more testing. I increased the moment of inertia, and things aren't exploding, but there are still very large oscillations that are growing to a bounded amount.

Things are in a stable place. Although, the unstable torque issue is still there. We are going to ignore that for now.

Things are working! I still need to add aero drag forces as well as guidance for payload / quadrotors.

Payload has 12 states now and forces tether forces are correct based on mounting points. Need to add induced torque onto payload and actually shift the mounting points to the surface for testing.