FSDS

FSDS

FSDS is a configurable self-driving ship/autopilot mod for Valheim.

Set a map pin named GO, take control of a ship, and toggle autopilot. FSDS plans a navigable water route and handles steering, throttle, obstacle avoidance, shoreline clearance, stuck recovery, and arrival.

Quick Start

• Place a map pin named GO at your destination.
• Take control of your ship.
• Press P to toggle FSDS autopilot.
• FSDS will navigate toward the GO pin.
• On arrival it stops the ship and, by default, removes the GO pin.

The toggle key and major behaviors are configurable through BepInEx Config Manager.

Main Features

• GO map-pin destination system
• Automatic steering
• Automatic paddle / half-sail / full-sail control
• Water-only A* route planning
• Route smoothing and waypoint navigation
• Configurable safe shore distance
• Live shoreline avoidance while sailing
• Ship-aware clearance for small ships and longships
• Turn anticipation for smoother corners
• Spawned-world obstacle avoidance
• Multi-height obstacle sensing for Ashlands ocean spires
• Leviathan/Kraken detection and avoidance
• Wind-aware throttle
• Automatic slowdown near destination
• Full stop on arrival
• Automatic GO-pin deletion on arrival
• Stuck detection
• Reverse / escape-turn / replan recovery
• Optional temporary route visualization
• On-screen FSDS navigation HUD
• Configurable manual steering/throttle cancellation
• Configurable PID steering

Performance

Version 0.3.6 includes a low-lag navigation pass:

• Non-allocating reusable physics sensor buffers
• Reduced shoreline terrain sampling
• Reduced redundant obstacle scans
• Slower default sensor cadence
• Lower default route-node budget
• Runtime obstacle sensing separated from route generation

This keeps the navigation safety systems while reducing CPU and garbage-collection pressure.

Configuration

FSDS exposes its major behavior through BepInEx Config Manager, including:

• Autopilot toggle key
• Destination pin name
• Arrival radius
• Auto throttle
• Wind-aware throttle
• Route planning
• Grid size
• Minimum water depth
• Safe shore distance
• Route smoothing
• Obstacle avoidance
• Leviathan avoidance
• Live shore avoidance
• Sensor scan interval
• Stuck recovery
• Ship-aware clearance
• Route visualization
• HUD
• Debug logging

Compatibility

• Tested with Valheim 1.0.17
• Requires BepInExPack Valheim
• Client-side gameplay mod
• No Jotunn dependency required

Notes

FSDS uses generated terrain for long-range route planning. Spawned structures, rocks, Leviathans, ships, and other runtime objects are handled by the local obstacle-avoidance sensors while sailing.

Very long routes can require more planning work than short routes. If you want maximum performance, keep the route grid reasonably large and avoid unnecessarily high route-node limits.

Installation

Install Mod Manager / r2modman.

For manual installation, place FSDS.dll in:

BepInEx/plugins/FSDS/

Author

Heimlife