Inconsistencies in rotor direction usage

[Tuxliri]

rotorpy/rotorpy/controllers/quadrotor_control.py

Line 65 in ec2e173

# with the z axis and that the "sign" of each rotor yaw moment alternates starting with positive for r1. 'TM' = "thrust and moments"

#5 modified the computation of the matrix self.f_to_TM to account for different rotor spin directions, however the comment above still reports the assumption of alternating signs starting with a positive sign, has this been dropped?

In the Multirotor class there is a similar assumption reported in the comment that also seems to have been dropped in the code, is this correct?

rotorpy/rotorpy/vehicles/multirotor.py

Lines 120 to 123 in ec2e173

	# Below is an automated generation of the control allocator matrix. It assumes that all thrust vectors are aligned
	# with the z axis and that the "sign" of each rotor yaw moment alternates starting with positive for r1.
	self.f_to_TM = np.vstack((np.ones((1,self.num_rotors)),np.hstack([np.cross(self.rotor_pos[key],np.array([0,0,1])).reshape(-1,1)[0:2] for key in self.rotor_pos]), (k * self.rotor_dir).reshape(1,-1)))
	self.TM_to_f = np.linalg.inv(self.f_to_TM)