Awesome, thanks! Yeah I wasn't really sure where I was supposed to plug the outputs of the pitch/roll vector calculations. They come out with really small values (around 1) so I wasn't sure if I did the calculations right. I thought it made sense to multiply it to the output of the pids so that's what I did. I will definitely make sure to check out your bot to see what I am actually supposed to do

.

I've started work on the other hoverbot earlier as well, and I'll probably do some more tomorrow. I've replaced the motors with elbows like you suggested and finished linear velocity controls which are basically the same as TI's.

Working out the math for the angular velocity controls is still proving troublesome for me though, as maths isn't my strongest suit. I'm sure I'll get it soon enough though, just need to brush up on vectors and trig some. One thing that is really bugging me though is that I can't seem to get my head around how to make jets at the bottom/angled downwards have positive thrust value whilst those at the top/angled up have negative/0 as the jets' positions and roles are dynamic, what with them being vectored thrust jets after all.

Do I even need to ensure the bottom jets are positive and vice versa or am I approaching the issue with angular velocity controls all wrong? I feel like it's impossible to calculate the required thrust without knowing the correct angles, but also that it's impossible to know the required angles if the correct thrust isn't known. I think I am missing a variable or something.

Perhaps I'll sleep for now, try to clear my head and hopefully tomorrow I'll be able to better understand what I need to do

.