From 9b0dc51d4ca4940cde2e1ea0cb145ae5d162fe02 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Tue, 3 Mar 2026 11:17:30 +0000
Subject: [PATCH] linear acceleration WIP

---
 src/drone/stacked/modules.rs | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/drone/stacked/modules.rs b/src/drone/stacked/modules.rs
index f22e9d8..3733c8b 100644
--- a/src/drone/stacked/modules.rs
+++ b/src/drone/stacked/modules.rs
@@ -2,9 +2,11 @@ use crate::config::PidConfig;
 use crate::drone::stacked::DroneState;
 use nalgebra as na;
 
+pub mod acceleration;
 pub mod angular_rate;
 pub mod rotation;
 
+pub use acceleration::AccelerationController;
 pub use angular_rate::AngularRateController;
 pub use rotation::RotationController;
 
@@ -73,6 +75,9 @@ pub struct AngularRate(pub na::Vector3<f32>); // rad/s
 #[derive(Clone, Copy, Debug, Default)]
 pub struct Torque(pub na::Vector3<f32>); // control output
 
+#[derive(Clone, Copy, Debug, Default)]
+pub struct Throttle(pub f32);
+
 pub struct PidProcessor {
     kp: na::Vector3<f32>,
     ki: na::Vector3<f32>,