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drone-simulator
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      using UnityEngine;
      using UnityEditor;
      using UnityEditor.SceneManagement;
      using DroneController.CameraMovement;
      [CustomEditor(typeof(DroneCamera))]
      [ExecuteInEditMode]
      public class CameraEditor : Editor
      {
      public override void OnInspectorGUI()
      {
      var myScript = target as CameraScript;
      UpdateLayerInputs();
      EditorGUILayout.BeginVertical("Box");
      myScript.inputEditorFPS = GUILayout.Toolbar(myScript.inputEditorFPS, new string[] { "Third Person View", "First Person View" });
      switch (myScript.inputEditorFPS)
      {
      case 0:
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      break;
      case 1:
      myScript.FPS = true;
      break;
      }
      if (myScript.FPS)
      {
      EditorGUILayout.Space();
      EditorGUILayout.HelpBox("First person view properties to position and rotate camera inside the drone.", MessageType.None);
      // EditorGUILayout.Space();
      // myScript.FPS = EditorGUILayout.Toggle(new GUIContent("FPS (ON)"), myScript.FPS);
      EditorGUILayout.Space();
      EditorGUILayout.Space();
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      myScript.rotationInsideDrone = EditorGUILayout.Vector3Field(new GUIContent("Rotation inside drone", "This will give the camera extra X (up/down) tilt when in POV mode, so when you move forward your camera view is straight."), myScript.rotationInsideDrone);
      myScript.fpsViewMask = EditorGUILayout.MaskField(new GUIContent("FPS View Mask", "Layers that we wish to see in the FPS mode... suggestion to disable body part and see only propelers"), myScript.fpsViewMask, optionsFPS);
      myScript.fpsFieldOfView = EditorGUILayout.FloatField(new GUIContent("Field Of View", "Camera field of view"), myScript.fpsFieldOfView);
      }
      else
      {
      EditorGUILayout.Space();
      EditorGUILayout.HelpBox("Third person view properties to position and rotate camera behind the drone.", MessageType.None);
      // EditorGUILayout.Space();
      // myScript.FPS = EditorGUILayout.Toggle(new GUIContent("FPS (OFF)"), myScript.FPS);
      EditorGUILayout.Space();
      EditorGUILayout.Space();
      myScript.positionBehindDrone = EditorGUILayout.Vector3Field(new GUIContent("Position behind drone", "Position of the camera behind the drone."), myScript.positionBehindDrone);
      myScript.cameraFollowPositionTime = EditorGUILayout.Slider(new GUIContent("Camera follow position time", "How fast the camera will follow drone position. (The lower the value the faster it will follow)"), myScript.cameraFollowPositionTime, 0.0f, 0.1f);
      myScript.extraTilt = EditorGUILayout.FloatField(new GUIContent("Extra camera tilt when moving", "Value where if the camera/drone is moving upwards will raise the camera view upward to get a better look at what is above, same goes when going downwards."), myScript.extraTilt);
      myScript.tpsLayerMask = EditorGUILayout.MaskField(new GUIContent("TPS View Mask", "Layers that we wish to see in the FPS mode... suggestion to disable body part and see only propelers"), myScript.tpsLayerMask, optionsTPS);
      myScript.tpsFieldOfView = EditorGUILayout.FloatField(new GUIContent("Field Of View", "Camera field of view"), myScript.tpsFieldOfView);
      EditorGUILayout.Space();
      EditorGUILayout.Space();
      EditorGUILayout.Space();
      myScript.freeMouseMovement = EditorGUILayout.Toggle(new GUIContent("Free Mouse Look", "Allows to freely view around the drone with your mouse and not depending on drone look rotation."), myScript.freeMouseMovement);
      EditorGUILayout.Space();
