
-    try {
-      distanceLine.setStart(start.toTriplet());
-      distanceLine.setEnd(end.toTriplet());
-      distLineXAxis.setStart(start.toTriplet());
-      distLineXAxis.setEnd(new Vector(end.x, 0.0, 0.0).toTriplet());
-      distLineYAxis.setStart(distLineXAxis.getEnd());
-      distLineYAxis.setEnd(new Vector(end.x, end.y, 0.0).toTriplet());
-      distLineZAxis.setStart(distLineYAxis.getEnd());
-      distLineZAxis.setEnd(end.toTriplet());
-    } catch (RPCException e) {
-    }
-  }
-}
diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index 4819f41..e7ce22d 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -115,7 +115,7 @@ private void initializeParameters() {
     gravityCurveModel = commands.get(Module.INCLINATION.get());
     willOpenPanelsAndAntenna = Boolean.parseBoolean(commands.get(Module.OPEN_PANELS.get()));
     willDecoupleStages = Boolean.parseBoolean(commands.get(Module.STAGE.get()));
-    thrControl = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
+    thrControl = new ControlePID(vessel.getConnectionManager().getSpaceCenter());
     thrControl.setOutput(0.0, 1.0);
   }
 
diff --git a/src/main/java/com/pesterenan/controllers/ManeuverController.java b/src/main/java/com/pesterenan/controllers/ManeuverController.java
index 40657cf..8ce85aa 100644
--- a/src/main/java/com/pesterenan/controllers/ManeuverController.java
+++ b/src/main/java/com/pesterenan/controllers/ManeuverController.java
@@ -378,8 +378,8 @@ public void executeBurn(Node maneuverNode, double burnDuration) throws Interrupt
   }
 
   private void initializeParameters() {
-    ctrlRCS = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
-    ctrlManeuver = new ControlePID(vessel.getConnectionManager().getSpaceCenter(), 25);
+    ctrlRCS = new ControlePID(vessel.getConnectionManager().getSpaceCenter());
+    ctrlManeuver = new ControlePID(vessel.getConnectionManager().getSpaceCenter());
     ctrlManeuver.setPIDValues(1, 0.001, 0.1);
     ctrlManeuver.setOutput(0.1, 1.0);
     ctrlRCS.setOutput(0.5, 1.0);
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index eaab29a..b73f779 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -149,6 +149,11 @@ public void startModule(Map<String, String> commands) {
     if (controllerThread != null) {
       controllerThread.interrupt();
       runningModule = false;
+      try {
+        controllerThread.join(); // Wait for the previous thread to finish
+      } catch (InterruptedException e) {
+        e.printStackTrace();
+      }
     }
     if (currentFunction.equals(Module.LIFTOFF.get())) {
       controller = new LiftoffController(this, commands);
@@ -194,40 +199,42 @@ public void removeStreams() {
       runningModule = false;
     }
     // Close all streams safely
-    try {
-      if (totalMass != null) totalMass.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (altitude != null) altitude.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (surfaceAltitude != null) surfaceAltitude.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (apoapsis != null) apoapsis.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (periapsis != null) periapsis.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (verticalVelocity != null) verticalVelocity.remove();
-    } catch (Exception e) {
-      /* ignore */
-    }
-    try {
-      if (horizontalVelocity != null) horizontalVelocity.remove();
-    } catch (Exception e) {
-      /* ignore */
+    synchronized (connection) {
+      try {
+        if (totalMass != null) totalMass.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (altitude != null) altitude.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (surfaceAltitude != null) surfaceAltitude.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (apoapsis != null) apoapsis.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (periapsis != null) periapsis.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (verticalVelocity != null) verticalVelocity.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
+      try {
+        if (horizontalVelocity != null) horizontalVelocity.remove();
+      } catch (Exception e) {
+        /* ignore */
+      }
     }
     // Clear the telemetry data map
     telemetryData.clear();
@@ -277,31 +284,33 @@ public void reinitialize() {
       flightParameters = getActiveVessel().flight(orbitalReferenceFrame);
 
       System.out.println("DEBUG: Basic parameters set. Creating streams...");
-      altitude = connection.addStream(flightParameters, "getMeanAltitude");
-      apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
-      horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
-      periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
-      surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
-      totalMass = connection.addStream(getActiveVessel(), "getMass");
-      verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
-      missionTime = connection.addStream(spaceCenter.getClass(), "getUT");
+      synchronized (connection) {
+        altitude = connection.addStream(flightParameters, "getMeanAltitude");
+        apoapsis = connection.addStream(getActiveVessel().getOrbit(), "getApoapsisAltitude");
+        horizontalVelocity = connection.addStream(flightParameters, "getHorizontalSpeed");
+        periapsis = connection.addStream(getActiveVessel().getOrbit(), "getPeriapsisAltitude");
+        surfaceAltitude = connection.addStream(flightParameters, "getSurfaceAltitude");
+        totalMass = connection.addStream(getActiveVessel(), "getMass");
+        verticalVelocity = connection.addStream(flightParameters, "getVerticalSpeed");
+        missionTime = connection.addStream(spaceCenter.getClass(), "getUT");
 
-      altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
-      apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
-      horizontalVelocity.addCallback(
-          val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
-      periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
-      surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
-      verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
+        altitude.addCallback(val -> telemetryData.put(Telemetry.ALTITUDE, val < 0 ? 0 : val));
+        apoapsis.addCallback(val -> telemetryData.put(Telemetry.APOAPSIS, val < 0 ? 0 : val));
+        horizontalVelocity.addCallback(
+            val -> telemetryData.put(Telemetry.HORZ_SPEED, val < 0 ? 0 : val));
+        periapsis.addCallback(val -> telemetryData.put(Telemetry.PERIAPSIS, val < 0 ? 0 : val));
+        surfaceAltitude.addCallback(val -> telemetryData.put(Telemetry.ALT_SURF, val < 0 ? 0 : val));
+        verticalVelocity.addCallback(val -> telemetryData.put(Telemetry.VERT_SPEED, val));
 
-      altitude.start();
-      apoapsis.start();
-      horizontalVelocity.start();
-      periapsis.start();
-      surfaceAltitude.start();
-      totalMass.start();
-      verticalVelocity.start();
-      missionTime.start();
+        altitude.start();
+        apoapsis.start();
+        horizontalVelocity.start();
+        periapsis.start();
+        surfaceAltitude.start();
+        totalMass.start();
+        verticalVelocity.start();
+        missionTime.start();
+      }
       System.out.println("DEBUG: All streams created successfully.");
     } catch (RPCException | StreamException e) {
       System.err.println(
diff --git a/src/main/java/com/pesterenan/utils/ControlePID.java b/src/main/java/com/pesterenan/utils/ControlePID.java
index 5aeb86d..5534712 100644
--- a/src/main/java/com/pesterenan/utils/ControlePID.java
+++ b/src/main/java/com/pesterenan/utils/ControlePID.java
@@ -11,7 +11,7 @@ public class ControlePID {
   private double ki = 0.001;
   private double kd = 0.01;
   private double integralTerm = 0.0;
-  private double previousError, previousMeasurement, lastTime = 0.0;
+  private double previousError, lastTime = 0.0;
   private double timeSample = 0.025; // 25 millisegundos
   private double proportionalTerm;
 
