The original drone simulator I built used logged relative positions of the thrusters compared to the the center to detect tilt; but the physical drone doesn’t have record of those positions and must rely on the accelerometer/gyroscope - so I have to use those Unity 3D positions to detect tilt and apply it as the simulated gyroscope’s X/Y/Z outputs so the code controlling the simulated drone maps directly to the code on the physical drone’s onboard phone so it can be ported over seemlessly ——————