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Did you write this for using with, or without, gyroscopes? I've mostly got this working on an 8-nacelle setup (initially did a 4-nacelle setup, and had lots of issues with thrust vectors), with 2 nacelles on each compass direction; but, am noticing that there doesn't seem to be any "roll" or "yaw" correction occurring without gyroscopes. This is on a lower gravity planet (Mars). I've added gyroscopes to the setup, and, it helps; but, it does seem to conflict with the "dampeners" compensation on the nacelles.
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