@@ -19,9 +19,8 @@ public class ControlePID {
 
   public ControlePID() {}
 
-  public ControlePID(SpaceCenter spaceCenter, double timeSample) {
+  public ControlePID(SpaceCenter spaceCenter) {
     this.spaceCenter = spaceCenter;
-    setTimeSample(timeSample);
   }
 
   public ControlePID(double kp, double ki, double kd, double outputMin, double outputMax) {
@@ -38,7 +37,6 @@ public double getTimeSample() {
 
   public void reset() {
     this.previousError = 0;
-    this.previousMeasurement = 0;
     this.proportionalTerm = 0;
     this.integralTerm = 0;
     this.derivativeTerm = 0;
diff --git a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
index 2fb884d..0e4e1fa 100644
--- a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
+++ b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
@@ -7,7 +7,6 @@
 import com.pesterenan.MechPeste;
 import com.pesterenan.model.VesselManager;
 import com.pesterenan.resources.Bundle;
-import com.pesterenan.utils.ControlePID;
 import com.pesterenan.utils.Module;
 import java.awt.BorderLayout;
 import java.awt.event.ActionEvent;
@@ -42,7 +41,6 @@ public class RunManeuverJPanel extends JPanel implements ActionListener, UIMetho
       btnAlignPlanes,
       btnRendezvous;
   private JCheckBox chkFineAdjusment;
-  private final ControlePID ctrlManeuver = new ControlePID();
   private VesselManager vesselManager;
 
   public RunManeuverJPanel(StatusDisplay statusDisplay) {

From 4631b6abf35167d0bc8e1d60eae46dc19e1c0e77 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 20:15:53 -0300
Subject: [PATCH 18/25] [MP-8]: Removing log

---
 .../controllers/LandingController.java        | 73 ++++++++++++-------
 .../com/pesterenan/model/VesselManager.java   |  1 -
 2 files changed, 47 insertions(+), 27 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index 77a7de3..19e914e 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -42,6 +42,7 @@ private enum MODE {
   private final Map<String, String> commands;
 
   private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling, wasAirborne = false;
+  private volatile boolean isCleaningUp = false;
   private int isOrientedCallbackTag,
       isDeorbitBurnDoneCallbackTag,
       isFallingCallbackTag,
@@ -163,15 +164,18 @@ private void setupCallbacks() throws RPCException, StreamException {
     utCallbackTag =
         vessel.missionTime.addCallback(
             (ut) -> {
+              if (isCleaningUp) {
+                return;
+              }
               try {
                 if (landingMode) {
                   executeLandingStep();
                 } else if (hoveringMode) {
                   altitudeErrorPercentage =
                       vessel.surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
-                  if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.05) {
+                  if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.1) {
                     currentMode = MODE.GOING_DOWN;
-                  } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.95) {
+                  } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
                     currentMode = MODE.GOING_UP;
                   } else {
                     currentMode = MODE.HOVERING;
@@ -244,24 +248,27 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
         }
         altitudeCtrl.setOutput(0, 1);
         velocityCtrl.setOutput(0, 1);
-        double currentVelocity = calculateCurrentVelocityMagnitude();
-        double zeroVelocity = calculateZeroVelocityMagnitude();
-        double landingDistanceThreshold = Math.max(hoverAltitude, vessel.getMaxAcel(maxTWR) * 3);
+
+        double brakingDistance = calculateBrakingDistance();
+        double surfaceAltitude = vessel.surfaceAltitude.get();
+        // The threshold is a ratio of our current altitude versus the altitude needed to brake.
+        // It's 1 when we are much higher than the braking distance, and drops to 0 as we approach
+        // it.
         double threshold =
-            Utilities.clamp(
-                ((currentVelocity + zeroVelocity) - landingDistanceThreshold)
-                    / landingDistanceThreshold,
-                0,
-                1);
-        double altPID = altitudeCtrl.calculate(currentVelocity, zeroVelocity);
+            (brakingDistance > 1)
+                ? Utilities.clamp(surfaceAltitude / brakingDistance - 1, 0, 1)
+                : 0;
+
+        double altPID = altitudeCtrl.calculate(surfaceAltitude, brakingDistance);
         double velPID =
             velocityCtrl.calculate(
                 vessel.verticalVelocity.get(),
                 (-Utilities.clamp(vessel.surfaceAltitude.get() * 0.1, 3, 20)));
         vessel.throttle(Utilities.linearInterpolation(velPID, altPID, threshold));
         navigation.aimForLanding();
-        if (threshold < 0.15 || vessel.surfaceAltitude.get() < landingDistanceThreshold) {
-          hoverAltitude = landingDistanceThreshold;
+
+        double landingDistanceThreshold = Math.max(hoverAltitude, vessel.getMaxAcel(maxTWR) * 3);
+        if (surfaceAltitude < landingDistanceThreshold) {
           vessel.getActiveVessel().getControl().setGear(true);
           if (hoverAfterApproximation) {
             landingMode = false;
@@ -325,8 +332,20 @@ private void adjustLandingPID() throws RPCException, StreamException {
     double currentTWR = Math.min(vessel.getTWR(), maxTWR);
 
     if (currentMode == MODE.APPROACHING) {
-      // 1. Calcula a distância de trajetória restante (usando o método que já temos)
-      double trajectoryLength = calculateCurrentVelocityMagnitude();
+      // 1. Calcula a distância de trajetória restante
+      double trajectoryLength;
+      double timeToGround = 0;
+      if (vessel.verticalVelocity.get() < -0.1) { // Apenas calcula se estiver descendo
+        timeToGround = vessel.surfaceAltitude.get() / -vessel.verticalVelocity.get();
+      }
+      if (timeToGround > 0) {
+        double horizontalDistance = vessel.horizontalVelocity.get() * timeToGround;
+        trajectoryLength =
+            calculateEllipticTrajectory(horizontalDistance, vessel.surfaceAltitude.get());
+      } else {
+        trajectoryLength = vessel.surfaceAltitude.get(); // Usa apenas a altitude como fallback
+      }
+
       // 2. Calcula a velocidade total (vetorial)
       double totalVelocity =
           Math.sqrt(
@@ -391,17 +410,18 @@ private boolean hasTheVesselLanded() throws RPCException {
     return false;
   }
 
-  private double calculateCurrentVelocityMagnitude() throws RPCException, StreamException {
-    double timeToGround = vessel.surfaceAltitude.get() / vessel.verticalVelocity.get();
-    double horizontalDistance = vessel.horizontalVelocity.get() * timeToGround;
-    return calculateEllipticTrajectory(horizontalDistance, vessel.surfaceAltitude.get());
-  }
-
-  private double calculateZeroVelocityMagnitude() throws RPCException, StreamException {
-    double zeroVelocityDistance =
-        calculateEllipticTrajectory(vessel.horizontalVelocity.get(), vessel.verticalVelocity.get());
-    double zeroVelocityBurnTime = zeroVelocityDistance / vessel.getMaxAcel(maxTWR);
-    return zeroVelocityDistance * zeroVelocityBurnTime;
+  private double calculateBrakingDistance() throws RPCException, StreamException {
+    double totalVelocity =
+        Math.sqrt(
+            Math.pow(vessel.verticalVelocity.get(), 2)
+                + Math.pow(vessel.horizontalVelocity.get(), 2));
+    // Braking distance formula: d = v^2 / (2 * a)
+    // where a is the effective deceleration (max engine acceleration - gravity)
+    double maxDeceleration = vessel.getMaxAcel(maxTWR);
+    if (maxDeceleration <= 0.1) { // Avoid division by zero or tiny numbers
+      return Double.POSITIVE_INFINITY;
+    }
+    return Math.pow(totalVelocity, 2) / (2 * maxDeceleration);
   }
 
   private double calculateEllipticTrajectory(double a, double b) {
@@ -411,6 +431,7 @@ private double calculateEllipticTrajectory(double a, double b) {
   }
 
   private void cleanup() {
+    isCleaningUp = true;
     try {
       landingMode = false;
       hoveringMode = false;
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 9c9491d..7de8f09 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -179,7 +179,6 @@ private void checkAndUpdateActiveVessel() {
         MainGui.getInstance().setVesselManager(this);
       }
     } catch (IllegalArgumentException e) {
-      System.out.println("DEBUG: SpaceCenter not ready yet, skipping...");
     } catch (RPCException e) {
       System.out.println("DEBUG: Could not get active vessel. Cleaning up.");
       clearVessel();

