Crush 8 Thrusters

[nathanaelren]

Motivation

As a developer, I want to:

Configure Crush for 8 thrusters.

So that I can:

Have Crush move across all DOF.

Completion criteria

Minimum Viable Product (MVP)

Crush can move across all 6 DOF.

Stretch

PID tuned

Timeline

1 January 2026

Testing requirements

Put it in the water and move to pose, try barrel roll, etc.

Implementation

High-level overview

Modify config and covariance matrices.

Checklist

• Update config
• Update controls calling if needed
• Update wrench matrix

Additional notes