really basic and bad NON PID controller

src/camera.rs

@@ -1,7 +1,7 @@
 use macroquad::prelude::*;
 
 const MOVE_SPEED: f32 = 1.0;
-const LOOK_SPEED: f32 = 0.1;
+const LOOK_SPEED: f32 = 0.01;
 
 pub struct FirstPersonCamera {
     pub position: Vec3,

src/drone.rs

@@ -4,6 +4,7 @@ use rapier3d::prelude as rp;
 use crate::engine::{ColliderExtraData, World};
 
 pub mod controller;
+pub mod fpvcontroller;
 use controller::*;
 
 pub struct MotorCharacteristics {
@@ -17,6 +18,9 @@ impl Default for MotorCharacteristics {
         Self {
             /*
              * Motor position indices
+             *    ^ - Front
+             *    |
+             *    |
              * 1 --- 0
              * |     |
              * |     |
@@ -125,6 +129,8 @@ impl Drone {
                 rp::vector![0.0, -torque, 0.0]
             };
             drone_rb.add_torque(torque, true);
+            println!("Torque: \n{:?}", torque);
+            println!("Thrust: \n{:?}", thrust);
         }
     }
 

src/main.rs

@@ -10,7 +10,7 @@ mod rendering;
 
 mod graphics_util;
 
-use crate::rendering::Renderer;
+use crate::{drone::fpvcontroller::JoystickInput, rendering::Renderer};
 
 fn window_conf() -> mq::Conf {
     mq::Conf {
@@ -18,7 +18,7 @@ fn window_conf() -> mq::Conf {
         window_resizable: true,
         // fullscreen: true,
         platform: mq::miniquad::conf::Platform {
-            linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
+            // linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
             ..Default::default()
         },
         ..Default::default()
@@ -44,11 +44,19 @@ async fn main() {
         None,
     );
 
+    let mut controller = drone::fpvcontroller::FPVController::default();
+    controller.set_input(JoystickInput {
+        throttle_input: 0.25,
+        yaw_input: 0.0,
+        roll_input: 0.0,
+        pitch_input: 0.05,
+    });
     let mut drone = drone::Drone::new(
         &mut world,
-        Box::new(drone::controller::DefaultController::new(1.0)),
+        Box::new(controller),
         drone::MotorCharacteristics {
-            max_thrust: 2.0 * 3.5 * 0.25,
+            max_thrust: 20.0,
+            max_torque: 2.0,
             ..Default::default()
         },
         0.350,
@@ -76,13 +84,16 @@ async fn main() {
 
         // Physics
         world.step();
-        drone.process_tick(&mut world);
         let _ = clearscreen::clear();
+        drone.process_tick(&mut world);
         println!(
             "{:}",
             world.bodies.get(drone.rb_handle).unwrap().translation()
         );
-        println!("{:?}", drone.controller.get_motor_throttles());
+        println!(
+            "Motor Throttles: {:?}",
+            drone.controller.get_motor_throttles()
+        );
 
         // Rendering
         renderer.draw(&mut world);