From 39a0d83a76abae9109c7d5c46e974486ce678cca Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 20:41:05 -0300
Subject: [PATCH 19/25] [MP-8]: Update About modal with channel info

---
 .../com/pesterenan/views/AboutJFrame.java     | 51 +++++++++++++++----
 1 file changed, 40 insertions(+), 11 deletions(-)

diff --git a/src/main/java/com/pesterenan/views/AboutJFrame.java b/src/main/java/com/pesterenan/views/AboutJFrame.java
index 1466bf2..8c55628 100644
--- a/src/main/java/com/pesterenan/views/AboutJFrame.java
+++ b/src/main/java/com/pesterenan/views/AboutJFrame.java
@@ -5,18 +5,25 @@
 import static com.pesterenan.views.MainGui.createMarginComponent;
 
 import com.pesterenan.utils.VersionUtil;
+import java.awt.Desktop;
 import java.awt.Font;
+import java.io.IOException;
+import java.net.URISyntaxException;
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
 import javax.swing.JDialog;
+import javax.swing.JEditorPane;
 import javax.swing.JLabel;
 import javax.swing.JPanel;
+import javax.swing.event.HyperlinkEvent;
+import javax.swing.event.HyperlinkListener;
 
 public class AboutJFrame extends JDialog implements UIMethods {
 
   private static final long serialVersionUID = 0L;
-  private JLabel lblMechpeste, lblAboutInfo;
+  private JLabel lblMechpeste;
+  private JEditorPane editorPane;
   private JButton btnOk;
 
   public AboutJFrame() {
@@ -29,13 +36,7 @@ public AboutJFrame() {
   public void initComponents() {
     // Labels:
     lblMechpeste = new JLabel("MechPeste - v." + VersionUtil.getVersion());
-    lblAboutInfo =
-        new JLabel(
-            "<html>Esse app foi desenvolvido com o intuito de auxiliar o controle de naves<br>no game Kerbal Space Program.<br><br>"
-                + "Não há garantias sobre o controle exato do app, portanto fique atento <br>"
-                + "para retomar o controle quando necessário.<br><br>"
-                + "Feito por: Renan Torres<br>"
-                + "Visite meu canal no Youtube! - https://www.youtube.com/@Pesterenan</html>");
+    editorPane = new JEditorPane();
 
     // Buttons:
     btnOk = new JButton("OK");
@@ -44,7 +45,7 @@ public void initComponents() {
   @Override
   public void setupComponents() {
     // Main Panel setup:
-    setTitle("MechPeste - por Pesterenan");
+    setTitle("Sobre");
     setBounds(centerDialogOnScreen());
     setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE);
     setResizable(false);
@@ -54,7 +55,34 @@ public void setupComponents() {
     // Setting-up components:
     lblMechpeste.setFont(new Font("Trajan Pro", Font.BOLD, 18));
     lblMechpeste.setAlignmentX(CENTER_ALIGNMENT);
-    lblAboutInfo.setAlignmentX(CENTER_ALIGNMENT);
+
+    editorPane.setContentType("text/html");
+    editorPane.setText(
+        "<html><body style='font-family: \"arial, helvetica, sans-serif\"; text-align: justify;'>"
+            + "Esse app foi desenvolvido com o intuito de auxiliar o controle de naves<br>no game Kerbal Space Program.<br><br>"
+            + "Não há garantias sobre o controle exato do app, portanto fique atento <br>"
+            + "para retomar o controle quando necessário.<br><br>"
+            + "Feito por: Renan Torres<br>"
+            + "Visite meu canal no Youtube! - <a href=\"https://www.youtube.com/@Pesterenan\">https://www.youtube.com/@Pesterenan</a><br><br>"
+            + "Gostou do app? Considere fazer uma doação!<br>"
+            + "LivePix: <a href=\"https://livepix.gg/pesterenan\">https://livepix.gg/pesterenan</a><br><br>"
+            + "Código fonte: <a href=\"https://github.com/Pesterenan/MechPeste-Java\">https://github.com/Pesterenan/MechPeste-Java</a>"
+            + "</body></html>");
+    editorPane.setEditable(false);
+    editorPane.setOpaque(false);
+    editorPane.addHyperlinkListener(
+        new HyperlinkListener() {
+          @Override
+          public void hyperlinkUpdate(HyperlinkEvent e) {
+            if (e.getEventType() == HyperlinkEvent.EventType.ACTIVATED) {
+              try {
+                Desktop.getDesktop().browse(e.getURL().toURI());
+              } catch (IOException | URISyntaxException e1) {
+                e1.printStackTrace();
+              }
+            }
+          }
+        });
 
     btnOk.addActionListener(
         e -> {
@@ -73,12 +101,13 @@ public void layoutComponents() {
     pnlMain.add(createMarginComponent(10, 10));
     pnlMain.add(lblMechpeste);
     pnlMain.add(createMarginComponent(10, 10));
-    pnlMain.add(lblAboutInfo);
+    pnlMain.add(editorPane);
     pnlMain.add(Box.createVerticalGlue());
     pnlMain.add(btnOk);
     pnlMain.add(createMarginComponent(10, 10));
 
     getContentPane().add(pnlMain);
+    pack();
     setVisible(true);
   }
 }

From 62f21015d76a9694d700ffee87c65adabcdc7f0e Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 20:44:15 -0300
Subject: [PATCH 20/25] [MP-8]: Bumping version to 0.9.0

---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index 4ed1c25..cc95adc 100644
--- a/pom.xml
+++ b/pom.xml
@@ -5,7 +5,7 @@
 
   <groupId>com.pesterenan</groupId>
   <artifactId>MechPeste</artifactId>
-  <version>0.8.1</version>
+  <version>0.9.0</version>
 
   <build>
     <plugins>

From 4dc52da28a3625484a083746b52604628b4e7158 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 21:26:44 -0300
Subject: [PATCH 21/25] [MP-8]: Implement connection listener to fix connection
 bug

