Adapt to new KiteModels, using new conventions

.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:

.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

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"

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'!"

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} 

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

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

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]

data/settings_v9b.yaml

@@ -0,0 +1 @@
+../../pykitesim/data/settings_v9b.yaml

data/system_v9.yaml

@@ -0,0 +1 @@
+../../pykitesim/data/system_v9.yaml

docs/parking.drawio

@@ -0,0 +1,165 @@
+<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.8 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.8">
+  <diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">
+    <mxGraphModel dx="1386" dy="838" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="583" math="1" shadow="0">
+      <root>
+        <mxCell id="WIyWlLk6GJQsqaUBKTNV-0" />
+        <mxCell id="WIyWlLk6GJQsqaUBKTNV-1" parent="WIyWlLk6GJQsqaUBKTNV-0" />
+        <mxCell id="19" value="" style="edgeStyle=none;rounded=0;html=1;endArrow=classic;endFill=1;entryX=0;entryY=0.25;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="AgOMpVHS2S-enR5WjLPw-52" target="SL2LETD5taLKHnRiA0Aw-3" edge="1">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-52" value="" style="ellipse;whiteSpace=wrap;html=1;aspect=fixed;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="204" y="182" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-58" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="AgOMpVHS2S-enR5WjLPw-55" target="AgOMpVHS2S-enR5WjLPw-57" edge="1">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-55" value="&lt;font style=&quot;font-size: 18px;&quot;&gt;Plant&lt;/font&gt;" style="rounded=0;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="528" y="182" width="101" height="60" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-57" value="&lt;font style=&quot;font-size: 18px;&quot;&gt;azimuth&lt;/font&gt;" style="shape=parallelogram;perimeter=parallelogramPerimeter;whiteSpace=wrap;html=1;fixedSize=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="674" y="192" width="100" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-59" value="" style="shape=waypoint;sketch=0;fillStyle=solid;size=6;pointerEvents=1;points=[];fillColor=none;resizable=0;rotatable=0;perimeter=centerPerimeter;snapToPoint=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="642" y="202" width="20" height="20" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-101" value="&lt;font style=&quot;font-size: 18px;&quot;&gt;+&lt;/font&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="174" y="166" width="30" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="AgOMpVHS2S-enR5WjLPw-102" value="Integrator" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="418" y="242" width="70" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="17" value="" style="edgeStyle=none;rounded=0;html=1;endArrow=classic;endFill=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="kv1_MmNUvCLRT5CAMSnz-35" target="AgOMpVHS2S-enR5WjLPw-55" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="468" y="212" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="SL2LETD5taLKHnRiA0Aw-3" value="&lt;font style=&quot;font-size: 18px;&quot;&gt;+&amp;nbsp; &amp;nbsp;&amp;nbsp;&lt;br&gt;-&amp;nbsp; &amp;nbsp;&amp;nbsp;&lt;/font&gt;" style="rounded=0;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="324" y="182" width="50" height="60" as="geometry" />
+        </mxCell>
+        <mxCell id="0" value="" style="shape=waypoint;sketch=0;fillStyle=solid;size=6;pointerEvents=1;points=[];fillColor=none;resizable=0;rotatable=0;perimeter=centerPerimeter;snapToPoint=1;strokeColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="264.5" y="272" width="20" height="20" as="geometry" />
+        </mxCell>
+        <mxCell id="13" value="" style="edgeStyle=none;rounded=0;html=1;endArrow=none;endFill=0;exitX=0;exitY=0.75;exitDx=0;exitDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="SL2LETD5taLKHnRiA0Aw-3" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="288.5" y="237.25" as="sourcePoint" />
+            <mxPoint x="288.5" y="282.75" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="289" y="227" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-39" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="21" target="AgOMpVHS2S-enR5WjLPw-52" edge="1">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="21" value="" style="whiteSpace=wrap;html=1;aspect=fixed;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="179" y="53" width="80" height="80" as="geometry" />
+        </mxCell>
+        <mxCell id="26" value="" style="endArrow=none;html=1;targetPerimeterSpacing=0;endSize=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="218" y="123" as="sourcePoint" />
+            <mxPoint x="218" y="73" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="218" y="93" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="30" value="" style="endArrow=none;html=1;endSize=0;targetPerimeterSpacing=0;entryX=0;entryY=0.856;entryDx=0;entryDy=0;entryPerimeter=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="218" y="123" as="sourcePoint" />
