diff --git a/src/drone/input.rs b/src/drone/input.rs
index a79d1df..af94190 100644
--- a/src/drone/input.rs
+++ b/src/drone/input.rs
@@ -19,6 +19,13 @@ pub struct PositionInput {
     pub alt: f32,
 }
 
+#[derive(Default, Clone, Copy, PartialEq, serde::Serialize, serde::Deserialize)]
+pub struct RotationInput {
+    pub roll: f32,
+    pub yaw: f32,
+    pub pitch: f32,
+}
+
 #[derive(Default, Clone, Copy, PartialEq, serde::Serialize, serde::Deserialize)]
 pub enum ModeInput {
     #[default]
@@ -30,6 +37,7 @@ pub enum ModeInput {
 pub struct Input {
     pub joystick: JoystickInput,
     pub position: PositionInput,
+    pub rotation: RotationInput,
     pub mode: ModeInput,
 }
 
@@ -104,6 +112,7 @@ impl InputRecording {
         let input = Input {
             joystick: JoystickInput::from_keyboard(),
             position: Default::default(),
+            rotation: Default::default(),
             mode: ModeInput::Acro,
         };
         let last_input = self.records.last();
diff --git a/src/drone/stacked.rs b/src/drone/stacked.rs
index 9fc55c1..a33cb2e 100644
--- a/src/drone/stacked.rs
+++ b/src/drone/stacked.rs
@@ -46,7 +46,7 @@ impl StackedController {
                     max_angle,
                     frequency,
                 } => (
-                    ControllerModule::Angle {
+                    ControllerModule::Rotation {
                         processor: PidProcessor::new(pid),
                         max_angle: *max_angle,
                     },
@@ -57,7 +57,7 @@ impl StackedController {
                     max_rate,
                     frequency,
                 } => (
-                    ControllerModule::Rate {
+                    ControllerModule::AngularRate {
                         processor: PidProcessor::new(pid),
                         max_rate: *max_rate,
                     },
diff --git a/src/drone/stacked/modules.rs b/src/drone/stacked/modules.rs
index 52e41c5..e826ff2 100644
--- a/src/drone/stacked/modules.rs
+++ b/src/drone/stacked/modules.rs
@@ -3,11 +3,11 @@ use crate::drone::stacked::DroneState;
 use nalgebra as na;
 
 pub enum ControllerModule {
-    Rate {
+    AngularRate {
         processor: PidProcessor,
         max_rate: f32,
     },
-    Angle {
+    Rotation {
         processor: PidProcessor,
         max_angle: f32,
     },
@@ -29,7 +29,7 @@ impl ControllerModule {
         is_first_layer: bool,
     ) -> na::Vector3<f32> {
         match self {
-            ControllerModule::Angle {
+            ControllerModule::Rotation {
                 processor,
                 max_angle,
             } => {
@@ -47,7 +47,7 @@ impl ControllerModule {
                 processor.update(target_angles, current_angles, dt)
             }
 
-            ControllerModule::Rate {
+            ControllerModule::AngularRate {
                 processor,
                 max_rate,
             } => {