PropaGator 2 can station hold with the new thruster mapper!!!!
The team spent Saturday at the local pond testing the boat. Our primary focus was on making the boat controllable and we succeeded (sort of). After a few hours in the water, PropaGator was able to move in the desired directions and resist external disturbances (wind, rope pull) by using its thrusters. However, the thruster mapper is still producing solutions that are not achievable by the boat (1000 newtons of thrust ect…). Currently, we have a software bandaid clipping the extreme values until we can figure out how to constrain the solutions. Still, we’re pretty happy with the results.