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refactored thruster init to follow new thruster schema; removed redundant UpdateStabilization function; removed some implimentation from the UpdateGlobalThrust functions in preparation for refactor

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templeofshadow
2026-06-28 11:02:53 -05:00
parent 583c291af7
commit d9c29c89be
1 changed files with 92 additions and 111 deletions
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203
main.lua
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@@ -1,37 +1,4 @@
Thrusters = { Thrusters = {} -- Table of thruster tables; see docs.md####Thrusters for the details of the thruster table structure
thruster0 = {
type = "rotator",
name = nil,
thruster = nil,
transmission = nil,
-- NOTE:
-- affectVectors will have values depending on how the thruster's
-- thrust vector interacts with the vessel's attitude
-- possible directions for yaw: "port"|"star"
-- possible directions for roll: "port"|"star"
-- possible directions for pitch: "up"|"down"
-- possible directions for lateral: "port"|"star"|"fore"|"aft"|"up"|"down"
affectVectors = {
yaw = nil,
pitch = nil,
roll = nil,
lateral = nil
},
power = 0
},
thruster1 = {
type = "thruster",
name = nil,
thruster = nil,
affectVectors = {
yaw = nil,
pitch = nil,
roll = nil,
lateral = nil
},
power = 0
}
} -- Table of thruster tables
ThrustDirections = { ThrustDirections = {
Angular = { Angular = {
@@ -288,18 +255,30 @@ function PropellerInit()
type = "rotator", type = "rotator",
thruster = pv, thruster = pv,
transmission = tv, transmission = tv,
-- NOTE: --[[
-- affectVectors will have values depending on how the thruster's NOTE:
-- thrust vector interacts with the vessel's attitude affectVectors will have values depending on how the thruster's
-- possible directions for yaw: "port"|"star" thrust vector interacts with the vessel's attitude
-- possible directions for roll: "port"|"star" angular:
-- possible directions for pitch: "up"|"down" possible directions for angular.yaw: "port"|"star"
-- possible directions for lateral: "port"|"star"|"fore"|"aft"|"up"|"down" possible directions for angular.roll: "port"|"star"
possible directions for angular.pitch: "up"|"down"
lateral:
possible directions for lateral.x: "port"|"star"
possible directions for lateral.y: "up"|"down"
possible directions for lateral.z: "fore"|"aft"
]]
affectVectors = { affectVectors = {
yaw = nil, angular = {
pitch = nil, yaw = nil,
roll = nil, pitch = nil,
lateral = nil roll = nil
},
lateral = {
x = nil,
y = nil,
z = nil
}
}, },
power = (tv.getSignal())/15 power = (tv.getSignal())/15
} }
@@ -333,18 +312,30 @@ function ThrusterInit()
thruster = tv, thruster = tv,
transmission = nil, transmission = nil,
type = "thruster", type = "thruster",
-- NOTE: --[[
-- affectVectors will have values depending on how the thruster's NOTE:
-- thrust vector interacts with the vessel's attitude affectVectors will have values depending on how the thruster's
-- possible directions for yaw: "port"|"star" thrust vector interacts with the vessel's attitude
-- possible directions for roll: "port"|"star" angular:
-- possible directions for pitch: "up"|"down" possible directions for angular.yaw: "port"|"star"
-- possible directions for lateral: "port"|"star"|"fore"|"aft"|"up"|"down" possible directions for angular.roll: "port"|"star"
possible directions for angular.pitch: "up"|"down"
lateral:
possible directions for lateral.x: "port"|"star"
possible directions for lateral.y: "up"|"down"
possible directions for lateral.z: "fore"|"aft"
]]
affectVectors = { affectVectors = {
yaw = nil, angular = {
pitch = nil, yaw = nil,
roll = nil, pitch = nil,
lateral = nil roll = nil
},
lateral = {
x = nil,
y = nil,
z = nil
}
}, },
power = tv.getPower() power = tv.getPower()
} }
@@ -422,10 +413,16 @@ local function partiallyUpdateThrusters(thrusterList)
transmission = nil, transmission = nil,
type = "thruster", type = "thruster",
affectVectors = { affectVectors = {
yaw = nil, angular = {
roll = nil, yaw = nil,
pitch = nil, roll = nil,
lateral = nil pitch = nil
},
lateral = {
x = nil,
y = nil,
z = nil
}
}, },
power = tv.getPower() power = tv.getPower()
} }
@@ -439,10 +436,16 @@ local function partiallyUpdateThrusters(thrusterList)
transmission = nil, transmission = nil,
type = "rotator", type = "rotator",
affectVectors = { affectVectors = {
yaw = nil, angular = {
roll = nil, yaw = nil,
pitch = nil, roll = nil,
lateral = nil pitch = nil
},
lateral = {
x = nil,
y = nil,
z = nil
}
}, },
power = tv.getPower() power = tv.getPower()
