Adapt to new KiteModels, using new conventions (#39)

* use fix_yaw branch of KiteModels * optimize p and d only * changes for new heading * works ok * better settings * OK now * fix plot * Fix display * some fixes * fix steering sign * reduce tolerances * plot SET_STEERING * add parking.drawio * add file to .gitignore * plot upwind_dir * change gains * cleanup * better plotting * use SWD orientation * working fine with main branch of KiteModels * fix parking_wind_dir.jl * plot heading * fix sign, retune * working fine now * fix parking_4p * improve controller gains * higher gain * Fix autopilot.jl * minor changes * add drawing * add Project.toml * use eager registry * Bump KiteUtils to 0.8.2 * use branch KiteModels#azimuth * parking_wind_dir.jl works, some oscillations * increase gain * 10 degree work fine * update tune_4p * 20 degree work fine * 45 deg works fine now * add parking_wind_dir_90.jl * cleanup * fix syntax errors * use neg_heading * fix example * use param one_point * minor changes * fixed autopilot.jl * add moving_average * add moving average * pretty good * 90 deg turn * add file to .gitignore * small fix * fix legend * cleanup * use released version KiteModels 0.6.7 * Bump KiteModels * autopilot with large kite works * add param v_wind * add asserts * call update * cleanup * add asserts * fix for new KiteModels * add links * working * Bump KiteUtils to 0.8.3 * Bump KiteModels to 0.6.8 * update kcu settings * fixes * cleanup * fix sign * working fine * works now * very good * add todo * better tuning * Fixed for system.yaml * works fine at 7.7 m/s * v9 good with 13 m/s * down to 11 m/s * down to 10.5 m/s * down to 9 m/s * down to 8.5 m/s * some progress * some fixes * cs_4p now 1.0 * cleanup * cleanup * some fixes * add cs_4p=1 * fix sign of steering * some fixes * fixed minipilot.jl * fix tests * refactoring * fix minipilot_12.jl * minor fix * remove autopilot_1p.jl * some fixes * cleanup * cleanup * cleanup * cleanup * better tuning * works fine now * cleanup * cleanup * better tuning * down to 6.5 m/s * refactoring, load settings from file * refactoring * bugfix * improve settings * add comment * minipilot and fpc_settings work fine * fix autopilot * minor changes * some fixes * update minipilot * fix tune_4p * fix tests * one more fix * more fixes * more fixes * update CI.yml * Undo last commit, remove pre * install matplotlib on Linux * set PYTHON_PATH * add file to .gitignore --------- Co-authored-by: Uwe Fechner <u.fechner-1@tudelft.nl>
aenarete · Oct 27, 2024 · 192e4e9 · 192e4e9
1 parent 644bf81
commit 192e4e9
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Showing 42 changed files with 516 additions and 217 deletions.
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -21,7 +21,6 @@ jobs:
         version:
           - '1.10'
           - '1'
-          - 'pre'
         os:
           - ubuntu-latest
         arch:
@@ -34,6 +33,9 @@ jobs:
             arch: x64
             version: 1
     steps:
+      - name: Install matplotlib
+        run: if [ "$RUNNER_OS" = "Linux" ]; then sudo apt-get install -y python3-matplotlib; export PYTHON=$PYTHON_PATH; fi
+        shell: bash
       - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2
         with:

diff --git a/.gitignore b/.gitignore
@@ -11,3 +11,7 @@ data/corr_vec.jld2.bak
 output/*.arrow
 data/gui.yaml
 bin/kps-image-1.10-plot_II.so
+docs/.$parking.drawio.bkp
+examples_3d/Manifest.toml
+bin/kps-image-1.10-fix_yaw.so
+Manifest-v1.11.toml
diff --git a/Project.toml b/Project.toml
@@ -5,14 +5,17 @@ version = "0.2.10"
 
 [deps]
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
+KiteModels = "b94af626-7959-4878-9336-2adc27959007"
 KiteUtils = "90980105-b163-44e5-ba9f-8b1c83bb0533"
 NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
 Observables = "510215fc-4207-5dde-b226-833fc4488ee2"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrayInterface = "0d7ed370-da01-4f52-bd93-41d350b8b718"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
 StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 Timers = "21f18d07-b854-4dab-86f0-c15a3821819a"
 WinchModels = "7dcfa46b-7979-4771-bbf4-0aee0da42e1f"
@@ -21,9 +24,9 @@ YAML = "ddb6d928-2868-570f-bddf-ab3f9cf99eb6"
 [compat]
 ControlPlots = "0.2.1"
 JLD2 = "0.5.2"
-KiteModels = "0.6.6"
-KiteUtils = "0.7"
-KiteViewers = "0.4.16"
+KiteModels = "0.6.8"
+KiteUtils = "0.8.3"
+KiteViewers = "0.4.19"
 NLsolve = "4.5"
 NonlinearSolve = "3.10.0"
 Observables = "0.3, 0.4, 0.5"