+            <mxPoint x="179" y="122.48000000000002" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="31" value="" style="triangle;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="409" y="172" width="60" height="80" as="geometry" />
+        </mxCell>
+        <mxCell id="32" value="" style="endArrow=classic;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;entryPerimeter=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="SL2LETD5taLKHnRiA0Aw-3" target="31" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="518" y="277" as="sourcePoint" />
+            <mxPoint x="568" y="227" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="33" value="" style="endArrow=none;html=1;endFill=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="288" y="283" as="sourcePoint" />
+            <mxPoint x="498" y="283" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="34" value="" style="endArrow=none;html=1;endFill=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="498" y="283" as="sourcePoint" />
+            <mxPoint x="498" y="213" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-34" value="" style="endArrow=none;html=1;endFill=0;targetPerimeterSpacing=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="498" y="283" as="sourcePoint" />
+            <mxPoint x="498" y="213" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-36" value="" style="edgeStyle=none;rounded=0;html=1;endArrow=none;endFill=0;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" target="kv1_MmNUvCLRT5CAMSnz-35" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="468" y="212" as="sourcePoint" />
+            <mxPoint x="528" y="212" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-35" value="" style="shape=waypoint;sketch=0;fillStyle=solid;size=6;pointerEvents=1;points=[];fillColor=none;resizable=0;rotatable=0;perimeter=centerPerimeter;snapToPoint=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="488" y="202" width="20" height="20" as="geometry" />
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-37" value="steering" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="458" y="183" width="70" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-38" value="set_steering" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="234.5" y="171" width="90" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-40" value="" style="endArrow=none;html=1;targetPerimeterSpacing=0;endSize=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="223" y="123.5" as="sourcePoint" />
+            <mxPoint x="223" y="73.5" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="223" y="95.5" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-41" value="" style="endArrow=none;html=1;endSize=0;targetPerimeterSpacing=0;entryX=0;entryY=0.856;entryDx=0;entryDy=0;entryPerimeter=0;exitX=0.969;exitY=0.881;exitDx=0;exitDy=0;exitPerimeter=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="21" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="258" y="123.5" as="sourcePoint" />
+            <mxPoint x="223" y="123" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-42" value="" style="endArrow=none;html=1;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="217" y="73" as="sourcePoint" />
+            <mxPoint x="223" y="73" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-43" value="disturbance" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="259" y="93" width="90" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-44" value="PID&amp;nbsp; &amp;nbsp;" style="triangle;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="110" y="156" width="60" height="80" as="geometry" />
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-45" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0.5;exitDx=0;exitDy=0;endFill=0;startArrow=classic;startFill=1;entryX=0.767;entryY=0.583;entryDx=0;entryDy=0;entryPerimeter=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" target="AgOMpVHS2S-enR5WjLPw-59" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="110" y="194" as="sourcePoint" />
+            <mxPoint x="652" y="210" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="80" y="194" />
+              <mxPoint x="80" y="310" />
+              <mxPoint x="380" y="310" />
+              <mxPoint x="652" y="310" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-46" value="" style="endArrow=none;html=1;rounded=0;entryX=1.008;entryY=0.763;entryDx=0;entryDy=0;entryPerimeter=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="kv1_MmNUvCLRT5CAMSnz-44" target="AgOMpVHS2S-enR5WjLPw-101" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="140" y="282" as="sourcePoint" />
+            <mxPoint x="190" y="232" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="kv1_MmNUvCLRT5CAMSnz-47" value="&lt;font style=&quot;font-size: 18px;&quot;&gt;+&lt;/font&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="190" y="143" width="30" height="40" as="geometry" />
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>