Add a minCmd field for the Thruster Plugin #479
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use a separate minCmd variable to scale negative input commands
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This PR attempts to chip away at #477 by adding a separate minCmd field for the thruster plugin. As of now this is primarily used in mappingType=1 for scaling the negative portion of the thrust profile. Later I'd like to add its use (along with maxCmd) as a clamp on the input commands.
P.S. ignore the c++17 commits for now