Was having a little issues trying to understand how to define the thruster layout. It appears to be right hand rule with X/middle finger pointing forward and Z/thumb pointing up. It would seem that the Z rotations are inverted as well.
Here is a custom thruster configuration we have made to maximize forward and upward thrust. The ability to strafe is not very important to us. Notice that Z thrusters have been flipped from the typical bluerov2 setup:
Just wanted to confirm that I defined our custom config properly.
