Add field kcu_steering (#74)

* add field kcu_steering * bump version --------- Co-authored-by: Uwe Fechner <[email protected]>
ufechner7 · Jan 22, 2025 · 0698310 · 0698310
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,7 @@
 # Changelog
+### KiteUtils v0.9.7 - 2025-01-22
+- add field `kcu_steering`
+
 ### KiteUtils v0.9.6 - 2024-12-19
 #### Added
 - function `KiteUtils.install_examples()`

diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "KiteUtils"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
 authors = ["Uwe Fechner <[email protected]> and contributors"]
-version = "0.9.6"
+version = "0.9.7"
 
 [deps]
 Arrow = "69666777-d1a9-59fb-9406-91d4454c9d45"

diff --git a/src/_demo_syslog.jl b/src/_demo_syslog.jl
@@ -25,6 +25,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
     force_vec = Vector{MyFloat}(undef, steps)
     depower_vec = Vector{MyFloat}(undef, steps)
     steering_vec = Vector{MyFloat}(undef, steps)
+    kcu_steering_vec = Vector{MyFloat}(undef, steps)
     set_steering_vec = Vector{MyFloat}(undef, steps)
     heading_vec = Vector{MyFloat}(undef, steps)
     heading_rate_vec = Vector{MyFloat}(undef, steps)
@@ -84,6 +85,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
         force_vec[i+1] = state.force
         depower_vec[i+1] = state.depower
         steering_vec[i+1] = state.steering
+        kcu_steering_vec[i+1] = state.kcu_steering
         set_steering_vec[i+1] = state.set_steering
         heading_vec[i+1] = state.heading
         heading_rate_vec[i+1] = state.heading_rate
@@ -129,12 +131,12 @@ function demo_syslog(P, name="Test flight"; duration=10)
     end
     StructArray{SysState{P}}((time_vec, t_sim_vec, sys_state_vec, cycle_vec, fig_8_vec, e_mech_vec, 
                               orient_vec, elevation_vec, azimuth_vec, l_tether_vec, v_reelout_vec, force_vec, 
-                              depower_vec, steering_vec, set_steering_vec, heading_vec, heading_rate_vec, course_vec, 
-                              bearing_vec, attractor_vec, v_app_vec, v_wind_gnd_vec, v_wind_200m_vec, v_wind_kite_vec, 
-                              AoA_vec, alpha3_vec, alpha4_vec, CL2_vec, CD2_vec, vel_kite_vec, 
-                              acc_vec, X_vec, Y_vec, Z_vec, set_torque_vec, set_speed_vec, 
-                              set_force_vec, roll_vec, pitch_vec, yaw_vec, var_01_vec, var_02_vec, 
-                              var_03_vec, var_04_vec, var_05_vec, var_06_vec, var_07_vec, var_08_vec, 
-                              var_09_vec, var_10_vec, var_11_vec, var_12_vec, var_13_vec, var_14_vec, 
-                              var_15_vec, var_16_vec))
+                              depower_vec, steering_vec, kcu_steering_vec, set_steering_vec, heading_vec, heading_rate_vec, 
+                              course_vec, bearing_vec, attractor_vec, v_app_vec, v_wind_gnd_vec, v_wind_200m_vec, 
+                              v_wind_kite_vec, AoA_vec, alpha3_vec, alpha4_vec, CL2_vec, CD2_vec, 
+                              vel_kite_vec, acc_vec, X_vec, Y_vec, Z_vec, set_torque_vec, 
+                              set_speed_vec, set_force_vec, roll_vec, pitch_vec, yaw_vec, var_01_vec, 
+                              var_02_vec, var_03_vec, var_04_vec, var_05_vec, var_06_vec, var_07_vec, 
+                              var_08_vec, var_09_vec, var_10_vec, var_11_vec, var_12_vec, var_13_vec, 
+                              var_14_vec, var_15_vec, var_16_vec))
 end
diff --git a/src/_load_log.jl b/src/_load_log.jl
@@ -42,15 +42,15 @@ function load_log(filename::String; path="")
     # example_metadata = KiteUtils.Arrow.getmetadata(table.var_01)
     syslog = StructArray{SysState{P}}((table.time, table.t_sim, table.sys_state, table.cycle, table.fig_8, 
                                        table.e_mech, table.orient, table.elevation, table.azimuth, table.l_tether, 
-                                       table.v_reelout, table.force, table.depower, table.steering, table.set_steering, 
-                                       table.heading, table.heading_rate, table.course, table.bearing, table.attractor, 
-                                       table.v_app, table.v_wind_gnd, table.v_wind_200m, table.v_wind_kite, table.AoA, 
-                                       table.alpha3, table.alpha4, table.CL2, table.CD2, table.vel_kite, 
-                                       table.acc, table.X, table.Y, table.Z, table.set_torque, 
-                                       table.set_speed, table.set_force, table.roll, table.pitch, table.yaw, 
-                                       table.var_01, table.var_02, table.var_03, table.var_04, table.var_05, 
-                                       table.var_06, table.var_07, table.var_08, table.var_09, table.var_10, 
-                                       table.var_11, table.var_12, table.var_13, table.var_14, table.var_15, 
-                                       table.var_16))
+                                       table.v_reelout, table.force, table.depower, table.steering, table.kcu_steering, 
+                                       table.set_steering, table.heading, table.heading_rate, table.course, table.bearing, 
+                                       table.attractor, table.v_app, table.v_wind_gnd, table.v_wind_200m, table.v_wind_kite, 
+                                       table.AoA, table.alpha3, table.alpha4, table.CL2, table.CD2, 
+                                       table.vel_kite, table.acc, table.X, table.Y, table.Z, 
+                                       table.set_torque, table.set_speed, table.set_force, table.roll, table.pitch, 
+                                       table.yaw, table.var_01, table.var_02, table.var_03, table.var_04, 
+                                       table.var_05, table.var_06, table.var_07, table.var_08, table.var_09, 
+                                       table.var_10, table.var_11, table.var_12, table.var_13, table.var_14, 
+                                       table.var_15, table.var_16))
     return SysLog{P}(basename(fullname[1:end-6]), colmeta, syslog)
 end
diff --git a/src/_log.jl b/src/_log.jl
@@ -27,6 +27,7 @@ function log!(logger::Logger, state::SysState)
     logger.force_vec[i] = state.force
     logger.depower_vec[i] = state.depower
     logger.steering_vec[i] = state.steering
+    logger.kcu_steering_vec[i] = state.kcu_steering
     logger.set_steering_vec[i] = state.set_steering
     logger.heading_vec[i] = state.heading
     logger.heading_rate_vec[i] = state.heading_rate

