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

docs.md

@@ -307,6 +307,7 @@ Thrusters = {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "1", -- if you're running a standard x configuration, what prop is this equivalent to?
         type = "rotator",
         name = "gyroscopic_propeller_bearing_0",
         thruster = nil,
@@ -334,6 +335,7 @@ Thrusters = {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "2", -- if you're running a standard x configuration, what prop is this equivalent to?
         type = "rotator",
         name = "gyroscopic_propeller_bearing_1",
         thruster = nil,
@@ -361,6 +363,7 @@ Thrusters = {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "4", -- if you're running a standard x configuration, what prop is this equivalent to?
         type = "rotator",
         name = "gyroscopic_propeller_bearing_2",
         thruster = nil,
@@ -388,6 +391,7 @@ Thrusters = {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "3", -- if you're running a standard x configuration, what prop is this equivalent to?
         type = "rotator",
         name = "gyroscopic_propeller_bearing_3",
         thruster = nil,

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.x_config_equivalent ~= nil then
-        if thruster.affectVectors.angular.pitch ~= nil and thruster.primary_pitch_thruster then
+            
-            if thruster.affectVectors.angular.pitch == "up" then
+            -- Calculate desired thrust based on affectVectors and PID outputs
-                desiredThrust = desiredThrust + pitchRateOutput
+            if thruster.affectVectors.angular.pitch ~= nil and thruster.primary_pitch_thruster then
-            else
+                if thruster.affectVectors.angular.pitch == "up" then
-                desiredThrust = desiredThrust - pitchRateOutput
+                    desiredThrust = desiredThrust + pitchRateOutput
-            end
+                else
-        end
+                    desiredThrust = desiredThrust - pitchRateOutput
-        
+                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
             
-        end
+            if thruster.affectVectors.angular.roll ~= nil and thruster.primary_roll_thruster then
-        
+                if thruster.affectVectors.angular.roll == "port" then
-        if thruster.affectVectors.angular.yaw ~= nil and thruster.primary_yaw_thruster then
+                    desiredThrust = desiredThrust + rollRateOutput
-            if thruster.affectVectors.angular.yaw == "port" then
+                else
-                desiredThrust = desiredThrust + yawRateOutput
+                    desiredThrust = desiredThrust - rollRateOutput
-            else
+                end
-                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
 

thrusters.txt.example

@@ -6,6 +6,7 @@ return {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "1",
         type = "rotator",
         name = "gyroscopic_propeller_bearing_0",
         thruster = nil,
@@ -31,6 +32,7 @@ return {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "2",
         type = "rotator",
         name = "gyroscopic_propeller_bearing_1",
         thruster = nil,
@@ -56,6 +58,7 @@ return {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "4",
         type = "rotator",
         name = "gyroscopic_propeller_bearing_2",
         thruster = nil,
@@ -81,6 +84,7 @@ return {
         primary_altitude_thruster = true,
         primary_fore_thruster = false,
         primary_aft_thruster = false,
+        x_config_equivalent = "3",
         type = "rotator",
         name = "gyroscopic_propeller_bearing_3",
         thruster = nil,