From 55fbc7830aaa6c736254755b5055c8d717972e62 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Mon, 2 Mar 2026 16:09:30 +0000
Subject: [PATCH] created acceleration controller. not implemented yet. forgot
 files

---
 src/config.rs                                      |  2 ++
 src/drone/input.rs                                 | 14 +++++++++++---
 src/drone/stacked/modules.rs                       | 11 +++++++----
 .../stacked/modules/{rate.rs => angular_rate.rs}   |  0
 src/drone/stacked/modules/{rot.rs => rotation.rs}  |  0
 5 files changed, 20 insertions(+), 7 deletions(-)
 rename src/drone/stacked/modules/{rate.rs => angular_rate.rs} (100%)
 rename src/drone/stacked/modules/{rot.rs => rotation.rs} (100%)

diff --git a/src/config.rs b/src/config.rs
index 6efa92d..a66cb75 100644
--- a/src/config.rs
+++ b/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
diff --git a/src/drone/input.rs b/src/drone/input.rs
index 9ee541a..b0ed180 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 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 {
diff --git a/src/drone/stacked/modules.rs b/src/drone/stacked/modules.rs
index 24e302e..f22e9d8 100644
--- a/src/drone/stacked/modules.rs
+++ b/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
 
diff --git a/src/drone/stacked/modules/rate.rs b/src/drone/stacked/modules/angular_rate.rs
similarity index 100%
rename from src/drone/stacked/modules/rate.rs
rename to src/drone/stacked/modules/angular_rate.rs
diff --git a/src/drone/stacked/modules/rot.rs b/src/drone/stacked/modules/rotation.rs
similarity index 100%
rename from src/drone/stacked/modules/rot.rs
rename to src/drone/stacked/modules/rotation.rs