diff --git a/src/_logger.jl b/src/_logger.jl
@@ -32,6 +32,7 @@ $(TYPEDFIELDS)
     force_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     depower_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     steering_vec::Vector{MyFloat} = zeros(MyFloat, Q)
+    kcu_steering_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     set_steering_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     heading_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     heading_rate_vec::Vector{MyFloat} = zeros(MyFloat, Q)

diff --git a/src/_save_log.jl b/src/_save_log.jl
@@ -60,6 +60,7 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.force_vec, nl)
     resize!(logger.depower_vec, nl)
     resize!(logger.steering_vec, nl)
+    resize!(logger.kcu_steering_vec, nl)
     resize!(logger.set_steering_vec, nl)
     resize!(logger.heading_vec, nl)
     resize!(logger.heading_rate_vec, nl)

diff --git a/src/_show.jl b/src/_show.jl
@@ -17,6 +17,7 @@ function Base.show(io::IO, st::SysState)
     println(io, "force [N]:         ", st.force)
     println(io, "depower [0..1]:    ", st.depower)
     println(io, "steering [-1..1]:  ", st.steering)
+    println(io, "kcu_steering [-1..1]:", st.kcu_steering)
     println(io, "set_steering [-1..1]:", st.set_steering)
     println(io, "heading [rad]:     ", st.heading)
     println(io, "heading_rate [rad/s]:", st.heading_rate)

