Quaternion relativeOrientation = Quaternion.identity * Quaternion.Euler((-VC.targetHeading + 90) * new Vector3(1, 0, 0));
            relativeOrientation = relativeOrientation * Quaternion.Euler((VC.targetPitch) * new Vector3(0, 0, 1));
            relativeOrientation = relativeOrientation * Quaternion.Euler((VC.targetRoll + 90) * new Vector3(0, 1, 0));

            Vector3d CoM, north, east;
            CoM = AV.CoM;
            Vector3 up = (CoM - AV.mainBody.position).normalized;
            north = Vector3d.Exclude(up, (AV.mainBody.position + AV.mainBody.transform.up * (float)AV.mainBody.Radius) - CoM).normalized;

            east = Vector3d.Cross(up, north);

            Quaternion goalOrientation = Quaternion.LookRotation(north, east) * relativeOrientation;