---
 .../pesterenan/model/ConnectionListener.java  |  8 ++++++
 .../pesterenan/model/ConnectionManager.java   | 27 +++++++++++++++++++
 .../com/pesterenan/model/VesselManager.java   | 13 +++++++--
 3 files changed, 46 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/com/pesterenan/model/ConnectionListener.java

diff --git a/src/main/java/com/pesterenan/model/ConnectionListener.java b/src/main/java/com/pesterenan/model/ConnectionListener.java
new file mode 100644
index 0000000..707d869
--- /dev/null
+++ b/src/main/java/com/pesterenan/model/ConnectionListener.java
@@ -0,0 +1,8 @@
+package com.pesterenan.model;
+
+import krpc.client.Connection;
+import krpc.client.services.SpaceCenter;
+
+public interface ConnectionListener {
+    void onConnectionChanged(Connection newConnection, SpaceCenter newSpaceCenter);
+}
diff --git a/src/main/java/com/pesterenan/model/ConnectionManager.java b/src/main/java/com/pesterenan/model/ConnectionManager.java
index 4708736..e961598 100644
--- a/src/main/java/com/pesterenan/model/ConnectionManager.java
+++ b/src/main/java/com/pesterenan/model/ConnectionManager.java
@@ -3,6 +3,8 @@
 import com.pesterenan.resources.Bundle;
 import com.pesterenan.views.StatusDisplay;
 import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
@@ -20,6 +22,7 @@ public class ConnectionManager {
   private volatile boolean isConnecting = false;
   private ScheduledExecutorService connectionMonitor;
   private String connectionName;
+  private final List<ConnectionListener> listeners = new ArrayList<>();
 
   public ConnectionManager(final String connectionName, final StatusDisplay statusDisplay) {
     this.statusDisplay = statusDisplay;
@@ -27,6 +30,16 @@ public ConnectionManager(final String connectionName, final StatusDisplay status
     startMonitoring();
   }
 
+  public void addListener(ConnectionListener listener) {
+    listeners.add(listener);
+  }
+
+  private void notifyListeners() {
+    for (ConnectionListener listener : listeners) {
+      listener.onConnectionChanged(connection, spaceCenter);
+    }
+  }
+
   public Connection getConnection() {
     return connection;
   }
@@ -43,6 +56,19 @@ public void connect() {
     attemptConnection();
   }
 
+  public void disconnect() {
+    try {
+      if (connection != null) {
+        connection.close();
+      }
+    } catch (IOException e) {
+      System.err.println("Error closing connection: " + e.getMessage());
+    }
+    if (connectionMonitor != null && !connectionMonitor.isShutdown()) {
+      connectionMonitor.shutdown();
+    }
+  }
+
   private void startMonitoring() {
     if (connectionMonitor != null && !connectionMonitor.isShutdown()) return;
     connectionMonitor =
@@ -71,6 +97,7 @@ private void attemptConnection() {
       connection = Connection.newInstance(connectionName);
       krpc = KRPC.newInstance(connection);
       spaceCenter = SpaceCenter.newInstance(connection);
+      notifyListeners(); // Notify listeners of the new connection
 
       SwingUtilities.invokeLater(
           () -> statusDisplay.setStatusMessage(Bundle.getString("status_connected")));
diff --git a/src/main/java/com/pesterenan/model/VesselManager.java b/src/main/java/com/pesterenan/model/VesselManager.java
index 7de8f09..08b8390 100644
--- a/src/main/java/com/pesterenan/model/VesselManager.java
+++ b/src/main/java/com/pesterenan/model/VesselManager.java
@@ -22,11 +22,12 @@
 import krpc.client.services.SpaceCenter.Node;
 import krpc.client.services.SpaceCenter.Vessel;
 
-public class VesselManager {
+public class VesselManager implements ConnectionListener {
   private ActiveVessel currentVessel;
   private ConnectionManager connectionManager;
   private FunctionsAndTelemetryJPanel telemetryPanel;
   private StatusDisplay statusDisplay;
+  private SpaceCenter spaceCenter;
   private int currentVesselId = -1;
   private ScheduledExecutorService telemetryMonitor;
 
@@ -37,6 +38,14 @@ public VesselManager(
     this.connectionManager = connectionManager;
     this.statusDisplay = statusDisplay;
     this.telemetryPanel = telemetryPanel;
+    this.connectionManager.addListener(this);
+  }
+
+  @Override
+  public void onConnectionChanged(Connection newConnection, SpaceCenter newSpaceCenter) {
+    this.spaceCenter = newSpaceCenter;
+    clearVessel();
+    System.out.println("DEBUG: Connection changed. Vessel cleared.");
   }
 
   public Connection getConnection() {
@@ -44,7 +53,7 @@ public Connection getConnection() {
   }
 
   public SpaceCenter getSpaceCenter() {
-    return connectionManager.getSpaceCenter();
+    return spaceCenter;
   }
 
   public ActiveVessel getCurrentVessel() {

From 889d342624626ea196aaa64f65b74da76c27b45e Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 21:27:04 -0300
Subject: [PATCH 22/25] [MP-8]: Refactor  RoverController busy-waiting

---
 .../controllers/RoverController.java          | 65 ++++++++++---------
 1 file changed, 36 insertions(+), 29 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/RoverController.java b/src/main/java/com/pesterenan/controllers/RoverController.java
index 374a8fd..719d6d5 100644
--- a/src/main/java/com/pesterenan/controllers/RoverController.java
+++ b/src/main/java/com/pesterenan/controllers/RoverController.java
@@ -10,6 +10,9 @@
 import java.io.IOException;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 import krpc.client.RPCException;
 import krpc.client.Stream;
@@ -26,7 +29,6 @@ public class RoverController extends Controller {
   float distanceFromTargetLimit = 50;
   private float maxSpeed = 3;
   private ReferenceFrame roverReferenceFrame;
-  private boolean isAutoRoverRunning;
   private PathFinding pathFinding;
   private Vector targetPoint = new Vector();
   private Vector roverDirection = new Vector();
@@ -35,9 +37,11 @@ public class RoverController extends Controller {
 
   private volatile double currentDistanceToTarget = 0;
   private volatile float currentChargePercentage = 100;
+  private volatile float currentChargeAmount = 0;
   private int distanceCallbackTag, chargeCallbackTag;
   private Stream<Triplet<Double, Double, Double>> positionStream;
   private Stream<Float> chargeAmountStream;
+  private ScheduledExecutorService roverExecutor;
 
   public RoverController(ActiveVessel vessel, Map<String, String> commands) {
     super(vessel);
@@ -53,7 +57,6 @@ private void initializeParameters() {
       pathFinding = new PathFinding(vessel.getConnectionManager(), vessel.getVesselManager());
       acelCtrl.setOutput(0, 1);
       sterringCtrl.setOutput(-1, 1);
-      isAutoRoverRunning = true;
     } catch (RPCException ignored) {
     }
   }
@@ -70,7 +73,32 @@ private boolean isSolarPanelNotBroken(SolarPanel sp) {
   public void run() {
     if (commands.get(Module.MODULO.get()).equals(Module.ROVER.get())) {
       setTarget();
-      driveRoverToTarget();
+      currentMode = MODE.NEXT_POINT;
+      try {
+        setupCallbacks();
+        roverExecutor = Executors.newSingleThreadScheduledExecutor();
+        roverExecutor.scheduleAtFixedRate(this::roverStateMachine, 0, 100, TimeUnit.MILLISECONDS);
+      } catch (IOException | RPCException | StreamException e) {
+        cleanup();
+      }
+    }
+  }
+
+  private void roverStateMachine() {
+    try {
+      if (Thread.interrupted()) {
+        throw new InterruptedException();
+      }
+      changeControlMode();
+      if (isFarFromTarget()) {
+        currentMode = needToChargeBatteries() ? MODE.CHARGING : MODE.DRIVE;
+      } else { // Rover arrived at destiny
+        currentMode = MODE.NEXT_POINT;
+      }
+    } catch (InterruptedException e) {
+      cleanup();
+    } catch (RPCException | IOException | StreamException e) {
+      cleanup();
     }
   }
 
