🤦‍♀️ Fix thruster coefficient

[chapulina]

From #76:

The formula on TethysComm was using 0.0016 m for the propeller diameter, but the Thruster uses 0.2 m, taken from the SDF.

Well... I forgot the ^4 ... 0.0016 == 0.2 ^ 4 😬 This PR reverts it back.

I updated TethysComm to use 0.2 m, and that made the vehicle extremely fast. So I reduced the coefficient 100x to compensate.

This PR reverts it back... 😬

Updated a few test expectations to the new thrust.

Yeah, updating that again...

we're converting from ang vel to force and back. It would reduce errors if we only converted once.

Case in point 🙃

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I discovered this while working on a test for the state message on #81 . I broke off just the propOmega checks into this PR.

[arjo129]

Thanks for spotting this.