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local diff = world.distance(vehicle.aimPosition("drivingSeat"), mcontroller.position())
local angle = math.atan(diff[2] * self.facingDirection, diff[1] * self.facingDirection)
mcontroller.setRotation(angle)
If that works then you'd have a few more problems you can fix by unpacking my mod and looking through the code.
IIRC, the functions you'd need would be in dragonfly.lua, called moveZeroG(), verticalCalc() and animate().
One thing to note is that for using rotation control like I did, I found it easier to force one horizontal facing direction and instead flip the vehicle vertically.
If I'm an idiot and there is something that already does this but much simpler, then ignore me and go use that as a reference instead.
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