change thrust nomalization

main.lua

@@ -893,6 +893,40 @@ PIDs = {
     ForeAftRatePID  = CreatePID(0.1, 0.01, 0.05)
 }
 
+-- min and max thrust for thrust normalization
+local minThrust = 0
+local maxThrust = 0
+
+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
+
+MinRollingAverage = createRollingAverage(10)
+MaxRollingAverage = createRollingAverage(10)
+
+local function normalize(val, min, max)
+    if min == max then return 0.0 end
+    return (val - min) / (max - min)
+end
+
 function UpdateGlobalThrust() 
     -- for each thruster, there is a table of affectVectors that determine in what directions the thruster can apply thrust
     -- each thruster has a power value from 0 to 1, which is the amount of thrust the thruster is currently applying
@@ -936,8 +970,15 @@ function UpdateGlobalThrust()
             desiredThrust = desiredThrust + throttleOutput 
         end
 
+        if desiredThrust > maxThrust then maxThrust = desiredThrust end
+        if desiredThrust < minThrust then minThrust = desiredThrust end
+
+        local maxAverage = MaxRollingAverage(maxThrust)
+        local minAverage = MinRollingAverage(minThrust)
+
         -- Normalize the desired thrust to be between 0 and 1
-        local normalizedThrust = CustomSigmoid(desiredThrust)
+        local normalizedThrust = normalize(desiredThrust, minAverage, maxAverage)
+        
         if normalizedThrust < 0 then normalizedThrust = 0 end
 
         if Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust..", normalizedThrust "..normalizedThrust) end