thrust mapping

auv_setup/config/robots/beluga.yaml

@@ -47,7 +47,7 @@ propulsion:
 
     rate_of_change:
       max: 1 # Maximum rate of change in newton per second for a thruster
-    map:       [ 0,  1,  2,  3,  4,  5,  6,  7 ] # [ 0, 1, 2, 3, 4, 5, 6, 7 ]  
+    map:       [ 5,  6,  7,  8,  4,  3,  2,  1 ] # [ 0, 1, 2, 3, 4, 5, 6, 7 ]  
     direction: [ 1,  1,  1,  1,  1,  1,  1,  1 ]
     offset:    [ 80, 80, 80, 80, 80, 80, 80, 80 ] # Offset IN PWM -400 to 400 # Offset moves where the thrust is at rest
     thrust_range: [-0.7, 0.7] # range in percentage -1.0 to 1.0 # NOTE!: thrust_range moves with the offset, if the offset is too big e.g., ± ~400 the thrust range will go out of bounds