      if (myScript.freeMouseMovement)
      {
      myScript.useJoystickFreeMovementOnly = EditorGUILayout.Toggle(new GUIContent("Toggle joystick only free look", "Allows to freely view around the drone with your joystick and not depending on drone look rotation."), myScript.useJoystickFreeMovementOnly);
      EditorGUILayout.BeginVertical("Box");
      if(myScript.useJoystickFreeMovementOnly == false)
      {
      myScript.mouseSensitvity = EditorGUILayout.FloatField(new GUIContent("Mouse Sensitivity", "Value that will determine how fast your free look mouse will behave."), myScript.mouseSensitvity);
      myScript.mouseFollowTime = EditorGUILayout.FloatField(new GUIContent("Mouse Follow Time", "Value that will follow the camera view behind the mouse movement.(The lower the value, the faster it will follow mouse movement)"), myScript.mouseFollowTime);
      EditorGUILayout.Space();
      EditorGUILayout.Space();
      EditorGUILayout.HelpBox("Mouse Input", MessageType.Info);
      myScript.mouse_X_axisName = EditorGUILayout.TextField(new GUIContent("Mouse X axis name", "Name of the mouse X axis that is connected to mouse movement."), myScript.mouse_X_axisName);
      myScript.mouse_Y_axisName = EditorGUILayout.TextField(new GUIContent("Mouse Y axis name", "Name of the mouse Y axis that is connected to mouse movement."), myScript.mouse_Y_axisName);
      }
      EditorGUILayout.HelpBox("Joystick Input", MessageType.Info);
      myScript.dPad_X_axisName = EditorGUILayout.TextField(new GUIContent("Joystick axis for the X axis", "Name of the joystick input, the arrow axis used for this one."), myScript.dPad_X_axisName);
      myScript.dPad_Y_axisName = EditorGUILayout.TextField(new GUIContent("Joystick axis for the Y axis", "Name of the joystick input, the arrow axis used for this one."), myScript.dPad_Y_axisName);
      EditorGUILayout.EndVertical();
      }
      }
      if (GUI.changed)
      {
      EditorUtility.SetDirty(target);
      EditorSceneManager.MarkSceneDirty(EditorSceneManager.GetActiveScene());
      }
      EditorGUILayout.EndVertical();
      DrawDefaultInspector();
      }
      string[] optionsFPS = null;
      string[] optionsTPS = null;
      private void UpdateLayerInputs()//adds layer properties to our custom insepctor, cool isnt it?
      {
      optionsFPS = new string[32];
      optionsTPS = new string[32];
      for (int i = 0; i <= 31; i++)
      {
      string layerName = LayerMask.LayerToName(i);
      optionsFPS[i] = layerName;
      optionsTPS[i] = layerName;
      }
      }
      }
      \ No newline at end of file
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      Assets/Scenes/SampleScene.unity.meta 0 → 100644
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      Assets/Scripts/AttitudeController.cs 0 → 100644
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      using System.Collections;
      using System.Collections.Generic;
      using UnityEngine;
      public class AttitudeController : MonoBehaviour
      {
      public float Pitch { get => axis.x; set => axis.x = value; } // front +, back - (theta)
      public float Yaw { get => axis.y; set => axis.y = value; } // cw +, ccw - (psi)
      public float Roll { get => axis.z; set => axis.z = value; } // left +, right - (phi)
      public Vector3 Axis { get => axis ; set => axis = value; } // Target Attitude
      public Vector3 Correction => correction; // Result correction force
      [SerializeField] private Vector3 axis;
      [SerializeField] [Readonly] private Vector3 correction;
      [Header("PID Control values")]
      [SerializeField] private Vector3 KrP = new Vector3(0.5f, 0.5f, 0.5f);
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      [SerializeField] private Vector3 KrD = new Vector3(0.2f, 0.2f, 0.2f);