diff --git a/bin/create_sys_image b/bin/create_sys_image
@@ -19,6 +19,7 @@ fi
 mkdir -p output
 
 export MPLBACKEND=qt5agg
+export JULIA_PKG_SERVER_REGISTRY_PREFERANCE=eager
 
 if ! command -v juliaup &> /dev/null; then
     echo "Please install the Julia installer 'juliaup'!"

diff --git a/bin/run_julia b/bin/run_julia
@@ -13,6 +13,7 @@ else
 fi
 
 GCT="--gcthreads=$FAST_CORES,1"
+export JULIA_PKG_SERVER_REGISTRY_PREFERANCE=eager
 
 julia_version=$(julia --version | awk '{print($3)}')
 julia_major=${julia_version:0:3} 

diff --git a/data/fpc_settings.yaml b/data/fpc_settings.yaml
@@ -1,3 +1,4 @@
+# settings for the 20 qm kite
 fpc_settings:
     dt:                 0.025  # time step of the flight path controller
     log_level:          2      # log level, 0=quiet
@@ -13,9 +14,9 @@ fpc_settings:
     reset_int1_to_zero: true
     init_opt_to_zero:   false  # if the root finder should start with zero
 
-    p: 20.0                    # P gain of the PID controller
+    p: 20                      # P gain of the PID controller
     i: 1.2                     # I gain of the PID controller 
-    d: 10.0                    # D gain of the PID controller
+    d: 10                      # D gain of the PID controller
     gain: 0.04                 # additional factor for P, I and D
     c1:  0.0612998898221       # was: 0.0786
     c2:  1.22597628388         # was: 2.508

diff --git a/data/settings.yaml b/data/settings.yaml
@@ -31,6 +31,7 @@ steering:
     k_ds:     1.5          # influence of the depower angle on the steering sensitivity
     delta_st: 0.02         # steering increment (when pressing RIGHT)
     max_steering: 16.83    # max. steering angle of the side planes for four point model [degrees]
+    cs_4p: 1.0             # correction factor for the steering of the four point model
 
 depower:
     alpha_d_max:    31.0   # max depower angle                            [deg]
@@ -77,10 +78,12 @@ bridle:
     rel_damping: 6.0          # relative damping of the kite spring (relative to main tether)         [-]
 
 kcu:
-    kcu_mass: 8.4                # mass of the kite control unit   [kg]
-    power2steer_dist: 1.3        #                                 [m]
-    depower_drum_diameter: 0.069 #                                 [m]
-    tape_thickness: 0.0006       #                                 [m]
+    kcu_model: "KCU1"            # name of the kite control unit model, KCU1 or KCU2
+    kcu_mass: 8.4                # mass of the kite control unit                       [kg]
+    kcu_diameter: 0.4            # diameter of the KCU for drag calculation            [m]
+    power2steer_dist: 1.3        #                                                     [m]
+    depower_drum_diameter: 0.069 #                                                     [m]
+    tape_thickness: 0.0006       #                                                     [m]
     v_depower: 0.075             # max velocity of depowering in units per second (full range: 1 unit)
     v_steering: 0.2              # max velocity of steering in units per second   (full range: 2 units)
     depower_gain: 3.0            # 3.0 means: more than 33% error -> full speed

diff --git a/data/settings_hydra20_600.yaml b/data/settings_hydra20_600.yaml
@@ -31,6 +31,7 @@ steering:
     k_ds:     1.5          # influence of the depower angle on the steering sensitivity
     delta_st: 0.02         # steering increment (when pressing RIGHT)
     max_steering: 16.83    # max. steering angle of the side planes for four point model [degrees]
+    cs_4p: 1.0             # correction factor for the steering of the four point model
 
 depower:
     alpha_d_max:    31.0   # max depower angle                            [deg]

diff --git a/data/settings_v9b.yaml b/data/settings_v9b.yaml
@@ -0,0 +1 @@
+../../pykitesim/data/settings_v9b.yaml
diff --git a/data/system_v9.yaml b/data/system_v9.yaml
@@ -0,0 +1 @@
+../../pykitesim/data/system_v9.yaml
diff --git a/docs/parking.drawio b/docs/parking.drawio
@@ -0,0 +1,165 @@
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