From 4a805547405d2f7d83459bf6bfcd83dc56d87199 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Fri, 17 Feb 2023 21:53:34 -0800
Subject: [PATCH] add pitch_scale for pid controller

---
 src/action/components.rs | 2 +-
 src/action/systems.rs    | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/action/components.rs b/src/action/components.rs
index 34cf983..be3cf5b 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -85,7 +85,7 @@ impl Default for CatControllerState {
             pitch_prev: Default::default(),
             decay_factor: 0.99,
             roll_limit: 1.5,
-            pitch_limit: 0.8,
+            pitch_limit: 0.2,
         }
     }
 }
diff --git a/src/action/systems.rs b/src/action/systems.rs
index 37ab2e9..1aba8f6 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -16,6 +16,8 @@ use crate::{
     input::InputState,
 };
 
+const PITCH_SCALE: f32 = 0.2;
+
 /// Disable gravity in Rapier.
 pub(super) fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
     config.gravity = Vec3::ZERO;
@@ -46,7 +48,7 @@ pub(super) fn falling_cat(
     let wright = xform.forward().cross(wup).normalize();
 
     let roll_error = wright.dot(bike_up);
-    let pitch_error = wup.dot(xform.back());
+    let pitch_error = wup.dot(xform.back()) * PITCH_SCALE;
 
     // only try to correct roll if we're not totally vertical
     if pitch_error.abs() < 0.8 {