      [SerializeField] [Readonly] private Vector3 pAxis, iAxis, dAxis;
      private Vector3 prevPAxis;
      private NavdataHandler navdata;
      void Start() {
      navdata = GetComponent<NavdataHandler>();
      }
      void FixedUpdate() {
      var tRotation = Quaternion.Euler(axis);
      var cRotation = Quaternion.Euler(navdata.Rotation);
      var dRotation = Quaternion.Inverse(cRotation) * tRotation;
      prevPAxis = pAxis;
      pAxis = dRotation.eulerAngles.RelativeAngles();
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      }
      public void reset() => pAxis = iAxis = dAxis = prevPAxis = Vector3.zero;
      }
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      using UnityEngine;
      public class ReadonlyAttribute : PropertyAttribute { }
      public static class ExtensionFunctions
      {
      public static float RelativeAngle(this float v) {
      while (v >= 180f) v -= 360f;
      while (v < -180f) v += 360f;
      return v;
      }
      public static Vector3 RelativeAngles(this Vector3 v) =>
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      public static Vector4 RelativeAngles(this Vector4 v) =>
      new Vector4(v.x.RelativeAngle(), v.y.RelativeAngle(), v.z.RelativeAngle(), v.w.RelativeAngle());
      }
      \ No newline at end of file
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      Assets/Scripts/FakeController.cs 0 → 100644
      View file @ aae398b8
      using System.Collections;
      using System.Collections.Generic;
      using UnityEngine;
      public class Controller : MonoBehaviour
      {
      #region public accessor
      public bool Flight { set => onflight = value; } // takeoff T, land F
      public float Phi { set => phi_r = value / 5f; } // right +, left -
      public float Theta { set => theta_b = value / 5f; } // back +, front -
      public float Gaz { set => gaz_up = value / 5f; } // up +, down -
      public float Yaw { set => yaw_cw = value / 5f; } // cw +, ccw -
      public Vector3 Velocity => velocity; // drone velocity navdata
      public Vector3 Rotation => rotation; // drone rotation navdata
      public float Altitude => altitude; // drone altitude navdata
      #endregion
      #region private attributes
      [SerializeField] private new Rigidbody rigidbody; // Drone rigidbody
      [SerializeField] private new Transform transform; // Drone rotation (must be FixRotation)
      [SerializeField] private bool onflight;
      [SerializeField] private float phi_r;
      [SerializeField] private float theta_b;
      [SerializeField] private float gaz_up;
      [SerializeField] private float yaw_cw;
      [SerializeField] private Vector3 velocity;
      [SerializeField] private Vector3 rotation;
      [SerializeField] private float altitude;
      #endregion
      #region inspector view variable
      [SerializeField] private Transform rbTransform; // rotation of rigidbody
      [SerializeField] private Vector3 prevVelocity;
      [SerializeField] private Vector3 targetVelocity;
      [SerializeField] private Vector3 pv, iv, dv;
      [SerializeField] private Vector3 force;
      [SerializeField] private float rbRotation;
      [SerializeField] private float prevRbRotation;
      [SerializeField] private float rRVelocity;
      [SerializeField] private float prevRRVelocity;
      [SerializeField] private float targetRRVelocity;
      [SerializeField] private float prrv, irrv, drrv;
      [SerializeField] private float torque;
      #endregion
      void Start() {
      rbTransform = rigidbody.GetComponent<Transform>();
      }
      void FixedUpdate() {
      // update value
      prevVelocity = velocity;
      velocity = transform.InverseTransformDirection(rigidbody.velocity);
