From be4040adc57acd56970d629ecf29dcec65b32507 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Thu, 2 Apr 2026 17:41:45 +0100
Subject: [PATCH] changes to stacked and vel

---
 src/stacked.rs       | 13 ++++++++++++-
 src/stacked/mixer.rs |  2 +-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/stacked.rs b/src/stacked.rs
index 5028770..e1e462e 100644
--- a/src/stacked.rs
+++ b/src/stacked.rs
@@ -110,7 +110,18 @@ impl DroneController for StackedController {
         let angular_rate_setpoint = if self.input.mode != ModeInput::Acro {
             let rotation_setpoint = if self.input.mode != ModeInput::Rotation {
                 let lin_accel_setpoint = if self.input.mode != ModeInput::Acceleration {
-                    panic!("Not Implemented")
+                    let lin_vel_setpoint: Velocity = if self.input.mode != ModeInput::Velocity {
+                        println!("LAYER NOT IMPLENETED. TAKING 0 AS INPUT;");
+                        Velocity(na::Vector3::zeros())
+                    } else {
+                        Velocity(na::vector![
+                            self.input.velocity.x,
+                            self.input.velocity.y,
+                            self.input.velocity.z
+                        ])
+                    };
+                    self.linvel_rt
+                        .update(lin_vel_setpoint, &self.drone_state, frame_dt)
                 } else {
                     Acceleration(na::vector![
                         self.input.acceleration.x,
diff --git a/src/stacked/mixer.rs b/src/stacked/mixer.rs
index 1755241..c708ce4 100644
--- a/src/stacked/mixer.rs
+++ b/src/stacked/mixer.rs
@@ -7,7 +7,7 @@ pub enum MotorMixingMode {
 }
 impl Default for MotorMixingMode {
     fn default() -> Self {
-        Self::ThrottleAuthorityReasonable { min_scale: 0.1 }
+        Self::ThrottleAuthorityReasonable { min_scale: 0.05 }
     }
 }