From 056c10c3468f2d81d0e19cc5412bba8e82e31e6c Mon Sep 17 00:00:00 2001
From: templeofshadow <temple@templeofshadow.org>
Date: Mon, 29 Jun 2026 23:47:45 -0500
Subject: [PATCH] add a debug print to the PID update function

---
 main.lua | 24 ++----------------------
 1 file changed, 2 insertions(+), 22 deletions(-)

diff --git a/main.lua b/main.lua
index 5a300d8..0c74253 100644
--- a/main.lua
+++ b/main.lua
@@ -876,6 +876,8 @@ function CreatePID(kp, ki, kd)
 
             local raw_output = P + potential_i + D
 
+            if Config.Debug then print("DEBUG: PID raw output: "..raw_output) end
+
             local clampedOutput = 0
 
             if self.minOutput <= potential_i and potential_i <= self.maxOutput then
@@ -919,28 +921,6 @@ PIDs = {
     ForeAftRatePID  = CreatePID(0.1, 0.01, 0.05)
 }
 
-local function createRollingAverage(window)
-    local buffer = {}
-    local index = 0
-    local count = 0
-    local sum = 0
-
-    return function(new_value)
-        index = (index % window) + 1
-
-        if buffer[index] then
-            sum = sum - buffer[index]
-        else
-            count = count + 1
-        end
-
-        buffer[index] = new_value
-        sum = sum + new_value
-
-        return sum / count
-    end
-end
-
 -- min and max thrust for thrust normalization
 local minThrust = math.huge
 local maxThrust = -math.huge