      rotation = transform.eulerAngles;
      altitude = transform.position.y;
      // calculate force
      if (onflight) {
      targetVelocity = new Vector3(phi_r, gaz_up, -theta_b);
      if (altitude < 1f)
      targetVelocity.y += 3 * (1f - altitude);
      }
      else {
      targetVelocity = new Vector3(0, -5f, 0);
      if (altitude < 0.55f) {
      targetVelocity.y = 0f;
      pv = iv = dv = Vector3.zero;
      }
      }
      pv = targetVelocity - velocity;
      iv = iv + pv;
      dv = velocity - prevVelocity;
      force = 30f * pv + 0.2f * iv + 50f * dv;
      force.y = 60f * pv.y + 0.4f * iv.y + 100f * dv.y;
      rigidbody.AddRelativeForce(force);
      // calculate rotation
      prevRbRotation = rbRotation;
      rbRotation = rbTransform.eulerAngles.y;
      prevRRVelocity = rRVelocity;
      rRVelocity = (rbRotation - prevRbRotation) * 60f;
      if (onflight) {
      targetRRVelocity = yaw_cw;
      } else {
      targetRRVelocity = 0;
      if (altitude < 0.55f)
      prrv = irrv = drrv = 0;
      }
      prrv = targetRRVelocity - rRVelocity;
      irrv = irrv + prrv;
      drrv = rRVelocity - prevRRVelocity;
      torque = 30f * prrv + 0.2f * irrv + 50f * drrv;
      rRVelocity += torque;
      rbRotation += rRVelocity / 60f;
      var targetRotQuat = Quaternion.Euler(0, rbRotation, 0);
      rbTransform.rotation = Quaternion.Lerp(rbTransform.rotation, targetRotQuat, 0.1f);
      //tgRotation = Quaternion.Euler(0, rbTransform.eulerAngles.y + yaw_cw* 10f, 0);
      //rbTransform.rotation = Quaternion.Lerp(rbRotation, tgRotation, 0.05f);
      // tilt effect
      var currentQuat = transform.localRotation;
      var targetQuat = Quaternion.Euler(-theta_b, 1, -phi_r);
      transform.localRotation = Quaternion.Lerp(currentQuat, targetQuat, 0.05f);
      }
      }
      Assets/Scripts/FakeController.cs.meta 0 → 100644
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      Assets/Scripts/JointSimulator.cs 0 → 100644
      View file @ aae398b8
      using System.Collections;
      using System.Collections.Generic;
      using System.Linq;
      using UnityEngine;
      public class JointSimulator : MonoBehaviour
      {
      #region constants
      private static readonly IReadOnlyList<Vector3> rotorPosition = new Vector3[4] {
      new Vector3( 0.6f, 0.25f, 0.6f), // RF
      new Vector3( 0.6f, 0.25f, -0.6f), // RB
      new Vector3(-0.6f, 0.25f, -0.6f), // LB
      new Vector3(-0.6f, 0.25f, 0.6f) // LF
      };
      public float DefaultThrottle = 24.5f;
      public Vector4 MaxGain = new Vector4(10f, 1f, 10f, 100f);
      public Vector4 KrP = new Vector4( 10f, 10f, 10f, 10f);
      public Vector4 KrI = new Vector4( 0.2f, 0.2f, 0.2f, 0f);
      public Vector4 KrD = new Vector4(1000f, 1000f, 1000f, 1000f);
      #endregion
      #region public accessor
      public bool Flight { get => onflight; set => onflight = value; } // takeoff T, land F
      public float Pitch { get => axis.x; set => axis.x = value; } // front +, back - (theta)
      public float Yaw { get => axis.y; set => axis.y = value; } // cw +, ccw - (psi)
      public float Roll { get => axis.z; set => axis.z = value; } // left +, right - (phi)
      public float Throttle { get => axis.w; set => axis.w = value; } // up velocity
      public Vector3 Accelero => accelero; // accelerometer navdata
      public Vector3 Rotation => rotation; // gyroscope + magnetometer navdata
      public float Altitude => altitude; // ultrasound + pressure navdata
      #endregion
      #region private attributes
      private new Rigidbody rigidbody;
      private new Transform transform;
      [SerializeField] private bool onflight;
      [SerializeField] private Vector4 axis = new Vector4(0, 0, 0, 98f);
