add bearing, bump version

ufechner7 · Dec 6, 2024 · e63e255 · e63e255
1 parent 550556c
commit e63e255
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Showing 11 changed files with 39 additions and 26 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,8 @@
 # Changelog 
+### KiteUtils v0.9.5 - 2024-12-06
+#### Changed
+- add `bearing` to SysState for logging and plotting
+
 ### KiteUtils v0.9.4 - 2024-12-05
 #### Changed
 - add set_steering, heading_rate, attractor to `SysState` for logging and plotting

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 = "0.9.4"
+version = "0.9.5"
 
 [deps]
 Arrow = "69666777-d1a9-59fb-9406-91d4454c9d45"

diff --git a/src/_demo_syslog.jl b/src/_demo_syslog.jl
@@ -29,6 +29,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
     heading_vec = Vector{MyFloat}(undef, steps)
     heading_rate_vec = Vector{MyFloat}(undef, steps)
     course_vec = Vector{MyFloat}(undef, steps)
+    bearing_vec = Vector{MyFloat}(undef, steps)
     attractor_vec = Vector{MVector{2, MyFloat}}(undef, steps)
     v_app_vec = Vector{MyFloat}(undef, steps)
     v_wind_gnd_vec = Vector{MVector{3, MyFloat}}(undef, steps)
@@ -87,6 +88,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
         heading_vec[i+1] = state.heading
         heading_rate_vec[i+1] = state.heading_rate
         course_vec[i+1] = state.course
+        bearing_vec[i+1] = state.bearing
         attractor_vec[i+1] = state.attractor
         v_app_vec[i+1] = state.v_app
         v_wind_gnd_vec[i+1] = state.v_wind_gnd
@@ -128,11 +130,11 @@ function demo_syslog(P, name="Test flight"; duration=10)
     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, 
-                              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))
+                              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
@@ -43,14 +43,14 @@ function load_log(filename::String; path="")
     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.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.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
@@ -31,6 +31,7 @@ function log!(logger::Logger, state::SysState)
     logger.heading_vec[i] = state.heading
     logger.heading_rate_vec[i] = state.heading_rate
     logger.course_vec[i] = state.course
+    logger.bearing_vec[i] = state.bearing
     logger.attractor_vec[i] = state.attractor
     logger.v_app_vec[i] = state.v_app
     logger.v_wind_gnd_vec[i] = state.v_wind_gnd

diff --git a/src/_logger.jl b/src/_logger.jl
@@ -36,6 +36,7 @@ $(TYPEDFIELDS)
     heading_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     heading_rate_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     course_vec::Vector{MyFloat} = zeros(MyFloat, Q)
+    bearing_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     attractor_vec::Vector{MVector{2, MyFloat}} = zeros(MVector{2, MyFloat}, Q)
     v_app_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     v_wind_gnd_vec::Vector{MVector{3, MyFloat}} = zeros(MVector{3, MyFloat}, Q)

diff --git a/src/_save_log.jl b/src/_save_log.jl
@@ -64,6 +64,7 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.heading_vec, nl)
     resize!(logger.heading_rate_vec, nl)
     resize!(logger.course_vec, nl)
+    resize!(logger.bearing_vec, nl)
     resize!(logger.attractor_vec, nl)
     resize!(logger.v_app_vec, nl)
     resize!(logger.v_wind_gnd_vec, nl)

diff --git a/src/_show.jl b/src/_show.jl
@@ -21,6 +21,7 @@ function Base.show(io::IO, st::SysState)
     println(io, "heading [rad]:     ", st.heading)
     println(io, "heading_rate [rad/s]:", st.heading_rate)
     println(io, "course [rad]:      ", st.course)
+    println(io, "bearing [rad]:     ", st.bearing)
     println(io, "attractor [rad]:   ", st.attractor)
     println(io, "v_app [m/s]:       ", st.v_app)
     println(io, "v_wind_gnd [m/s]:  ", st.v_wind_gnd)

diff --git a/src/_syslog.jl b/src/_syslog.jl
@@ -7,13 +7,13 @@ function syslog(logger::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.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.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
@@ -47,6 +47,8 @@ Base.@kwdef mutable struct SysState{P}
     heading_rate::MyFloat = 0
     "course angle [rad]"
     course::MyFloat = 0
+    "bearing angle (set value of heading/ course) [rad]"
+    bearing::MyFloat = 0
     "attractor coordinates (azimuth, elevation) [rad]"
     attractor::MVector{2, MyFloat} = [0.0, 0.0]
     "norm of apparent wind speed [m/s]"

diff --git a/src/sysstate.yaml b/src/sysstate.yaml
@@ -17,6 +17,7 @@ sysstate:
     heading: "MyFloat"                  # heading angle [rad]
     heading_rate: "MyFloat"             # heading rate [rad/s]
     course: "MyFloat"                   # course angle [rad]
+    bearing: "MyFloat"                  # bearing angle (set value of heading/ course) [rad]
     attractor: "MVector{2, MyFloat}"    # attractor coordinates (azimuth, elevation) [rad]
     v_app: "MyFloat"                    # norm of apparent wind speed [m/s]
     v_wind_gnd: "MVector{3, MyFloat}"   # wind vector at reference height [m/s]