Does the Reaction Wheel model induce a gyroscopic precession motion on the spacecraft?

[loufla]

I think that the spinning reaction wheels act like a fixed gyroscope so should resist a change in their rotational axis and induce a procession in the spacecraft motion when a torque is applied to a spacecraft in a direction not aligned with its axis.

Is this correct ? and does the current Basilisk simulation take this into account, I haven't seen such calculations in the RW state effector ?

[ghost]

I'd like to know as well. I have seen behavior which indicates to me that Basilisk does take this into account, but I can't find any documentation mentioning gyroscopic effects.