adjust PID kp values

docs.md

@@ -119,7 +119,7 @@ Relevant peripherals:
 > note: returns 0 if the magnitude is below 0.05 m/s
 
 - `getAxis()`: returns the body-frame axis the sensor measures along
-  - returns string "x", "y", and "z"
+  - returns string "x", "y", or "z"
 
 ### Analog Transmission
 
@@ -193,3 +193,222 @@ Every cycle:
 - Altitude Sensor `getHeight()`, `getAirPressure()`, `getVerticalSpeed()`
 - Velocity Sensor `getAxis()`, `getVelocity`
 - Poll input signal strengths for global downwards thrust, and fore and aft thrust
+
+### Math
+
+#### Calculate Counteractive Thrust
+
+TODO: fill in
+
+### Data Structures
+
+#### Config
+
+The member variables of the Config table is as follows:
+
+```lua
+Config = {
+  ConfigPath = "/path/to/config.txt",
+  thrusterConfigPath = "path/to/thrusters.txt",
+  Debug = false, -- controls various debug print statements
+  Monitors = {
+    InstrumentPanelMonitor = {
+      name = "peripheralName",
+      peripheral = {} -- stores the table returned by running peripheral.wrap(name)
+    },
+    AutopilotControlMonitor = {
+      name = "peripheralName",
+      peripheral = {}
+    }
+  },
+  Autopilot = {
+    AutopilotEngaged = false, -- global shutoff for all autopilot functions
+    AutoForeAft = false, -- automatic forward/rearward throttle
+    AutopilotDesiredSpeed = nil, -- keep a certain velocity
+    AutopilotDesiredHeading = nil -- maintain a certain heading
+  },
+  SensorCorrection = {
+    Heading = 0 -- this is directly added to the heading value, in case the vessel was built with the heading not being direct north
+  },
+  Throttles = {
+    fore = {
+      name = "peripheralName",
+      side = "redstoneRelaySide" -- it is assumed that a user will use a redstone relay for their throttles
+    },
+    aft = {
+      name = "peripheralName",
+      side = "redstoneRelaySide"
+    },
+    down = {
+      name = "peripheralName",
+      side = "redstoneRelaySide"
+    }
+  }
+}
+```
+
+#### SensorData
+
+The member variables of the sensor table is as follows:
+
+```lua
+SensorData = {
+  Velocity = {
+    Raw = {
+      x = nil,
+      y = nil,
+      z = nil
+    }
+  },
+  Altitude = {
+    Altitude = nil,
+    AirPressure = nil,
+    VerticalSpeed = nil
+  },
+  NavTable = {
+    Heading = nil,
+    HasTarget = nil,
+    -- values past this are only populated if HasTarget == true
+    TargetBearing = nil,
+    TargetClosureRate = nil,
+    TargetVerticalOffset = nil,
+    TargetRelativeAngle = nil
+  },
+  Gimbal = {
+    Angles = {
+      xAngle = nil,
+      zAngle = nil
+    },
+    AngularRates = {
+      wx = nil,
+      wy = nil,
+      wz = nil
+    },
+    LinearAcceleration = {
+      ax = nil,
+      ay = nil,
+      az = nil
+  }
+}
+```
+
+#### Thrusters
+
+The member variables of the Thruster table are as follows (using some example thrusters):
+
+```lua
+Thrusters = {
+    gyroscopic_propeller_bearing_0 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    },
+    gyroscopic_propeller_bearing_1 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    },
+    gyroscopic_propeller_bearing_2 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    },
+    gyroscopic_propeller_bearing_3 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    }
+}
+```

thrusters.txt.example

@@ -1,26 +1,105 @@
 return {
     gyroscopic_propeller_bearing_0 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        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,
         transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "up",
-            roll = "star",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     },
     gyroscopic_propeller_bearing_1 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        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,
+        transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "up",
-            roll = "port",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    },
+    gyroscopic_propeller_bearing_2 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
+        },
+        power = nil
+    },
+    gyroscopic_propeller_bearing_3 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        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,
+        transmission = nil,
+        affectVectors = {
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     }