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Land it: an autopilot you can take apart

Seven tonnes falling at 6 m/s with fourteen metres to go, onto a shock-absorbing deck, in a sixth of Earth's gravity. Nothing scripts this landing. A node graph on the lander reads its own height and velocity every step, decides a throttle, and pushes — that graph IS the autopilot, and every number in it is a slider. Turn the gain down and watch it arrive too fast. Lengthen the contact probe and watch it cut the engine too early. Sideways is your job.