@@ -92,6 +120,7 @@ private void setupCallbacks() throws RPCException, IOException, StreamException
         chargeAmountStream.addCallback(
             (amount) -> {
               try {
+                currentChargeAmount = amount;
                 float totalCharge = vessel.getActiveVessel().getResources().max("ElectricCharge");
                 currentChargePercentage = (float) Math.ceil(amount * 100 / totalCharge);
               } catch (RPCException e) {
@@ -137,34 +166,13 @@ private void changeControlMode()
     }
   }
 
-  private void driveRoverToTarget() {
-    currentMode = MODE.NEXT_POINT;
-    try {
-      setupCallbacks();
-      while (isAutoRoverRunning) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        changeControlMode();
-        if (isFarFromTarget()) {
-          currentMode = needToChargeBatteries() ? MODE.CHARGING : MODE.DRIVE;
-        } else { // Rover arrived at destiny
-          currentMode = MODE.NEXT_POINT;
-        }
-        Thread.sleep(100);
-      }
-    } catch (InterruptedException e) {
-      cleanup();
-    } catch (RPCException | IOException | StreamException e) {
-      cleanup();
-    }
-  }
-
   private void cleanup() {
     try {
+      if (roverExecutor != null && !roverExecutor.isShutdown()) {
+        roverExecutor.shutdownNow();
+      }
       vessel.getActiveVessel().getControl().setBrakes(true);
       pathFinding.removeDrawnPath();
-      isAutoRoverRunning = false;
       if (positionStream != null) {
         positionStream.removeCallback(distanceCallbackTag);
         positionStream.remove();
@@ -207,7 +215,6 @@ private boolean needToChargeBatteries() {
   private void rechargeRover() throws RPCException, StreamException, InterruptedException {
 
     float totalCharge = vessel.getActiveVessel().getResources().max("ElectricCharge");
-    float currentCharge = vessel.getActiveVessel().getResources().amount("ElectricCharge");
 
     setRoverThrottle(0);
     vessel.getActiveVessel().getControl().setLights(false);
@@ -225,7 +232,7 @@ private void rechargeRover() throws RPCException, StreamException, InterruptedEx
       for (SolarPanel sp : solarPanels) {
         totalEnergyFlow += sp.getEnergyFlow();
       }
-      chargeTime = ((totalCharge - currentCharge) / totalEnergyFlow);
+      chargeTime = ((totalCharge - currentChargeAmount) / totalEnergyFlow);
       setCurrentStatus("Segundos de Carga: " + chargeTime);
       if (chargeTime < 1 || chargeTime > 21600) {
         chargeTime = 3600;

From 1ed987d2ed5d8a3ccd3ffce88f362fb3d6f44a1a Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 21:28:21 -0300
Subject: [PATCH 23/25] [MP-8]: Show status ready after cancelling a module

---
 .../pesterenan/views/FunctionsAndTelemetryJPanel.java | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
index 01f4fa4..38f82b4 100644
--- a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
+++ b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
@@ -11,6 +11,9 @@
 import java.awt.Dimension;
 import java.awt.event.ActionEvent;
 import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import javax.swing.Box;
 import javax.swing.BoxLayout;
 import javax.swing.JButton;
@@ -112,6 +115,14 @@ public void setupComponents() {
   private void cancelCurrentAction(ActionEvent e) {
     statusDisplay.setStatusMessage("Canceling current action...");
     vesselManager.cancelControl(e);
+    ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
+    executor.schedule(
+        () -> {
+          statusDisplay.setStatusMessage(Bundle.getString("lbl_stat_ready"));
+        },
+        2,
+        TimeUnit.SECONDS);
+    executor.shutdown();
   }
 
   @Override

From 81cd0b44696d99cb92b291a084f76e8489c327d1 Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 22:29:38 -0300
Subject: [PATCH 24/25] [MP-8]: Update controllers to use new pattern

---
 .../pesterenan/controllers/Controller.java    |   9 +
 .../controllers/DockingController.java        | 171 +++++++++---------
 .../controllers/LandingController.java        |  98 +++++-----
 .../controllers/LiftoffController.java        |  76 ++++----
 .../controllers/RoverController.java          |  20 +-
 .../com/pesterenan/model/ActiveVessel.java    |   4 +-
 6 files changed, 183 insertions(+), 195 deletions(-)

diff --git a/src/main/java/com/pesterenan/controllers/Controller.java b/src/main/java/com/pesterenan/controllers/Controller.java
index 6f0f98c..910f770 100644
--- a/src/main/java/com/pesterenan/controllers/Controller.java
+++ b/src/main/java/com/pesterenan/controllers/Controller.java
@@ -4,6 +4,7 @@
 
 public class Controller implements Runnable {
   protected final ActiveVessel vessel;
+  private volatile boolean isRunning = true;
   private String currentStatus = "";
 
   public Controller(ActiveVessel vessel) {
@@ -14,6 +15,14 @@ public void run() {
     // This method should be overridden by subclasses.
   }
 
+  public void stop() {
+    this.isRunning = false;
+  }
+
+  public boolean isRunning() {
+    return this.isRunning;
+  }
+
   public String getCurrentStatus() {
     return currentStatus;
   }
diff --git a/src/main/java/com/pesterenan/controllers/DockingController.java b/src/main/java/com/pesterenan/controllers/DockingController.java
index dc2c324..e6f1704 100644
--- a/src/main/java/com/pesterenan/controllers/DockingController.java
+++ b/src/main/java/com/pesterenan/controllers/DockingController.java
@@ -7,6 +7,9 @@
 import com.pesterenan.utils.Vector;
 import com.pesterenan.views.DockingJPanel;
 import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -65,14 +68,15 @@ private enum DOCKING_STEPS {
   private long sleepTime = 25;
 
   private DOCKING_STEPS dockingStep;
-  private boolean isDocking, isOriented = false;
+  private boolean isOriented = false;
   private final Map<String, String> commands;
 
   private Stream<Double> errorStream;
 
-  private int utCallbackTag, errorCallbackTag;
+  private int errorCallbackTag;
 
   private DockingPhase currentPhase;
+  private ScheduledExecutorService dockingExecutor;
 
   public DockingController(ActiveVessel vessel, Map<String, String> commands) {
     super(vessel);
@@ -85,38 +89,18 @@ public void run() {
     if (commands.get(Module.MODULO.get()).equals(Module.DOCKING.get())) {
       try {
         startDocking();
-        while (isDocking) {
-          if (Thread.interrupted()) {
-            throw new InterruptedException();
-          }
-          Thread.sleep(250);
-        }
-      } catch (RPCException | InterruptedException | StreamException | IllegalArgumentException e) {
+      } catch (RPCException | StreamException e) {
         cleanup();
-        setCurrentStatus("Docking interrupted: " + e.getMessage());
+        setCurrentStatus("Docking failed: " + e.getMessage());
       }
     }
   }
 
   public void startDocking() throws RPCException, StreamException {
-    isDocking = true;
     krpc = KRPC.newInstance(vessel.getConnectionManager().getConnection());
     currentPhase = DockingPhase.SETUP;
-
-    utCallbackTag =
-        vessel.missionTime.addCallback(
-            (ut) -> {
-              try {
-                if (isDocking) {
-                  updateDockingState();
-                } else {
-                  vessel.missionTime.removeCallback(utCallbackTag);
-                }
-              } catch (Exception e) {
-                setCurrentStatus("Docking failed: " + e.getMessage());
-                cleanup();
-              }
-            });
+    dockingExecutor = Executors.newSingleThreadScheduledExecutor();
+    dockingExecutor.scheduleAtFixedRate(this::updateDockingState, 0, 100, TimeUnit.MILLISECONDS);
   }
 
   private void initializeParameters() {
@@ -139,68 +123,77 @@ private void initializeParameters() {
     }
   }
 
