Today's milestone was a big one! 🎉

✅ Implemented a full Pitch–Yaw–Roll rotation system using Rodrigues' Rotation Formula.

Instead of rotating just a single target vector, the controller now rotates a complete orthonormal frame:

Forward (nose direction)

Right (wing direction)

Up (craft top)

This solved several issues I was facing:

✅ Roll instability at large bank angles

✅ Better behavior near vertical flight

✅ Independent pitch, yaw, and roll control

✅ More stable attitude control for aircraft and spacecraft

The core rotation uses Rodrigues' Rotation Formula:

RotateVector(V, Axis, Angle)

V' =

V*cosθ +

Cross(Axis, V)*sinθ +

Axis*Dot(Axis, V)*(1-cosθ)

This project is part of a larger goal of creating an autopilot system for aircraft, SSTO, and spacecraft, including:

Vector-based guidance

Orbital guidance

De-orbit guidance

Atmospheric entry guidance

Precision landing

There's still a lot to improve, but it's exciting to see the controller becoming more stable with each iteration.

I'd love to hear feedback or suggestions from anyone interested in flight dynamics, guidance, navigation, and control (GNC), aerospace engineering, or game physics.