Support individual thruster calibration
DSsoto opened this issue · comments
Right now the thruster driver gets the effort-to-thrust mapping for all of the thrusters from a single file. This means that we can't currently use different styles of propellers or shrouds without confusing the thruster mapper.
The thruster driver should allow for each thruster to be initialized with a different mapping, and the thruster_layout yaml should say where to get that data.
Eventually this can be used to to self calibrate or track the individual mappings and adapt to changes.
Addressed in PR #290.