Defender Frame Thrusters

The MSS vehicle is a Defender frame that uses a vectored horizontal thruster arrangement, and three vertical thrusters. The thrusters are configured as shown below:

Thruster Location	Propeller Orientation	Reverse Option	Group ID	Node ID	Motor ID	TCP/IP Address	TCP/IP Port	Notes
Forward Port	Right	Disabled	129	5	0	192.168.1.64	1 (7444)
Forward Starboard	Left	Enabled	129	6	1	192.168.1.64	1 (7444)
Aft Starboard	Right	Disabled	129	7	2	192.168.1.64	1 (7444)
Aft Port	Left	Enabled	129	8	3	192.168.1.64	1 (7444)
Forward Vertical Port	Right	Disabled	129	9	6	192.168.1.64	1 (7444)
Forward Vertical Starboard	Left	Disabled	129	10	4	192.168.1.64	1 (7444)
Aft Vertical	Left	Enabled	129	20	5	192.168.1.64	1 (7444)