Fix ram model

[1-Bart-1]

• Fix ram model (correct order of bridle attachment points)
• Fix first initialization
• Improve initialization
• Improve heading calculation

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.21%. Comparing base (294ea3b) to head (16ccfe9).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #192      +/-   ##
==========================================
- Coverage   87.50%   87.21%   -0.29%     
==========================================
  Files           8        8              
  Lines        1769     1784      +15     
==========================================
+ Hits         1548     1556       +8     
- Misses        221      228       +7     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.