      [SerializeField] private Vector3 accelero;
      [SerializeField] private Vector3 rotation;
      [SerializeField] private float altitude;
      #endregion
      #region inspector view variable
      private Vector3 prevVelocity, velocity;
      [SerializeField] private float[] rotorThrust = new float[4]; // RF, RB, LB, LF
      [SerializeField] private float rotorTorque = 0f;
      [SerializeField] private Vector4 pAxis, iAxis, dAxis, prevPAxis;
      [SerializeField] private Vector4 accAxis, prevAccAxis;
      #endregion
      void Start() {
      rigidbody = GetComponent<Rigidbody>();
      transform = GetComponent<Transform>();
      }
      void FixedUpdate() {
      prevVelocity = velocity;
      velocity = transform.InverseTransformDirection(rigidbody.velocity);
      accelero = (velocity - prevVelocity) / Time.fixedDeltaTime;
      rotation = transform.eulerAngles;
      altitude = transform.position.y;
      var targetRotation = Quaternion.Euler(axis);
      var currentRotation = transform.rotation;
      var deltaRotation = Quaternion.Inverse(currentRotation) * targetRotation;
      prevPAxis = pAxis;
      pAxis = deltaRotation.eulerAngles;
      pAxis.w = axis.w - altitude;
      if (pAxis.x >= 180f) pAxis.x -= 360f;
      if (pAxis.y >= 180f) pAxis.y -= 360f;
      if (pAxis.z >= 180f) pAxis.z -= 360f;
      iAxis += Vector4.Scale(KrI, pAxis);
      dAxis = pAxis - prevPAxis;
      prevAccAxis = accAxis;
      accAxis = Vector4.Scale(KrP, pAxis) + Vector4.Scale(KrI, iAxis) + Vector4.Scale(KrD, dAxis);
      accAxis.w += DefaultThrottle;
      if (Mathf.Abs(accAxis.x - prevAccAxis.x) >= MaxGain.x)
      accAxis.x = prevAccAxis.x + Mathf.Clamp(accAxis.x - prevAccAxis.x, -MaxGain.x, MaxGain.x);
      if (Mathf.Abs(accAxis.y - prevAccAxis.y) >= MaxGain.y)
      accAxis.y = prevAccAxis.y + Mathf.Clamp(accAxis.y - prevAccAxis.y, -MaxGain.y, MaxGain.y);
      if (Mathf.Abs(accAxis.z - prevAccAxis.z) >= MaxGain.z)
      accAxis.z = prevAccAxis.z + Mathf.Clamp(accAxis.z - prevAccAxis.z, -MaxGain.z, MaxGain.z);
      if (Mathf.Abs(accAxis.w - prevAccAxis.w) >= MaxGain.w)
      accAxis.w = prevAccAxis.w + Mathf.Clamp(accAxis.w - prevAccAxis.w, -MaxGain.w, MaxGain.w);
      rotorThrust[0] = accAxis.w - accAxis.x + accAxis.y + accAxis.z;
      rotorThrust[1] = accAxis.w + accAxis.x - accAxis.y + accAxis.z;
      rotorThrust[2] = accAxis.w + accAxis.x + accAxis.y - accAxis.z;
      rotorThrust[3] = accAxis.w - accAxis.x - accAxis.y - accAxis.z;
      rotorTorque = rotorThrust[0] - rotorThrust[1] + rotorThrust[2] - rotorThrust[3];
      // apply thrust
      rotorPosition
      .Select(p => transform.TransformPoint(p)) // local to world position
      .Zip(rotorThrust, (p, f) => new { p, f })
      .ToList()
      .ForEach(e => rigidbody.AddForceAtPosition(transform.up * e.f, e.p)); // rotor force
      rigidbody.AddRelativeTorque(new Vector3(0, rotorTorque, 0));
      }
      }
      Assets/Scripts/JointSimulator.cs.meta 0 → 100644
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      Assets/Scripts/MoveController.cs 0 → 100644
      View file @ aae398b8
      using System.Collections;
      using System.Collections.Generic;
      using UnityEngine;
      public class MoveController : MonoBehaviour
      {
      public enum DroneState { Inactive, TakeOff, OnFlight, Landing };
      public bool Emergency { // emergency flag
      get => emergency;
      set {
      if (emergency != value) {
      emergency = value;
      thrust.Emergency = emergency;
      if (!emergency) {
      attitude.reset();
      }
      }
      }
      }
      public DroneState Status => droneState;
      public bool Flight {
      set {
      if (value) {
      if (droneState == DroneState.Inactive)
      droneState = DroneState.TakeOff;
