Thruster.compute() expects commanded thrust in newtons. However, the multirotor initialization, reset, and default action offset use the configured motor speed in RPS directly as the thrust target, creating a unit mismatch.
For example, an initial value of 200 RPS is interpreted as 200 N and clamped to the configured maximum thrust (10 N for the ARL robot). Instead, the initial thrust should be calculated using:
thrust = thrust_coefficient * rps**2
The command interface and related documentation should consistently define thrust targets in newtons, while RPS should only be used to configure or represent motor speed.
Thruster.compute()expects commanded thrust in newtons. However, the multirotor initialization, reset, and default action offset use the configured motor speed in RPS directly as the thrust target, creating a unit mismatch.For example, an initial value of
200 RPSis interpreted as200 Nand clamped to the configured maximum thrust (10 Nfor the ARL robot). Instead, the initial thrust should be calculated using:The command interface and related documentation should consistently define thrust targets in newtons, while RPS should only be used to configure or represent motor speed.