adjust PID kp values

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

@@ -410,11 +410,11 @@ local function populateThrusterValues()
                 thruster.power = thruster.thruster.getPower()
             elseif thruster.type == "rotator" then
                 if thruster.transmission ~= nil then
-                    local transmissionType = peripheral.getType(thruster.transmission)
+                    local transmissionType = peripheral.getType(peripheral.wrap(thruster.transmission))
                     if transmissionType == "analog_transmission" then
-                        thruster.power = (thruster.transmission.getSignal())/15
+                        thruster.power = (peripheral.wrap(thruster.transmission).getSignal())/15
                     elseif transmissionType == "Create_RotationSpeedController" then
-                        thruster.power = (thruster.transmission.getTargetSpeed())/256
+                        thruster.power = (peripheral.wrap(thruster.transmission).getTargetSpeed())/256
                     end
                 else
                     print("ERROR: Thruster "..peripheral.getName(thruster.thruster).." has no transmission.")
@@ -789,7 +789,7 @@ function SetThrusterPower(thruster, power)
 
     if power > 1.0 then power = 1.0 elseif power < 0.0 then power = 0.0 end
 
-    if Config.Debug then print("DEBUG: thruster "..thruster.name..": power "..power) end
+    --if Config.Debug then print("DEBUG: thruster "..thruster.name..": power "..power) end
 
     if thruster.type == "rotator" then
         thruster.power = power
@@ -862,15 +862,15 @@ function CreatePID(kp, ki, kd)
         integral = 0, lastError = 0,
 
         minOutput = 0.0,
-        maxOutput = 64.0,
+        maxOutput = 32.0,
         update = function(self, setpoint, pv, dt)
+            if dt <= 0 then return 0.0 end
             
             local error = setpoint - pv
 
             local P = self.kp * error
             
-            local D = 0
+            local D = self.kd * ((error - self.lastError) / dt)
-            if dt > 0 then D = self.kd * ((error - self.lastError) / dt) else D = 0 end
 
             local potential_i = self.integral + (self.ki * error * dt)
 
@@ -880,7 +880,7 @@ function CreatePID(kp, ki, kd)
 
             local clampedOutput = 0
 
-            if self.minOutput <= potential_i and potential_i <= self.maxOutput then
+            if raw_output >= self.minOutput and raw_output <= self.maxOutput then
                 self.integral = potential_i
                 clampedOutput = raw_output
             else
@@ -889,9 +889,7 @@ function CreatePID(kp, ki, kd)
 
             self.lastError = error
 
-            local normalizedOutput = (clampedOutput - self.minOutput) / (self.maxOutput - self.minOutput)
+            return clampedOutput
-
-            return normalizedOutput
         end
     }
 end
@@ -900,13 +898,13 @@ end
 PIDs = {
 -- angular
     -- attitude PIDs
-    RollAttitudePID = CreatePID(4.5, 0.01, 0.05),
+    RollAttitudePID = CreatePID(3.0, 0.01, 0.05),
-    PitchAttitudePID = CreatePID(4.5, 0.01, 0.05),
+    PitchAttitudePID = CreatePID(3.0, 0.01, 0.05),
     YawAttitudePID = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    RollRatePID = CreatePID(1.2, 0.01, 0.05),
+    RollRatePID = CreatePID(0.8, 0.01, 0.05),
-    PitchRatePID = CreatePID(1.2, 0.01, 0.05),
+    PitchRatePID = CreatePID(0.8, 0.01, 0.05),
     YawRatePID = CreatePID(0.5, 0.01, 0.05),
 
 -- lateral
@@ -916,7 +914,7 @@ PIDs = {
     ForeAftPID  = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    VerticalRatePID = CreatePID(1.2, 0.01, 0.05),
+    VerticalRatePID = CreatePID(0.8, 0.01, 0.05),
     PortStarRatePID = CreatePID(0.1, 0.01, 0.05),
     ForeAftRatePID  = CreatePID(0.1, 0.01, 0.05)
 }
@@ -961,39 +959,56 @@ 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
+            if Config.Debug then print("DEBUG: Thruster has x_config_equivalent set") end
+
+            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,