Inconsistent output in thrusterStateEffector

[rcalaon]

The output msg THROutputMsgPayload seems to contain some frame inconsistencies in the case where the thruster is attached to a moving body. I’m seeing that the thrusterDirection message variable is the unit thrust direction vector in thruster frame coordinates (say F), but the thrustForce_B message variable is, in fact, the thrust vector in B coordinates. Do we want it like that? I think it would make more sense to express all the vectors in the same frame.

[schaubh]

This is being clarified in the updated thruster documentation. Should be pushed to develop shortly.