} }
@@ -462,14 +465,6 @@ local function partiallyUpdateThrusters(thrusterList)
end end
end end
function UpdateStabilization()
-- This function needs full implementation according to requirements in docs.md
-- It should adjust thrust based on sensor data to achieve target angles/velocities
-- For now, implement placeholder functionality that calls the existing thrust methods
print("UpdateStabilization called")
end
function PollThrottle() function PollThrottle()
for _, v in pairs(Config.Throttles) do for _, v in pairs(Config.Throttles) do
if v.name and v.side then if v.name and v.side then
@@ -724,17 +719,25 @@ function UpdateGlobalLateralThrust()
-- verify that SensorData.Velocity.Raw is not nil -- verify that SensorData.Velocity.Raw is not nil
if SensorData.Velocity == nil or SensorData.Velocity.Raw == nil then if SensorData.Velocity == nil or SensorData.Velocity.Raw == nil then
if Config.Debug then if Config.Debug then
print("DEBUG: SensorData.Velocity.Raw is nil, skipping UpdateGlobalLateralThrust") print("DEBUG: SensorData.Velocity.Raw or SensorData.Velocity is nil, skipping UpdateGlobalLateralThrust")
end end
return return
end end
-- TODO: Refactor this
local desiredLateralThrustVectors = {} local desiredLateralThrustVectors = {}
for f, v in pairs(SensorData.Velocity.Raw) do for f, v in pairs(SensorData.Velocity.Raw) do
desiredLateralThrustVectors[f] = CustomSigmoid(v) desiredLateralThrustVectors[f] = CustomSigmoid(v)
end end
--[[
desiredLateralThrustVectors is a table that is similar to SensorData.Velocity.Raw, but with values between -1 and 1.
essentially, it reverses the velocity vector and then clamps the range between -1 and 1, so that the value can be used for thrust power
]]
local thrustDirections = {} local thrustDirections = {}
for f, v in pairs(desiredLateralThrustVectors) do for f, v in pairs(desiredLateralThrustVectors) do
if f == "x" then if f == "x" then
@@ -746,16 +749,20 @@ function UpdateGlobalLateralThrust()
end end
end end
for _, d in pairs(thrustDirections) do --[[
for _, t in pairs(Thrusters) do thrustDirections is an array of tables, each table has a key that is the direction of the desired thrust, and a value that is the magnitude of the desired thrust
if t.affectVectors.lateral == d then like so:
local correctedPower = GetThrusterPower(t) + d thrustDirections = {
if correctedPower > 1 then correctedPower = 1 end { port = 0.5 },
if correctedPower < 0 then correctedPower = 0 end { down = 0.1 },
SetThrusterPower(t, correctedPower) { aft = 0.6 }
end }
end there will only ever be three tables in thrustDirections, as there are only three axes of movement, and each axis can only have one desired thrust direction at a time
end (angular thrust is the same, but with different keys for the tables, like pitchup/pitchdown, yawport/yawstar, rollport/rollstar)
]]
end end
function UpdateGlobalAngularThrust() function UpdateGlobalAngularThrust()
@@ -763,38 +770,12 @@ function UpdateGlobalAngularThrust()
-- verify that SensorData.Gimbal.AngularRates is not nil -- verify that SensorData.Gimbal.AngularRates is not nil
if SensorData.Gimbal == nil or SensorData.Gimbal.AngularRates == nil then if SensorData.Gimbal == nil or SensorData.Gimbal.AngularRates == nil then
if Config.Debug then if Config.Debug then
print("DEBUG: SensorData.Gimbal.AngularRates is nil, skipping UpdateGlobalAngularThrust") print("DEBUG: SensorData.Gimbal.AngularRates or SensorData.Gimbal is nil, skipping UpdateGlobalAngularThrust")
end end
return return
end end
local desiredAngularThrustVectors = {} -- TODO: Implement this
for f, v in pairs(SensorData.Gimbal.AngularRates) do
desiredAngularThrustVectors[f] = CustomSigmoid(v)
end
local thrustDirections = {}
for f, v in pairs(desiredAngularThrustVectors) do
if f == "wx" then
if v > 0 then table.insert(thrustDirections, { pitchdown = v }) else table.insert(thrustDirections, { pitchup = math.abs(v) }) end
elseif f == "wy" then
if v > 0 then table.insert(thrustDirections, { yawport = v }) else table.insert(thrustDirections, { yawstar = math.abs(v) }) end
elseif f == "wz" then
if v > 0 then table.insert(thrustDirections, { rollport = v }) else table.insert(thrustDirections, { rollstar = math.abs(v) }) end
end
end
for _, d in pairs(thrustDirections) do
for _, t in pairs(Thrusters) do
if t.affectVectors.angular == d then
local correctedPower = GetThrusterPower(t) + d
if correctedPower > 1 then correctedPower = 1 end
if correctedPower < 0 then correctedPower = 0 end
SetThrusterPower(t, correctedPower)
end
end
end
end end
function Init() function Init()