      }
      else {
      if (droneState == DroneState.OnFlight || droneState == DroneState.TakeOff)
      droneState = DroneState.Landing;
      }
      }
      }
      public float Front { get => movement.x / 5f; set { movement.x = value * 5f; reset(); } } // front-back movement
      public float Up { get => movement.y / 5f; set { movement.y = value * 5f; reset(); } } // up-down movement
      public float Left { get => movement.z / 5f; set { movement.z = value * 5f; reset(); } } // left-right movement
      public float Turn { get => movement.w ; set { movement.w = value ; reset(); } } // turn(+ccw) movement
      [SerializeField] [Readonly] private bool emergency = false;
      [SerializeField] private DroneState droneState = DroneState.Inactive;
      [SerializeField] private Vector4 movement;
      [Header("PID Control values")]
      [SerializeField] private Vector4 KrP = new Vector4(5f, 8f, 5f, 200f);
      [SerializeField] private Vector4 KrI = new Vector4(0.1f, 0.4f, 0.1f, 0.05f);
      [SerializeField] private Vector4 KrD = new Vector4(200f, 100f, 200f, 2000f);
      [SerializeField] [Readonly] private Vector4 pMove, iMove, dMove;
      private Vector4 prevPMove;
      [SerializeField] [Readonly] private Vector4 force;
      [SerializeField] [Readonly] private float antigravity;
      [SerializeField] [Readonly] private Vector4 targetVelocity, currentVelocity;
      private float prevYaw, yaw;
      private NavdataHandler navdata;
      private AttitudeController attitude;
      private ThrustController thrust;
      void Start() {
      navdata = GetComponent<NavdataHandler>();
      attitude = GetComponent<AttitudeController>();
      thrust = GetComponent<ThrustController>();
      }
      void FixedUpdate() {
      prevYaw = yaw;
      yaw = navdata.Rotation.y;
      currentVelocity = navdata.Velocity;
      currentVelocity.w = (yaw - prevYaw).RelativeAngle();
      switch (droneState) {
      case DroneState.TakeOff:
      if (currentVelocity.y > 0.5f) {
      droneState = DroneState.OnFlight;
      goto case DroneState.OnFlight;
      }
      antigravity += 0.05f;
      force = Vector4.zero;
      force.y += antigravity;
      break;
      case DroneState.OnFlight:
      targetVelocity = movement;
      prevPMove = pMove;
      pMove = targetVelocity - currentVelocity;
      pMove.w = pMove.w.RelativeAngle();
      iMove += Vector4.Scale(KrI, pMove);
      dMove = pMove - prevPMove;
      force = Vector4.Scale(KrP, pMove) + Vector4.Scale(KrI, iMove) + Vector4.Scale(KrD, dMove);
      force.y += antigravity;
      break;
      case DroneState.Landing:
      targetVelocity = Vector4.zero;
      if (navdata.Altitude > 0.2f) {
      targetVelocity.y = -4f;
      prevPMove = pMove;
      pMove = targetVelocity - currentVelocity;
      pMove.w = pMove.w.RelativeAngle();
      iMove += pMove * Time.fixedDeltaTime;
      dMove = (pMove - prevPMove) / Time.fixedDeltaTime;
      force = Vector4.Scale(KrP, pMove) + Vector4.Scale(KrI, iMove) + Vector4.Scale(KrD, dMove);
      force.y += antigravity;
      }
      else {
      reset();
      antigravity = 0f;
      force = Vector4.zero;
      droneState = DroneState.Inactive;
      goto case DroneState.Inactive;
      }
      break;
      case DroneState.Inactive:
      break;
      }
      attitude.Roll = Mathf.Clamp(-force.x, -60f, 60f);
      thrust.Thrust = force.y;
      attitude.Pitch = Mathf.Clamp( force.z, -60f, 60f);
      attitude.Yaw += Mathf.Clamp(currentVelocity.w + force.w * Time.fixedDeltaTime, -10f, 10f);
      Debug.Log(currentVelocity.w + force.w * Time.deltaTime);
      }
      public void reset() => pMove = iMove = dMove = prevPMove = Vector3.zero;
      }
      Assets/Scripts/MoveController.cs.meta 0 → 100644
