MSS Toolbox 2.2.2

This maintenance release fixes vessel dynamics, guidance and control, and WAMIT import. It also standardizes ocean-current modeling and updates simulation examples.

Fixes

• Added oceanCurrents.m for constant and bounded stochastic currents, and updated several craft models to use the full vessel attitude when transforming currents into body coordinates. The vertical current input to remus100, npsauv, and lauvMarie is now a positive-down NED velocity.
• Updated EKF_5states.m to return the prediction for sample k+1 after processing measurements at sample k, and corrected the latitude–longitude Jacobian. Call the filter at the end of each simulation step and use its output at the next step.
• Corrected the 3-D path-frame rotation, wrapped the yaw error before integrating it in the nonlinear PID controller, and fixed the midpoint inserted by order3.m and order5.m when given two waypoints. [#90](#90), [#91](#91)
• Updated LOSobserver.m to use critically damped angle and rate dynamics, and applied the desired turn-rate limit in the Otter LOS path-following modes.
• Corrected the REMUS 100 propeller reaction torque, depth-control acceleration state, and propeller-speed ramp. Corrected the NPS AUV cross-flow pitch moment and used beam as the strip width for heave and pitch in crossFlowDrag.m. [#87](#87), [#88](#88), [#90](#90)
• Fixed WAMIT .frc format detection for light vessels and added an optional water density for FRC alternative 1. [#92](#92)
• Corrected wind-load handling for mirrored wind angles, enforced the wind-sea and swell parameter limits in the Torsethaugen spectrum, and updated the WGS 84 normal-gravity coefficients. [#93](#93)

Examples and documentation

• Added exMovingMass.m to demonstrate AUV pitch control using an internal moving mass.
• Updated the Otter course-control example as exOtterEKF.m. It uses the MSS-Capytaine Otter model and illustrates EKF behavior at low speed. The exOtter command still launches the example.
• Updated nomoto.m and exNomoto.m to compute Bode plots directly in base MATLAB and GNU Octave.
• Updated the passive wave-filter and quaternion attitude-estimation examples, the CRAFT, GNC, and General Library documentation, and the MSS Quick Reference.