-  private void updateDockingState() throws RPCException, StreamException, InterruptedException {
-    Vector targetPosition;
-    switch (currentPhase) {
-      case SETUP:
-        setCurrentStatus("Setting up for docking...");
-        control.setSAS(true);
-        control.setRCS(false);
-        control.setSASMode(SASMode.STABILITY_ASSIST);
-        createLines(positionMyDockingPort, positionTargetDockingPort);
-        currentPhase = DockingPhase.ORIENT_TO_TARGET;
-        break;
-      case ORIENT_TO_TARGET:
-        setCurrentStatus("Orienting to target vessel...");
-        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-        if (targetPosition.magnitude() > SAFE_DISTANCE) {
-          Vector targetDirection =
-              new Vector(vessel.getActiveVessel().position(orbitalRefVessel))
-                  .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
-                  .multiply(-1);
-          pointToTarget(targetDirection);
-          control.setRCS(true);
-          currentPhase = DockingPhase.APPROACH_TARGET;
-        } else {
-          currentPhase = DockingPhase.ORIENT_TO_PORT;
-        }
-        break;
-      case APPROACH_TARGET:
-        setCurrentStatus("Approaching target vessel...");
-        targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-        if (targetPosition.magnitude() > SAFE_DISTANCE) {
-          controlShipRCS(targetPosition, SAFE_DISTANCE);
-        } else {
-          currentPhase = DockingPhase.ORIENT_TO_PORT;
-        }
-        break;
-      case ORIENT_TO_PORT:
-        setCurrentStatus("Orienting to docking port...");
-        control.setSAS(false);
-        control.setRCS(false);
-        Vector targetDockingPortDirection =
-            new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
-        pointToTarget(targetDockingPortDirection);
-        control.setRCS(true);
-        if (isOriented) {
-          currentPhase = DockingPhase.FINAL_APPROACH;
-        }
-        break;
-      case FINAL_APPROACH:
-        setCurrentStatus("Final approach...");
-        targetPosition =
-            new Vector(targetDockingPort.position(vesselRefFrame))
-                .subtract(new Vector(myDockingPort.position(vesselRefFrame)));
-        double safeDistance = targetPosition.magnitude() < 10 ? 1 : 10;
-        controlShipRCS(targetPosition, safeDistance);
-        if (myDockingPort.getState() == DockingPortState.DOCKED) {
-          setCurrentStatus("Docking successful!");
-          currentPhase = DockingPhase.FINISHED;
-        }
-        break;
-      case FINISHED:
+  private void updateDockingState() {
+    try {
+      if (!isRunning()) {
         cleanup();
-        break;
+        return;
+      }
+      Vector targetPosition;
+      switch (currentPhase) {
+        case SETUP:
+          setCurrentStatus("Setting up for docking...");
+          control.setSAS(true);
+          control.setRCS(false);
+          control.setSASMode(SASMode.STABILITY_ASSIST);
+          createLines(positionMyDockingPort, positionTargetDockingPort);
+          currentPhase = DockingPhase.ORIENT_TO_TARGET;
+          break;
+        case ORIENT_TO_TARGET:
+          setCurrentStatus("Orienting to target vessel...");
+          targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+          if (targetPosition.magnitude() > SAFE_DISTANCE) {
+            Vector targetDirection =
+                new Vector(vessel.getActiveVessel().position(orbitalRefVessel))
+                    .subtract(new Vector(targetVessel.position(orbitalRefVessel)))
+                    .multiply(-1);
+            pointToTarget(targetDirection);
+            control.setRCS(true);
+            currentPhase = DockingPhase.APPROACH_TARGET;
+          } else {
+            currentPhase = DockingPhase.ORIENT_TO_PORT;
+          }
+          break;
+        case APPROACH_TARGET:
+          setCurrentStatus("Approaching target vessel...");
+          targetPosition = new Vector(targetVessel.position(vesselRefFrame));
+          if (targetPosition.magnitude() > SAFE_DISTANCE) {
+            controlShipRCS(targetPosition, SAFE_DISTANCE);
+          } else {
+            currentPhase = DockingPhase.ORIENT_TO_PORT;
+          }
+          break;
+        case ORIENT_TO_PORT:
+          setCurrentStatus("Orienting to docking port...");
+          control.setSAS(false);
+          control.setRCS(false);
+          Vector targetDockingPortDirection =
+              new Vector(targetDockingPort.direction(orbitalRefVessel)).multiply(-1);
+          pointToTarget(targetDockingPortDirection);
+          control.setRCS(true);
+          if (isOriented) {
+            currentPhase = DockingPhase.FINAL_APPROACH;
+          }
+          break;
+        case FINAL_APPROACH:
+          setCurrentStatus("Final approach...");
+          targetPosition =
+              new Vector(targetDockingPort.position(vesselRefFrame))
+                  .subtract(new Vector(myDockingPort.position(vesselRefFrame)));
+          double safeDistance = targetPosition.magnitude() < 10 ? 1 : 10;
+          controlShipRCS(targetPosition, safeDistance);
+          if (myDockingPort.getState() == DockingPortState.DOCKED) {
+            setCurrentStatus("Docking successful!");
+            currentPhase = DockingPhase.FINISHED;
+          }
+          break;
+        case FINISHED:
+          stop();
+          break;
+      }
+    } catch (RPCException | StreamException | InterruptedException e) {
+      setCurrentStatus("Docking failed: " + e.getMessage());
+      cleanup();
     }
   }
 
@@ -383,8 +376,10 @@ private void updateLines(Vector start, Vector end) {
   }
 
   private void cleanup() {
+    if (dockingExecutor != null && !dockingExecutor.isShutdown()) {
+      dockingExecutor.shutdownNow();
+    }
     try {
-      isDocking = false;
       if (errorStream != null) {
         errorStream.remove();
       }
diff --git a/src/main/java/com/pesterenan/controllers/LandingController.java b/src/main/java/com/pesterenan/controllers/LandingController.java
index 19e914e..12bf23b 100644
--- a/src/main/java/com/pesterenan/controllers/LandingController.java
+++ b/src/main/java/com/pesterenan/controllers/LandingController.java
@@ -7,6 +7,9 @@
 import com.pesterenan.utils.Navigation;
 import com.pesterenan.utils.Utilities;
 import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -36,18 +39,15 @@ private enum MODE {
   private Navigation navigation;
   private final int HUNDRED_PERCENT = 100;
   private double altitudeErrorPercentage, hoverAltitude, targetPeriapsis;
-  private boolean hoveringMode, hoverAfterApproximation, landingMode;
+  private boolean hoverAfterApproximation, landingMode;
   private MODE currentMode;
   private float maxTWR;
   private final Map<String, String> commands;
 
   private volatile boolean isDeorbitBurnDone, isOrientedForDeorbit, isFalling, wasAirborne = false;
-  private volatile boolean isCleaningUp = false;
-  private int isOrientedCallbackTag,
-      isDeorbitBurnDoneCallbackTag,
-      isFallingCallbackTag,
-      utCallbackTag;
+  private int isOrientedCallbackTag, isDeorbitBurnDoneCallbackTag, isFallingCallbackTag;
   private Stream<Float> apErrorStream;
+  private ScheduledExecutorService landingExecutor;
 
