before input redesign

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());
     }
 

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
+    pub roll_input: f32,
-    /*
-     * Values should be between -1 and 1.
-     */
     pub yaw_input: f32,
     pub pitch_input: f32,
-    pub roll_input: f32,
 }
 
 impl JoystickInput {

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 },
             },

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)
             }
         }
     }