Vectored Thrust Function

Hi all,

The wiki for the Vectored Thrust functionality of ArduBoat shows clearly a graph describing how the Thrust is calculated for different values of Steering.

I was wondering if anyone is aware of the actual mathematical function used for Vectored Thrust, or if anyone can point me to the Github page where this is included as I haven’t been able to find it myself.


To answer my own question, the corresponding source code is here