   public LandingController(ActiveVessel vessel, Map<String, String> commands) {
     super(vessel);
@@ -61,24 +61,39 @@ public void run() {
     try {
       if (commands.get(Module.MODULO.get()).equals(Module.HOVERING.get())) {
         hoverArea();
-      }
-      if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
+      } else if (commands.get(Module.MODULO.get()).equals(Module.LANDING.get())) {
         autoLanding();
       }
-      while (landingMode || hoveringMode) {
-        if (Thread.interrupted()) {
-          throw new InterruptedException();
-        }
-        Thread.sleep(100);
-      }
-    } catch (InterruptedException e) {
-      Thread.currentThread().interrupt(); // Restore interrupted status
-      System.err.println("Controle de Pouso finalizado via interrupção.");
-      setCurrentStatus(Bundle.getString("status_ready"));
+      landingExecutor = Executors.newSingleThreadScheduledExecutor();
+      landingExecutor.scheduleAtFixedRate(this::landingStateMachine, 0, 100, TimeUnit.MILLISECONDS);
     } catch (RPCException | StreamException e) {
       System.err.println("Erro no run do landingController:" + e.getMessage());
       setCurrentStatus(Bundle.getString("status_data_unavailable"));
-    } finally {
+      cleanup();
+    }
+  }
+
+  private void landingStateMachine() {
+    try {
+      if (!isRunning()) {
+        cleanup();
+        return;
+      }
+      if (landingMode) {
+        executeLandingStep();
+      } else {
+        altitudeErrorPercentage = vessel.surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
+        if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.1) {
+          currentMode = MODE.GOING_DOWN;
+        } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
+          currentMode = MODE.GOING_UP;
+        } else {
+          currentMode = MODE.HOVERING;
+        }
+        executeHoverStep();
+      }
+    } catch (Exception e) {
+      System.err.println("Landing state machine error: " + e.getMessage());
       cleanup();
     }
   }
@@ -92,14 +107,14 @@ private void initializeParameters() {
     velocityCtrl.setOutput(0, 1);
   }
 
-  private void hoverArea() throws RPCException, StreamException, InterruptedException {
-    hoveringMode = true;
+  private void hoverArea() throws RPCException, StreamException {
+    landingMode = false;
     vessel.ap.engage();
     vessel.tuneAutoPilot();
     setupCallbacks();
   }
 
-  private void autoLanding() throws RPCException, StreamException, InterruptedException {
+  private void autoLanding() throws RPCException, StreamException {
     landingMode = true;
     hoverAfterApproximation = Boolean.parseBoolean(commands.get(Module.HOVER_AFTER_LANDING.get()));
     if (!hoverAfterApproximation) {
@@ -161,34 +176,6 @@ private void setupCallbacks() throws RPCException, StreamException {
               }
             });
 
-    utCallbackTag =
-        vessel.missionTime.addCallback(
-            (ut) -> {
-              if (isCleaningUp) {
-                return;
-              }
-              try {
-                if (landingMode) {
-                  executeLandingStep();
-                } else if (hoveringMode) {
-                  altitudeErrorPercentage =
-                      vessel.surfaceAltitude.get() / hoverAltitude * HUNDRED_PERCENT;
-                  if (altitudeErrorPercentage > HUNDRED_PERCENT * 1.1) {
-                    currentMode = MODE.GOING_DOWN;
-                  } else if (altitudeErrorPercentage < HUNDRED_PERCENT * 0.9) {
-                    currentMode = MODE.GOING_UP;
-                  } else {
-                    currentMode = MODE.HOVERING;
-                  }
-                  executeHoverStep();
-                } else {
-                  vessel.missionTime.removeCallback(utCallbackTag);
-                }
-              } catch (Exception e) {
-                System.err.println("UT Callback error: " + e.getMessage());
-              }
-            });
-
     // Start all streams
     apErrorStream.start();
     vessel.apoapsis.start();
@@ -296,7 +283,7 @@ private void executeLandingStep() throws RPCException, StreamException, Interrup
 
   private void executeHoverStep() throws RPCException, StreamException, InterruptedException {
     if (hasTheVesselLanded()) {
-      hoveringMode = false;
+      stop();
       return;
     }
     adjustHoverPID();
@@ -392,8 +379,7 @@ private boolean hasTheVesselLanded() throws RPCException {
         && (situation.equals(VesselSituation.LANDED)
             || situation.equals(VesselSituation.SPLASHED))) {
       setCurrentStatus(Bundle.getString("status_landed"));
-      hoveringMode = false;
-      landingMode = false;
+      stop();
       vessel.throttle(0.0f);
       vessel.getActiveVessel().getControl().setSAS(true);
       vessel.getActiveVessel().getControl().setRCS(true);
@@ -431,10 +417,10 @@ private double calculateEllipticTrajectory(double a, double b) {
   }
 
   private void cleanup() {
-    isCleaningUp = true;
+    if (landingExecutor != null && !landingExecutor.isShutdown()) {
+      landingExecutor.shutdownNow();
+    }
     try {
-      landingMode = false;
-      hoveringMode = false;
       if (vessel.ap != null) {
         vessel.ap.disengage();
       }
diff --git a/src/main/java/com/pesterenan/controllers/LiftoffController.java b/src/main/java/com/pesterenan/controllers/LiftoffController.java
index e7ce22d..2c9139d 100644
--- a/src/main/java/com/pesterenan/controllers/LiftoffController.java
+++ b/src/main/java/com/pesterenan/controllers/LiftoffController.java
@@ -9,6 +9,9 @@
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import krpc.client.RPCException;
 import krpc.client.Stream;
 import krpc.client.StreamException;
@@ -27,10 +30,8 @@ private enum LIFTOFF_MODE {
   private static final float PITCH_UP = 90;
   private ControlePID thrControl;
   private float currentPitch, finalApoapsisAlt, heading, roll, maxTWR;
-  private volatile boolean targetApoapsisReached,
-      dynamicPressureLowEnough,
-      isLiftoffRunning = false;
-  private int apoapsisCallbackTag, pressureCallbackTag, utCallbackTag;
+  private volatile boolean targetApoapsisReached, dynamicPressureLowEnough;
+  private int apoapsisCallbackTag, pressureCallbackTag;
   private Stream<Float> pressureStream;
   private boolean willDecoupleStages, willOpenPanelsAndAntenna;
   private String gravityCurveModel = Module.CIRCULAR.get();
@@ -38,6 +39,7 @@ private enum LIFTOFF_MODE {
   private LIFTOFF_MODE liftoffMode;
   private double startCurveAlt;
   private final Map<String, String> commands;
+  private ScheduledExecutorService liftoffExecutor;
 
   public LiftoffController(ActiveVessel vessel, Map<String, String> commands) {
     super(vessel);
@@ -49,13 +51,11 @@ public LiftoffController(ActiveVessel vessel, Map<String, String> commands) {
   @Override
   public void run() {
     try {
-      isLiftoffRunning = true;
-
       // Part 1: Blocking Countdown and Launch
       if (vessel.getActiveVessel().getSituation().equals(VesselSituation.PRE_LAUNCH)) {
         vessel.throttleUp(vessel.getMaxThrottleForTWR(1.4), 1);
         for (double count = 5.0; count >= 0; count -= 0.1) {
-          if (Thread.interrupted()) throw new InterruptedException();
+          if (!isRunning()) return;
           setCurrentStatus(String.format(Bundle.getString("status_launching_in"), count));
           Thread.sleep(100);
         }
@@ -67,7 +67,7 @@ public void run() {
 
