Adding swirl torque information to THRConfigMsg and modules that read/output that message.
In thrustCMEstimation, the swirl torque is added to the measurement model which is now made of the two components of the thruster torque: moment arm x thrust force + swirl torque.
Verification
Unit test for thrusterPlatformState has been updated
Description
Adding swirl torque information to THRConfigMsg and modules that read/output that message. In thrustCMEstimation, the swirl torque is added to the measurement model which is now made of the two components of the thruster torque: moment arm x thrust force + swirl torque.
Verification
Unit test for thrusterPlatformState has been updated
Documentation
n/a
Future work
n/a