From e776c641b5ff9735cacf3b37f1b23f38620b23c9 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Fri, 6 Feb 2026 18:35:23 +0000
Subject: [PATCH] before input redesign

---
 src/drone.rs                 | 3 ++-
 src/drone/input.rs           | 6 +-----
 src/drone/stacked.rs         | 2 +-
 src/drone/stacked/modules.rs | 4 +---
 4 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/src/drone.rs b/src/drone.rs
index f7eb114..2740d75 100644
--- a/src/drone.rs
+++ b/src/drone.rs
@@ -183,7 +183,8 @@ impl Drone {
         let rb = world.bodies.get(self.rb_handle).unwrap();
         self.controller.set_time(world.get_time());
         // Pitch, Yaw, Roll
-        self.controller.set_angular_velocity(*rb.angvel());
+        self.controller
+            .set_angular_velocity(rb.rotation().inverse().transform_vector(&rb.angvel()));
         self.controller.set_rotation(*rb.rotation());
     }
 
diff --git a/src/drone/input.rs b/src/drone/input.rs
index 2972aef..6e01608 100644
--- a/src/drone/input.rs
+++ b/src/drone/input.rs
@@ -6,13 +6,9 @@ pub struct JoystickInput {
     // Value should be between 0 and 1
     pub throttle_input: f32,
 
-    // Rotation Directions: https://upload.wikimedia.org/wikipedia/commons/c/c1/Yaw_Axis_Corrected.svg
-    /*
-     * Values should be between -1 and 1.
-     */
+    pub roll_input: f32,
     pub yaw_input: f32,
     pub pitch_input: f32,
-    pub roll_input: f32,
 }
 
 impl JoystickInput {
diff --git a/src/drone/stacked.rs b/src/drone/stacked.rs
index 16b43c7..80ff152 100644
--- a/src/drone/stacked.rs
+++ b/src/drone/stacked.rs
@@ -58,7 +58,7 @@ impl StackedController {
         Self {
             mixer: MotorMixer {
                 motor_map: config.motor_map,
-                min_throttle: 0.0,
+                min_throttle: 0.1,
                 max_throttle: 1.0,
                 mixing_mode: mixer::MotorMixingMode::ThrottleAuthorityReasonable { min_scale: 0.5 },
             },
diff --git a/src/drone/stacked/modules.rs b/src/drone/stacked/modules.rs
index 2188627..0477cb1 100644
--- a/src/drone/stacked/modules.rs
+++ b/src/drone/stacked/modules.rs
@@ -47,11 +47,9 @@ impl ControllerModule {
                 } else {
                     setpoint
                 };
-                let rot = state.rotation;
-                let current = rot.inverse().transform_vector(&state.angular_velocity);
 
                 // Output of Rate PID = Desired Torque/Correction Force
-                processor.update(target_velocity, current, dt)
+                processor.update(target_velocity, state.angular_velocity, dt)
             }
         }
     }