SpaceX Falcon 9 Booster

NO GYRO USED!! ALL CONTROL IS WITH ENGINE GIMABLING!!

A (mostly) scale model of the Falcon 9. I made a few moderations to the real one, like going from 9 to 5 engines. I didn't make the grid fins rotate, it is just airbrakes, however the engines have gimbaling(vectoring) for 3-axis attitude control.

I would also like to point out that this is a 74 part craft, making it seem low-effort, but the thing is, boosters really don't take many parts.

Construction consists of a bland and basic body, with an interstage on top and a small coned base. Then you can put on some grid fin stuff if you want, and make the engines. I think my bells are 3 parts each, with two rotators and that's all. 4 different 3 part landing legs to top everything off. Then I had to go through and make all the different code optimizations for each engine, which was definitely the most time-taking. After that, I added little interior fins that add stability during flight, to help things out just a bit.

CONTROLS

Pitch controls the forward/backward tilt
Yaw controls the sideways tilt
Roll controls the twist of the rocket

Ag1 is control over grid fin extension/retrograde stability(think of it as descent mode).
Ag2 is control over the start of the 5 raptor engines.
Ag3 is control over landing leg extension(they start extended).