From f34a2c0dc3a20a43da99f49dddd6d484898b7b4a Mon Sep 17 00:00:00 2001
From: templeofshadow <temple@templeofshadow.org>
Date: Fri, 26 Jun 2026 10:55:26 -0500
Subject: [PATCH] add Config.Debug global config variable and added some debug
 print statements that the variable controls

---
 main.lua | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/main.lua b/main.lua
index 8897ffc..95db9f6 100644
--- a/main.lua
+++ b/main.lua
@@ -56,6 +56,7 @@ TransmissionTypes = {
 
 Config = {}
 Config.ConfigPath = "/caero-attitude-control/config/config.txt"
+Config.Debug = false -- this controls debug prints
 
 -- File serializatino and deserialization
 -- taken from https://gist.github.com/yuhanz/6688d474a3c391daa6d6
@@ -462,18 +463,24 @@ function PollVelocity()
 
     -- Velocity Sensors
     VelocityVectors = {}
+
     local next = next
-    if next(velSensors) == nil then
+    if next(velSensors) == nil then -- verify table is not empty
 
         SensorData.Velocity = {}
 
-        for vsindex, velsensor in pairs(velSensors) do
+        for _, velsensor in pairs(velSensors) do
             
             local vsAxis = velsensor.getAxis()
             local vsVelocity = velsensor.getVelocity()
             VelocityVectors[vsAxis] = vsVelocity
             
             SensorData.Velocity.Raw = VelocityVectors
+
+            if Config.Debug then
+                print("DEBUG: PollVelocity fetched sensor data: "..SensorData.Velocity)
+            end
+            
         end
     end
     
@@ -494,6 +501,10 @@ function PollAltitude()
         SensorData.Altitude.Altitude = Altitude
         SensorData.Altitude.AirPressure = AirPressure
         SensorData.Altitude.VerticalSpeed = VerticalSpeed
+
+        if Config.Debug then
+            print("DEBUG: PollAltitude fetched sensor data: "..SensorData.Altitude)
+        end
     end
 end
 
@@ -559,6 +570,10 @@ function PollGimbal()
         SensorData.Gimbal.Angles = Angles
         SensorData.Gimbal.AngularRates = AngularRates
         SensorData.Gimbal.LinearAcceleration = LinearAcceleration
+
+        if Config.Debug then
+            print("DEBUG: PollGimbaal fetched sensor data: "..SensorData.Gimbal)
+        end
     end
 end
 
@@ -689,7 +704,7 @@ function Init()
             if configChunk then
                 Thrusters = configChunk()
             else
-                print("Error loading thruster config string: "..err)
+                print("ERROR: Error loading thruster config string: "..err)
             end
             thrusterConfigFile:close()
         else
@@ -839,15 +854,7 @@ function Main()
             if keys.getName(key) == "q" then 
                 print("Quit Input Received") 
                 
-                print("Writing to thruster config file.")
-                local thrusterConfigFile = fs.open(Config.thrusterConfigPath, "w+")
-                thrusterConfigFile.write(tableToString(Thrusters))
-                thrusterConfigFile.close()
-
-                print("Writing to config file")
-                local configFile = fs.open(Config.ConfigPath, "w+")
-                configFile.write(tableToString(Config))
-                configFile.close()
+                WriteConfigFiles()
 
                 sentinel = false
             else