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compare: temple:c80855dc2f4d923e2a435177d39a4a316a52f53d
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Author SHA1 Message Date
templeofshadow
c80855dc2f continued from last commit 2026-06-29 21:02:07 -05:00
templeofshadow
1ab0510826 have UpdateGlobalThrust attempt to counteract the actual pitch/roll instead of the pitch/roll rates 2026-06-29 21:01:46 -05:00
1 changed files with 10 additions and 4 deletions
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14
main.lua
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@@ -847,10 +847,16 @@ function UpdateGlobalThrust()
end end
local throttleOutput = PIDs.AltitudePID:update(Config.Autopilot.AutopilotDesiredAltitude or 0, SensorData.Altitude.Altitude or 0, dt) local throttleOutput = PIDs.AltitudePID:update(Config.Autopilot.AutopilotDesiredAltitude or 0, SensorData.Altitude.Altitude or 0, dt)
local pitchOutput = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
local rollOutput = PIDs.RollAttitudePID:update(0, SensorData.Gimbal.Angles.zAngle, dt)
local yawOutput = PIDs.YawAttitudePID:update(Config.Autopilot.AutopilotDesiredHeading or 0, SensorData.NavTable.Heading, dt)
local pitchOutput = PIDs.PitchRatePID:update(Config.Autopilot.AutopilotDesiredPitchRate or 0, SensorData.Gimbal.AngularRates.wx or 0, dt) local pitchRateOutput = PIDs.PitchRatePID:update(Config.Autopilot.AutopilotDesiredPitchRate or 0, SensorData.Gimbal.AngularRates.wx or 0, dt)
local rollOutput = PIDs.RollRatePID:update(Config.Autopilot.AutopilotDesiredRollRate or 0, SensorData.Gimbal.AngularRates.wz or 0, dt) local rollRateOutput = PIDs.RollRatePID:update(Config.Autopilot.AutopilotDesiredRollRate or 0, SensorData.Gimbal.AngularRates.wz or 0, dt)
local yawOutput = PIDs.YawRatePID:update(Config.Autopilot.AutopilotDesiredYawRate or 0, SensorData.Gimbal.AngularRates.wy or 0, dt) local yawRateOutput = PIDs.YawRatePID:update(Config.Autopilot.AutopilotDesiredYawRate or 0, SensorData.Gimbal.AngularRates.wy or 0, dt)
for _, thruster in pairs(Thrusters) do for _, thruster in pairs(Thrusters) do
@@ -864,7 +870,7 @@ function UpdateGlobalThrust()
desiredThrust = desiredThrust + rollOutput desiredThrust = desiredThrust + rollOutput
end end
if thruster.affectVectors.angular.yaw ~= nil and thruster.primary_yaw_thruster then if thruster.affectVectors.angular.yaw ~= nil and thruster.primary_yaw_thruster then
desiredThrust = desiredThrust + yawOutput desiredThrust = desiredThrust + yawRateOutput
end end
if thruster.affectVectors.lateral.y == "up" then if thruster.affectVectors.lateral.y == "up" then