Algodoo

This drone which only has 2 thrusters can automatically fly to a given location in a very stable manner.
Using what I understood from an article on PID (Proportional, Integral, Derivative) controllers,
I assembled this drone with fully customizable settings based on PID math.
However, I have yet to understsnd the math behind the integral part, and it isn't necessary for this demonstration.
The underscore variables in the box are entirely customizable. They mean as follows:

ang - relating to the angle and angvel of the box
x - relating to the horizontal position and speed of the box
y - relating to the vertical position and speed of the box

Tar - the target value
Err - the Tar value minus the actual value, the change needed
P - proportional component multiplier (directly proportional to Err, pushes the value in the direction of Tar)
D - Derivative component multiplier (negatively proportional to the velocity of the value, eliminates oscillation and overcorrection)

_tilt - the tilt multiplier (determines how far to tilt to correct for horizontal error, shouldnt mess with it)
_hover - the force added to ensure the drone doesnt fall into the ground (shouldnt mess with this either)
_maxErr - the bounding number for the value's error (ensures extreme corrections are not possible, keeps the internal error between -maxERR and +maxErr)
_throttle - the upward force the drone applies
_torque - the rotary force the drone applies


Feel free to move the whitedot around and watch the drone follow it, but if the dot moves really far away the drone can malfunction
Thamks bai