temple/caero-attitude-control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add aformentioned simplified stabilization for vessels with thrusters with the field populated correctly

Browse Source
This commit is contained in:
templeofshadow
2026-06-30 00:03:07 -05:00
parent f816761e0f
commit fa96b2f59f
1 changed files with 44 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

69
main.lua
View File

@@ -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.x_config_equivalent ~= nil then
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
-- 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.roll ~= nil and thruster.primary_roll_thruster then
if thruster.affectVectors.angular.roll == "port" then
desiredThrust = desiredThrust + rollRateOutput
else
desiredThrust = desiredThrust - rollRateOutput
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
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