From fa96b2f59f1c7ac09c7bb3bba3f58f4a5485b384 Mon Sep 17 00:00:00 2001
From: templeofshadow <temple@templeofshadow.org>
Date: Tue, 30 Jun 2026 00:03:07 -0500
Subject: [PATCH] add aformentioned simplified stabilization for vessels with
 thrusters with the field populated correctly

---
 main.lua | 73 ++++++++++++++++++++++++++++++++++----------------------
 1 file changed, 44 insertions(+), 29 deletions(-)

diff --git a/main.lua b/main.lua
index 0c74253..73e3347 100644
--- a/main.lua
+++ b/main.lua
@@ -961,39 +961,54 @@ function UpdateGlobalThrust()
     for _, thruster in pairs(Thrusters) do
         local desiredThrust = 0
 
-        -- Calculate desired thrust based on affectVectors and PID outputs
-        if thruster.affectVectors.angular.pitch ~= nil and thruster.primary_pitch_thruster then
-            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
-            if thruster.affectVectors.angular.roll == "port" then
-                desiredThrust = desiredThrust + rollRateOutput
-            else
-                desiredThrust = desiredThrust - rollRateOutput
+        if thruster.x_config_equivalent ~= nil then
+            
+            -- Calculate desired thrust based on affectVectors and PID outputs
+            if thruster.affectVectors.angular.pitch ~= nil and thruster.primary_pitch_thruster then
+                if thruster.affectVectors.angular.pitch == "up" then
+                    desiredThrust = desiredThrust + pitchRateOutput
+                else
+                    desiredThrust = desiredThrust - pitchRateOutput
+                end
             end
             
-        end
-        
-        if thruster.affectVectors.angular.yaw ~= nil and thruster.primary_yaw_thruster then
-            if thruster.affectVectors.angular.yaw == "port" then
-                desiredThrust = desiredThrust + yawRateOutput
-            else
-                desiredThrust = desiredThrust - yawRateOutput
+            if thruster.affectVectors.angular.roll ~= nil and thruster.primary_roll_thruster then
+                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
+                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 Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust.." (from UpdateGlobalThrust)") end
+
+            SetThrusterPower(thruster, desiredThrust)
+        else
+            local prop1 = throttleOutput + pitchRateOutput + rollRateOutput -- front-left
+            local prop2 = throttleOutput + pitchRateOutput - rollRateOutput -- front-right
+            local prop3 = throttleOutput - pitchRateOutput - rollRateOutput -- back-right
+            local prop4 = throttleOutput - pitchRateOutput + rollRateOutput -- back-left
+
+            if     thruster.x_config_equivalent == "1" then SetThrusterPower(thruster, prop1)
+            elseif thruster.x_config_equivalent == "2" then SetThrusterPower(thruster, prop2)
+            elseif thruster.x_config_equivalent == "3" then SetThrusterPower(thruster, prop3)
+            elseif thruster.x_config_equivalent == "4" then SetThrusterPower(thruster, prop4)
+            else print("ERROR: Thruster "..thruster.name.." has invalid x_config_equivalent value")
             end
         end
-
-        if thruster.affectVectors.lateral.y == "up" then
-            desiredThrust = desiredThrust + throttleOutput 
-        end
-
-        --if Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust.." (from UpdateGlobalThrust)") end
-
-        SetThrusterPower(thruster, desiredThrust)
     end
 end