Roblox FPV Drone Sim

local rs = game:GetService("RunService")
local uis = game:GetService("UserInputService")

workspace.CurrentCamera.CameraType = Enum.CameraType.Scriptable
workspace.CurrentCamera.FieldOfView = 100
local drone = workspace.Drone
local deadzone = 0.05

local drone = workspace.Drone
local prop = drone.Thrust
local torque = drone.Torque
local gyro = drone.Gyro

local rates = {}
-- rates (units: deg/sec at max value)
rates.Yaw = 10
rates.Pitch = 10
rates.Roll = 10

local phys = {}
phys.MaxThrust = 3 * drone.Mass * workspace.Gravity
phys.MaxYaw = math.rad(rates.Yaw)
phys.MaxPitch = math.rad(rates.Pitch)
phys.MaxRoll = math.rad(rates.Roll)

rs.RenderStepped:Connect(function()
    local inputs = getInputs(deadzone)

    local throttle = math.clamp(compDeadzone(inputs.LStick.Y), 0, 1)
    local yawIn = compDeadzone(inputs.LStick.X) * rates.Yaw
    local pitchIn = compDeadzone(inputs.RStick.Y) * rates.Pitch
    local rollIn = compDeadzone(inputs.RStick.X) * rates.Roll

    local relLinVel = drone.CFrame:VectorToObjectSpace(drone.AssemblyLinearVelocity)
    local relAngVel = drone.CFrame:VectorToObjectSpace(drone.AssemblyAngularVelocity)

    local stab = lerp(throttle, 1, 4) * drone.Mass
    local thrust = throttle * phys.MaxThrust * (1 - math.abs(relLinVel.Y/phys.MaxThrust))
    local pitch = throtToForce(-pitchIn, relAngVel.X, phys.MaxPitch)
    local yaw = throtToForce(-yawIn, relAngVel.Y, phys.MaxYaw)
    local roll = throtToForce(-rollIn, relAngVel.Z, phys.MaxRoll)

    print("Fp: "..pitch)
    print("Fy: "..yaw)
    print("Fr: "..roll)
    print("Ip: "..pitchIn)
    print("Iy: "..yawIn)
    print("Ir: "..rollIn)
    print("Vx: "..relAngVel.X)
    print("Vy: "..relAngVel.Y)
    print("Vz: "..relAngVel.Z)

    local stabForce = -stab*relAngVel

    torque.Torque = Vector3.new(pitch, yaw, roll)
    prop.Force = Vector3.new(0, thrust, 0)
    --gyro.MaxTorque = stab

    if inputs.A then
        drone.Position = Vector3.new(0, 0.5, 0)
        drone.Orientation = Vector3.new(0, 90, 0)
        drone.AssemblyLinearVelocity = Vector3.new(0,0,0)
        drone.AssemblyAngularVelocity = Vector3.new(0,0,0)
    end
end)

local gui = game.Players.LocalPlayer.PlayerGui:WaitForChild("ScreenGui")
rs.RenderStepped:Connect(function()
    local pos = (drone.CFrame + drone.CFrame.LookVector*0.5 + drone.CFrame.UpVector*0.2)
    workspace.CurrentCamera.CFrame = pos*CFrame.Angles(math.rad(30),0,0)

    local inputs = getInputs(deadzone)
    gui.Left.Pos.Position = UDim2.new(inputs.LStick.X/2+0.5,0,-inputs.LStick.Y+1,0)
    gui.Right.Pos.Position = UDim2.new(inputs.RStick.X/2+0.5,0,-inputs.RStick.Y/2+0.5,0)
end)

function throtToForce(throttle, vel, max)
    local n = math.abs(vel / throttle)
    n = if n ~= n then 0 else n
    return throttle * (1 - math.clamp(math.pow(n, 2),0,1))
end

function lerp(t, a, b)
    return t*(b-a)+a
end

local controls = {}
--controls.Primary = {}
--controls.Secondary = {}

function getInputs(deadzone:number)
    deadzone = deadzone or 0
    local rawIn:{InputObject} = uis:GetGamepadState(Enum.UserInputType.Gamepad1)
    local inputs = {}

    inputs.Menu = rawIn[1].Position.Z == 1
    inputs.Start = rawIn[3].Position.Z == 1
    inputs.A = rawIn[2].Position.Z == 1
    inputs.B = rawIn[4].Position.Z == 1
    inputs.X = rawIn[5].Position.Z == 1
    inputs.Y = rawIn[6].Position.Z == 1
    inputs.LB = rawIn[7].Position.Z == 1
    inputs.RB = rawIn[8].Position.Z == 1
    inputs.LT = rawIn[9].Position.Z
    inputs.RT = rawIn[10].Position.Z
    inputs.DpadUp = rawIn[13].Position.Z == 1
    inputs.DpadDown = rawIn[14].Position.Z == 1
    inputs.DpadLeft = rawIn[15].Position.Z == 1
    inputs.DpadRight = rawIn[16].Position.Z == 1
    inputs.LStick = Vector3.new(applyDeadzone(rawIn[17].Position.X, deadzone), applyDeadzone(rawIn[17].Position.Y, deadzone), rawIn[11])
    inputs.RStick = Vector3.new(applyDeadzone(rawIn[18].Position.X, deadzone), applyDeadzone(rawIn[18].Position.Y, deadzone), rawIn[12])

    return inputs
end

function getRawInputs(gamepad)
    gamepad = gamepad or Enum.UserInputType.Gamepad1
    local rawIn:{InputObject} = uis:GetGamepadState(gamepad)
    local inputs = {}

    inputs.Menu = rawIn[1].Position.Z == 1
    inputs.Start = rawIn[3].Position.Z == 1
    inputs.A = rawIn[2].Position.Z == 1
    inputs.B = rawIn[4].Position.Z == 1
    inputs.X = rawIn[5].Position.Z == 1
    inputs.Y = rawIn[6].Position.Z == 1
    inputs.LB = rawIn[7].Position.Z == 1
    inputs.RB = rawIn[8].Position.Z == 1
    inputs.LT = rawIn[9].Position.Z
    inputs.RT = rawIn[10].Position.Z
    inputs.DpadUp = rawIn[13].Position.Z == 1
    inputs.DpadDown = rawIn[14].Position.Z == 1
    inputs.DpadLeft = rawIn[15].Position.Z == 1
    inputs.DpadRight = rawIn[16].Position.Z == 1
    inputs.LStickX = rawIn[17].Position.X
    inputs.LStickY = rawIn[17].Position.Y
    inputs.LS = rawIn[11]
    inputs.RStickX = rawIn[18].Position.X
    inputs.RStickY = rawIn[18].Position.Y
    inputs.RS = rawIn[12]

    return inputs
end

function applyDeadzone(val, deadzone)
    local n = if math.abs(val) <= deadzone then 0 else val

    return n
end

function compDeadzone(input)
    return math.sign(input) * math.map(math.abs(input), deadzone, 1, 0, 1)
end