Would be nice to be able to pitch the sub 45 degrees without the sub looking drive/depth control etc.
Need good enough stability for fine object manipulation.
Options:
Easy Mode: Attempt hack by using pitch goal to apply feed forward to drive to correct for changed thruster allocation matrix.
Hard Mode; Adaptive Thruster Allocation Matrix generated by the subs pitch/roll state.
Would be nice to be able to pitch the sub 45 degrees without the sub looking drive/depth control etc. Need good enough stability for fine object manipulation.
Options: