A spacecraft includes a plurality of thrusters, a thruster firing logic, an actuator assembly, an attitude control system, and a torque calibration system. The plurality of thrusters is configured to apply torque to the spacecraft. The thruster firing logic is configured to control firing of the plurality of thrusters. The actuator assembly is configured to apply torque to the spacecraft. The attitude control system is configured to sense an attitude of the spacecraft and to provide an attitude control torque. The torque calibration system is configured to provide a thruster feedforward torque. A machine-readable medium includes instructions for a method for providing torque calibration to a spacecraft.