In VesselState.cs, the formula used to evaluate the torque added by RCS in "torquePYAvailable" and "torqueRAvailable" is by the term:

line 289:

                    double maxT = pm.thrustForces.Max();

This is wrong because "thrustForces.Max ()" is the current torque but NOT the available torque .

I propose the change:

                     double maxT = pm.thrusterPower;

This is important for the stability of the Attitude control loop when the RCS is activated. The torque is made by:
Action (pitch, yaw, roll ) * avaiable Torque.

Small Probe and RCS behaviour: http://youtu.be/qtJD44KPwp8

Good catch! It also seems like a bug that the thruster direction isn't taken into account, but that may not be very significant.

Is the video showing behavior with or without that change?

The video shows behavior with the change made, but also have added more changes. See the Patch 1.

Ah, so that change shown here fixed the problem with the small probe rotating using RCS that Sarbian showed? Cool.