       // Part 2: Async Gravity Turn
       liftoffMode = LIFTOFF_MODE.GRAVITY_TURN; // Set initial state for async phase
-      setupCallbacks(); // This starts the UT stream
+      setupCallbacks();
       vessel.tuneAutoPilot();
       startCurveAlt = vessel.altitude.get();
       vessel.ap.setReferenceFrame(vessel.surfaceReferenceFrame);
@@ -75,11 +75,9 @@ public void run() {
       vessel.ap.setTargetRoll(this.roll);
       vessel.ap.engage();
 
-      // Loop to keep thread alive while async part runs
-      while (isLiftoffRunning) {
-        if (Thread.interrupted()) throw new InterruptedException();
-        Thread.sleep(250);
-      }
+      liftoffExecutor = Executors.newSingleThreadScheduledExecutor();
+      liftoffExecutor.scheduleAtFixedRate(this::handleLiftoff, 0, 100, TimeUnit.MILLISECONDS);
+
     } catch (RPCException | InterruptedException | StreamException e) {
       cleanup();
       setCurrentStatus(Bundle.getString("status_ready"));
@@ -138,34 +136,29 @@ private void setupCallbacks() throws RPCException, StreamException {
               }
             });
     pressureStream.start();
-
-    utCallbackTag =
-        vessel.missionTime.addCallback(
-            (ut) -> {
-              try {
-                if (!isLiftoffRunning) {
-                  vessel.missionTime.removeCallback(utCallbackTag);
-                  return;
-                }
-                handleLiftoff();
-              } catch (Exception e) {
-                System.err.println("Liftoff UT Callback error: " + e.getMessage());
-              }
-            });
   }
 
-  private void handleLiftoff() throws RPCException, StreamException, InterruptedException {
-    switch (liftoffMode) {
-      case GRAVITY_TURN:
-        gravityTurn();
-        break;
-      case FINALIZE_ORBIT:
-        finalizeOrbit();
-        break;
-      case CIRCULARIZE:
-        circularizeOrbitOnApoapsis();
-        isLiftoffRunning = false;
-        break;
+  private void handleLiftoff() {
+    try {
+      if (!isRunning()) {
+        cleanup();
+        return;
+      }
+      switch (liftoffMode) {
+        case GRAVITY_TURN:
+          gravityTurn();
+          break;
+        case FINALIZE_ORBIT:
+          finalizeOrbit();
+          break;
+        case CIRCULARIZE:
+          circularizeOrbitOnApoapsis();
+          stop();
+          break;
+      }
+    } catch (RPCException | StreamException | InterruptedException e) {
+      System.err.println("Liftoff error: " + e.getMessage());
+      cleanup();
     }
   }
 
@@ -215,10 +208,11 @@ private void finalizeOrbit() throws RPCException, StreamException, InterruptedEx
 
   private void cleanup() {
     try {
-      isLiftoffRunning = false;
+      if (liftoffExecutor != null && !liftoffExecutor.isShutdown()) {
+        liftoffExecutor.shutdownNow();
+      }
       vessel.apoapsis.removeCallback(apoapsisCallbackTag);
       pressureStream.removeCallback(pressureCallbackTag);
-      vessel.missionTime.removeCallback(utCallbackTag);
       pressureStream.remove();
       vessel.ap.disengage();
       vessel.throttle(0);
diff --git a/src/main/java/com/pesterenan/controllers/RoverController.java b/src/main/java/com/pesterenan/controllers/RoverController.java
index 719d6d5..4fb2e9c 100644
--- a/src/main/java/com/pesterenan/controllers/RoverController.java
+++ b/src/main/java/com/pesterenan/controllers/RoverController.java
@@ -86,8 +86,9 @@ public void run() {
 
   private void roverStateMachine() {
     try {
-      if (Thread.interrupted()) {
-        throw new InterruptedException();
+      if (!isRunning()) {
+        cleanup();
+        return;
       }
       changeControlMode();
       if (isFarFromTarget()) {
@@ -95,9 +96,7 @@ private void roverStateMachine() {
       } else { // Rover arrived at destiny
         currentMode = MODE.NEXT_POINT;
       }
-    } catch (InterruptedException e) {
-      cleanup();
-    } catch (RPCException | IOException | StreamException e) {
+    } catch (RPCException | IOException | StreamException | InterruptedException e) {
       cleanup();
     }
   }
@@ -186,16 +185,21 @@ private void cleanup() {
     }
   }
 
-  private void setNextPointInPath() throws RPCException, IOException, InterruptedException {
+  private void setNextPointInPath() throws RPCException, IOException {
     pathFinding.removePathsCurrentPoint();
     vessel.getActiveVessel().getControl().setBrakes(true);
     if (pathFinding.isPathToTargetEmpty()) {
       if (commands.get(Module.ROVER_TARGET_TYPE.get()).equals(Module.MAP_MARKER.get())) {
         pathFinding.removeWaypointFromList();
         if (pathFinding.isWaypointsToReachEmpty()) {
-          throw new InterruptedException();
+          stop();
+          return;
+        }
+        try {
+          pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
+        } catch (InterruptedException e) {
+          stop();
         }
-        pathFinding.buildPathToTarget(pathFinding.findNearestWaypoint());
       }
 
     } else {
diff --git a/src/main/java/com/pesterenan/model/ActiveVessel.java b/src/main/java/com/pesterenan/model/ActiveVessel.java
index b73f779..9a65eee 100644
--- a/src/main/java/com/pesterenan/model/ActiveVessel.java
+++ b/src/main/java/com/pesterenan/model/ActiveVessel.java
@@ -186,8 +186,8 @@ public Thread getControllerThread() {
   }
 
   public void cancelControl() {
-    if (controllerThread != null) {
-      controllerThread.interrupt();
+    if (controller != null) {
+      controller.stop();
       runningModule = false;
     }
   }

From 17b22c757ea723e093ee85df9c946eb8273624ca Mon Sep 17 00:00:00 2001
From: Pesterenan <pesterenan@gmail.com>
Date: Tue, 4 Nov 2025 22:32:56 -0300
Subject: [PATCH 25/25] [MP-8]: Disabled not yet ready functions

---
 .../java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java  | 1 +
 src/main/java/com/pesterenan/views/RunManeuverJPanel.java       | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
index 38f82b4..b603bfc 100644
--- a/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
+++ b/src/main/java/com/pesterenan/views/FunctionsAndTelemetryJPanel.java
@@ -110,6 +110,7 @@ public void setupComponents() {
     btnDocking.setActionCommand(Module.DOCKING.get());
     btnDocking.setMaximumSize(btnFuncDimension);
     btnDocking.setPreferredSize(btnFuncDimension);
+    btnDocking.setEnabled(false); // FIX: Not yet ready
   }
 
   private void cancelCurrentAction(ActionEvent e) {
diff --git a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
index 0e4e1fa..3e463e9 100644
--- a/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
+++ b/src/main/java/com/pesterenan/views/RunManeuverJPanel.java
@@ -132,10 +132,12 @@ public void setupComponents() {
     btnAlignPlanes.addActionListener(this);
     btnAlignPlanes.setMaximumSize(BTN_DIMENSION);
     btnAlignPlanes.setPreferredSize(BTN_DIMENSION);
+    btnAlignPlanes.setEnabled(false); // FIX: Not yet ready
 
     btnRendezvous.addActionListener(this);
     btnRendezvous.setMaximumSize(BTN_DIMENSION);
     btnRendezvous.setPreferredSize(BTN_DIMENSION);
+    btnRendezvous.setEnabled(false); // FIX: Not yet ready
 
     btnApoapsis.addActionListener(this);
     btnApoapsis.setMaximumSize(BTN_DIMENSION);