temple/caero-attitude-control
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add aformentioned simplified stabilization for vessels with thrusters with the field populated correctly

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templeofshadow
2026-06-30 00:03:07 -05:00
parent f816761e0f
commit fa96b2f59f
1 changed files with 44 additions and 29 deletions
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15
main.lua
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@@ -961,6 +961,8 @@ function UpdateGlobalThrust()
for _, thruster in pairs(Thrusters) do for _, thruster in pairs(Thrusters) do
local desiredThrust = 0 local desiredThrust = 0
if thruster.x_config_equivalent ~= nil then
-- Calculate desired thrust based on affectVectors and PID outputs -- 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 ~= nil and thruster.primary_pitch_thruster then
if thruster.affectVectors.angular.pitch == "up" then if thruster.affectVectors.angular.pitch == "up" then
@@ -994,6 +996,19 @@ function UpdateGlobalThrust()
--if Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust.." (from UpdateGlobalThrust)") end --if Config.Debug then print("DEBUG: "..thruster.name..": desiredThrust "..desiredThrust.." (from UpdateGlobalThrust)") end
SetThrusterPower(thruster, desiredThrust) 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
end end
end end