created acceleration controller. not implemented yet. forgot files

src/config.rs

@@ -28,6 +28,8 @@ pub struct ControllerStackConfig {
     /// PID for the rotation (angle → angular rate) layer
     pub rotation_pid: PidConfig,
 
+    pub acceleration_pid: PidConfig,
+
     /// PID for the angular rate (angular rate → torque) layer
     pub rate_pid: PidConfig,
     /// Maximum angular rate (rad/s) that joystick input maps to

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 AccelerationInput {
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
 #[derive(Default, Clone, Copy, PartialEq, serde::Serialize, serde::Deserialize)]
 pub struct RotationInput {
     pub roll: f32,
@@ -31,14 +38,16 @@ pub enum ModeInput {
     #[default]
     Acro,
     Rotation,
+    Acceleration,
     Navigation,
 }
 
 #[derive(Default, Clone, Copy, PartialEq, serde::Serialize, serde::Deserialize)]
 pub struct Input {
     pub joystick: JoystickInput,
-    pub position: PositionInput,
+    pub acceleration: AccelerationInput,
     pub rotation: RotationInput,
+    pub position: PositionInput,
     pub mode: ModeInput,
 }
 
@@ -112,9 +121,8 @@ impl InputRecording {
     pub fn add_input_from_keyboard(&mut self, current_time: f32) -> Input {
         let input = Input {
             joystick: JoystickInput::from_keyboard(),
-            position: Default::default(),
-            rotation: Default::default(),
             mode: ModeInput::Acro,
+            ..Default::default()
         };
         let last_input = self.records.last();
         match last_input {

src/drone/stacked/modules.rs

@@ -2,11 +2,11 @@ use crate::config::PidConfig;
 use crate::drone::stacked::DroneState;
 use nalgebra as na;
 
-pub mod rate;
-pub mod rot;
+pub mod angular_rate;
+pub mod rotation;
 
-pub use rate::AngularRateController;
-pub use rot::RotationController;
+pub use angular_rate::AngularRateController;
+pub use rotation::RotationController;
 
 pub trait ControllerModule {
     type Input: Clone + Default;
@@ -61,6 +61,9 @@ pub struct Position(pub na::Vector3<f32>); // meters
 #[derive(Clone, Copy, Debug, Default)]
 pub struct Velocity(pub na::Vector3<f32>); // m/s
 
+#[derive(Clone, Copy, Debug, Default)]
+pub struct Acceleration(pub na::Vector3<f32>); // m/s
+
 #[derive(Clone, Copy, Debug, Default)]
 pub struct Rotation(pub na::Vector3<f32>); // radians