diff --git a/src/_syslog.jl b/src/_syslog.jl
@@ -6,14 +6,14 @@ function syslog(logger::Logger)
     l = logger
     StructArray{SysState{l.points}}((l.time_vec, l.t_sim_vec, l.sys_state_vec, l.cycle_vec, l.fig_8_vec, 
                                      l.e_mech_vec, l.orient_vec, l.elevation_vec, l.azimuth_vec, l.l_tether_vec, 
-                                     l.v_reelout_vec, l.force_vec, l.depower_vec, l.steering_vec, l.set_steering_vec, 
-                                     l.heading_vec, l.heading_rate_vec, l.course_vec, l.bearing_vec, l.attractor_vec, 
-                                     l.v_app_vec, l.v_wind_gnd_vec, l.v_wind_200m_vec, l.v_wind_kite_vec, l.AoA_vec, 
-                                     l.alpha3_vec, l.alpha4_vec, l.CL2_vec, l.CD2_vec, l.vel_kite_vec, 
-                                     l.acc_vec, l.X_vec, l.Y_vec, l.Z_vec, l.set_torque_vec, 
-                                     l.set_speed_vec, l.set_force_vec, l.roll_vec, l.pitch_vec, l.yaw_vec, 
-                                     l.var_01_vec, l.var_02_vec, l.var_03_vec, l.var_04_vec, l.var_05_vec, 
-                                     l.var_06_vec, l.var_07_vec, l.var_08_vec, l.var_09_vec, l.var_10_vec, 
-                                     l.var_11_vec, l.var_12_vec, l.var_13_vec, l.var_14_vec, l.var_15_vec, 
-                                     l.var_16_vec))
+                                     l.v_reelout_vec, l.force_vec, l.depower_vec, l.steering_vec, l.kcu_steering_vec, 
+                                     l.set_steering_vec, l.heading_vec, l.heading_rate_vec, l.course_vec, l.bearing_vec, 
+                                     l.attractor_vec, l.v_app_vec, l.v_wind_gnd_vec, l.v_wind_200m_vec, l.v_wind_kite_vec, 
+                                     l.AoA_vec, l.alpha3_vec, l.alpha4_vec, l.CL2_vec, l.CD2_vec, 
+                                     l.vel_kite_vec, l.acc_vec, l.X_vec, l.Y_vec, l.Z_vec, 
+                                     l.set_torque_vec, l.set_speed_vec, l.set_force_vec, l.roll_vec, l.pitch_vec, 
+                                     l.yaw_vec, l.var_01_vec, l.var_02_vec, l.var_03_vec, l.var_04_vec, 
+                                     l.var_05_vec, l.var_06_vec, l.var_07_vec, l.var_08_vec, l.var_09_vec, 
+                                     l.var_10_vec, l.var_11_vec, l.var_12_vec, l.var_13_vec, l.var_14_vec, 
+                                     l.var_15_vec, l.var_16_vec))
 end
diff --git a/src/_sysstate.jl b/src/_sysstate.jl
@@ -39,6 +39,8 @@ Base.@kwdef mutable struct SysState{P}
     depower::MyFloat = 0
     "actual steering [-1..1]"
     steering::MyFloat = 0
+    "steering after the kcu, before applying offset and depower scaling [-1..1]"
+    kcu_steering::MyFloat = 0
     "set value of the steering [-1..1]"
     set_steering::MyFloat = 0
     "heading angle [rad]"

diff --git a/src/sysstate.yaml b/src/sysstate.yaml
@@ -13,6 +13,7 @@ sysstate:
     force: "MyFloat"                    # tether force [N]
     depower: "MyFloat"                  # depower settings [0..1]
     steering: "MyFloat"                 # actual steering [-1..1]
+    kcu_steering: "MyFloat"             # steering after the kcu, before applying offset and depower scaling [-1..1]
     set_steering: "MyFloat"             # set value of the steering [-1..1]
     heading: "MyFloat"                  # heading angle [rad]
     heading_rate: "MyFloat"             # heading rate [rad/s]