From 61c8f88d40ce71b61637cf4e342b8226b2ff967a Mon Sep 17 00:00:00 2001
From: templeofshadow <temple@templeofshadow.org>
Date: Mon, 29 Jun 2026 23:34:18 -0500
Subject: [PATCH] edit PIDs to output normalized data and changed how
 UpdatGlobalThrust works

---
 main.lua | 59 ++++++++++++++++++++++++++++++++++++++++++--------------
 1 file changed, 44 insertions(+), 15 deletions(-)

diff --git a/main.lua b/main.lua
index 4c3875e..84b8750 100644
--- a/main.lua
+++ b/main.lua
@@ -860,12 +860,34 @@ function CreatePID(kp, ki, kd)
         ki = ki, 
         kd = kd,
         integral = 0, lastError = 0,
+
+        minOutput = 0,
+        maxOutput = 256,
         update = function(self, setpoint, pv, dt)
+            
             local error = setpoint - pv
-            self.integral = self.integral + (error * dt)
-            local derivative = (error - self.lastError) / dt
+
+            local P = self.kp * error
+            if dt > 0 then local D = self.kd * ((error - self.lastError) / dt) else D = 0 end
+
+            local potential_i = self.integral + (self.ki * error * dt)
+
+            local raw_output = P + potential_i + D
+
+            local clampedOutput = 0
+
+            if self.minOutput <= potential_i <= self.maxOutput then
+                self.integral = potential_i
+                clampedOutput = raw_output
+            else
+                clampedOutput = math.max(self.minOutput, math.min(raw_output, self.maxOutput))
+            end
+
             self.lastError = error
-            return (self.kp * error) + (self.ki * self.integral) + (self.kd * derivative)
+
+            local normalizedOutput = (clampedOutput - self.minOutput) / (self.maxOutput - self.minOutput)
+
+            return normalizedOutput
         end
     }
 end
@@ -956,30 +978,37 @@ function UpdateGlobalThrust()
 
         -- Calculate desired thrust based on affectVectors and PID outputs
         if thruster.affectVectors.angular.pitch ~= nil and thruster.primary_pitch_thruster then
-            desiredThrust = desiredThrust + pitchRateOutput
+            if thruster.affectVectors.angular.pitch == "up" then
+                desiredThrust = desiredThrust + pitchRateOutput
+            else
+                desiredThrust = desiredThrust - pitchRateOutput
+            end
         end
+        
         if thruster.affectVectors.angular.roll ~= nil and thruster.primary_roll_thruster then
-            desiredThrust = desiredThrust + rollRateOutput
+            if thruster.affectVectors.angular.roll == "port" then
+                desiredThrust = desiredThrust + rollRateOutput
+            else
+                desiredThrust = desiredThrust - rollRateOutput
+            end
+            
         end
+        
         if thruster.affectVectors.angular.yaw ~= nil and thruster.primary_yaw_thruster then
-            desiredThrust = desiredThrust + yawRateOutput
+            if thruster.affectVectors.angular.yaw == "port" then
+                desiredThrust = desiredThrust + yawRateOutput
+            else
+                desiredThrust = desiredThrust - yawRateOutput
+            end
         end
 
         if thruster.affectVectors.lateral.y == "up" then
             desiredThrust = desiredThrust + throttleOutput 
         end
 
-        if desiredThrust > maxThrust then maxThrust = desiredThrust end
-        if desiredThrust < minThrust then minThrust = desiredThrust end
-
-        -- Normalize the desired thrust to be between 0 and 1
-        local normalizedThrust = normalize(desiredThrust, 0, 50)
-        
-        if normalizedThrust < 0 then normalizedThrust = 0 end
-
         if Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust..", normalizedThrust "..normalizedThrust) end
 
-        SetThrusterPower(thruster, normalizedThrust)
+        SetThrusterPower(thruster, desiredThrust)
     end
 end