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      Assets/Scripts/NavdataHandler.cs 0 → 100644
      View file @ aae398b8
      using System.Collections;
      using System.Collections.Generic;
      using UnityEngine;
      using UnityEditor;
      public class NavdataHandler : MonoBehaviour
      {
      public Vector3 Accel => acceleration;
      public Vector3 Velocity => velocity;
      public Vector3 Rotation => rotation;
      public float Altitude => altitude;
      [SerializeField] [Readonly] private Vector3 acceleration; // from accelerometer
      [SerializeField] [Readonly] private Vector3 velocity; // navdata_demo calculation
      [SerializeField] [Readonly] private Vector3 rotation; // from gyroscope + magnetometer
      [SerializeField] [Readonly] private float altitude; // from ultrasonic sensor
      // presure sensor skipped; not needed
      private new Rigidbody rigidbody;
      private new Transform transform;
      private Vector3 prevVelocity;
      void Start() {
      rigidbody = GetComponent<Rigidbody>();
      transform = GetComponent<Transform>();
      }
      void FixedUpdate() {
      prevVelocity = velocity;
      velocity = transform.InverseTransformDirection(rigidbody.velocity);
      acceleration = (velocity - prevVelocity) / Time.fixedDeltaTime;
      rotation = transform.eulerAngles;
      altitude = transform.position.y - 0.5f;
      }
      }
      Assets/Scripts/NavdataHandler.cs.meta 0 → 100644
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      Assets/Scripts/ThrustController.cs 0 → 100644
      View file @ aae398b8
      using System.Collections;
      using System.Collections.Generic;
      using System.Linq;
      using UnityEngine;
      public class ThrustController : MonoBehaviour
      {
      public bool Emergency { get => !standby; set => standby = !value; }
      public float Thrust { get => thrust; set => thrust = value; }
      [SerializeField] private bool standby = true;
      [SerializeField] private float thrust;
      [SerializeField] [Readonly] private float[] rotorThrust = new float[4]; // RF, RB, LB, LF
      [SerializeField] [Readonly] private float rotorTorque = 0f;
      private static readonly IReadOnlyList<Vector3> rotorPosition = new Vector3[4] {
      new Vector3( 0.6f, 0.25f, 0.6f), // RF
      new Vector3( 0.6f, 0.25f, -0.6f), // RB
      new Vector3(-0.6f, 0.25f, -0.6f), // LB
      new Vector3(-0.6f, 0.25f, 0.6f) // LF
      };
      private new Transform transform;
      private new Rigidbody rigidbody;
      private NavdataHandler navdata;
      private AttitudeController attitude;
      void Start() {
      transform = GetComponent<Transform>();
      rigidbody = GetComponent<Rigidbody>();
      navdata = GetComponent<NavdataHandler>();
      attitude = GetComponent<AttitudeController>();
      }
      void FixedUpdate() {
      if (standby) {
      var correction = attitude.Correction;
      rotorThrust[0] = thrust - correction.x + correction.y + correction.z;
      rotorThrust[1] = thrust + correction.x - correction.y + correction.z;
      rotorThrust[2] = thrust + correction.x + correction.y - correction.z;
      rotorThrust[3] = thrust - correction.x - correction.y - correction.z;
      rotorTorque = rotorThrust[0] - rotorThrust[1] + rotorThrust[2] - rotorThrust[3];
      // apply thrust to each rotor position
      rotorPosition
      .Select(p => transform.TransformPoint(p)) // local to world position
      .Zip(rotorThrust, (p, f) => new { p, f })
      .ToList()
      .ForEach(e => rigidbody.AddForceAtPosition(transform.up * e.f, e.p));
      rigidbody.AddRelativeTorque(new Vector3(0, rotorTorque, 0));
      }
      }
      }
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