ENH: Sensors

rocketpy/mathutils/vector_matrix.py

@@ -156,8 +156,8 @@
         """R3 vector with the same direction of self, but normalized."""
         try:
             return self / abs(self)
         except ZeroDivisionError:
             return self
 
     @cached_property
     def cross_matrix(self):
@@ -949,6 +949,47 @@
         """
         return self.__matmul__(other)
 
+    def round(self, decimals=0):
+        """Round all the values matrix to a given number of decimals.
+
+        Parameters
+        ----------
+        decimals : int, optional
+            Number of decimal places to round to. Defaults to 0.
+
+        Returns
+        -------
+        Matrix
+            The rounded matrix.
+
+        Examples
+        --------
+        >>> M = Matrix([[1.1234, 2.3456, 3.4567], [4.5678, 5.6789, 6.7890], [7.8901, 8.9012, 9.0123]])
+        >>> M.round(2)
+        Matrix([1.12, 2.35, 3.46],
+               [4.57, 5.68, 6.79],
+               [7.89, 8.9, 9.01])
+        """
+        return Matrix(
+            [
+                [
+                    round(self.xx, decimals),
+                    round(self.xy, decimals),
+                    round(self.xz, decimals),
+                ],
+                [
+                    round(self.yx, decimals),
+                    round(self.yy, decimals),
+                    round(self.yz, decimals),
+                ],
+                [
+                    round(self.zx, decimals),
+                    round(self.zy, decimals),
+                    round(self.zz, decimals),
+                ],
+            ]
+        )
+
     def __str__(self):
         return (
             f"[{self.xx}, {self.xy}, {self.xz}]\n"
@@ -999,7 +1040,7 @@
         q_x /= q_norm
         q_y /= q_norm
         q_z /= q_norm
-        # precompute common terms
+        # pre-compute common terms
         q_x2 = q_x**2
         q_y2 = q_y**2
         q_z2 = q_z**2
@@ -1037,11 +1078,11 @@
         Parameters
         ----------
         roll : float
-            The roll angle in radians.
+            The roll angle in degrees.
         pitch : float
-            The pitch angle in radians.
+            The pitch angle in degrees.
         yaw : float
-            The yaw angle in radians.
+            The yaw angle in degrees.
 
         Returns
         -------

rocketpy/prints/sensors_prints.py

@@ -1,18 +1,10 @@
 from abc import ABC, abstractmethod
 
-UNITS = {
-    "Gyroscope": "rad/s",
-    "Accelerometer": "m/s^2",
-    "Magnetometer": "T",
-    "PressureSensor": "Pa",
-    "TemperatureSensor": "K",
-}
-
 
 class _SensorsPrints(ABC):
     def __init__(self, sensor):
         self.sensor = sensor
-        self.units = UNITS[sensor.type]
+        self.units = sensor.__units__
 
     def _print_aligned(self, label, value):
         """Prints a label and a value aligned vertically."""
@@ -22,7 +14,7 @@
         """Prints the identity of the sensor."""
         print("Identification of the Sensor:\n")
         self._print_aligned("Name:", self.sensor.name)
-        self._print_aligned("Type:", self.sensor.type)
+        self._print_aligned("Type:", self.sensor.__class__.__name__)
 
     def orientation(self):
         """Prints the orientation of the sensor."""
@@ -47,7 +39,7 @@
     @abstractmethod
     def noise(self):
         """Prints the noise of the sensor."""
         pass
 
     def _general_noise(self):
         """Prints the noise of the sensor."""

rocketpy/rocket/aero_surface.py

@@ -1978,7 +1978,7 @@ def __init__(
             Default is False.
         deployment_level : float, optional
             Initial deployment level, ranging from 0 to 1. Deployment level is
-            the fraction of the total airbrake area that is Deployment. Default
+            the fraction of the total airbrake area that is deployed. Default
             is 0.
         name : str, optional
             Name of the air brakes. Default is "AirBrakes".

rocketpy/rocket/components.py

@@ -25,8 +25,8 @@
 
         # List of components and their positions to avoid extra for loops in
         # simulation time
-        self._component_list = []
-        self._position_list = []
+        self.__component_list = []
+        self.__position_list = []
 
     def __repr__(self):
         """Return a string representation of the Components instance."""
@@ -66,8 +66,8 @@
         -------
         None
         """
-        self._component_list.append(component)
-        self._position_list.append(position)
+        self.__component_list.append(component)
+        self.__position_list.append(position)
         self._components.append(self.component_tuple(component, position))
 
     def get_by_type(self, component_type):
@@ -115,10 +115,10 @@
 
         Returns
         -------
-        list
+        list[Component]
             A list of all the components in the list of components.
         """
-        return self._component_list
+        return self.__component_list
 
     def get_positions(self):
         """Return a list of all the positions of the components in the list of
@@ -130,7 +130,7 @@
             A list of all the positions of the components in the list of
             components.
         """
-        return self._position_list
+        return self.__position_list
 
     def remove(self, component):
         """Remove a component from the list of components. If more than one

rocketpy/rocket/rocket.py

@@ -1181,10 +1181,10 @@
             Position, in meters, of the sensor's coordinate system origin
             relative to the user defined rocket coordinate system.
         x_position : int, float, optional
-            Distance in meters by which the CM is to be translated in the x
+            Distance in meters by which the sensor is to be translated in the x
             direction relative to geometrical center line. Default is 0.
         y_position : int, float, optional
-            Distance in meters by which the CM is to be translated in the y
+            Distance in meters by which the sensor is to be translated in the y
             direction relative to geometrical center line. Default is 0.
 
         Returns
@@ -1194,7 +1194,7 @@
         self.sensors.add(sensor, Vector([x_position, y_position, position]))
         try:
             sensor._attached_rockets[self] += 1
-        except:
+        except KeyError:
             sensor._attached_rockets[self] = 1
 
     def add_air_brakes(
@@ -1486,7 +1486,7 @@
             Plane in which the rocket will be drawn. Default is 'xz'. Other
             options is 'yz'. Used only for sensors representation.
         """
         self.plots.draw(vis_args, plane)
 
     def info(self):
         """Prints out a summary of the data and graphs available about

rocketpy/sensors/accelerometer.py

@@ -61,6 +61,8 @@
         temperature drift.
     """
 
+    __units__ = "m/s^2"
+
     def __init__(
         self,
         sampling_rate,
@@ -191,7 +193,6 @@
             cross_axis_sensitivity=cross_axis_sensitivity,
             name=name,
         )
-        self.type = "Accelerometer"
         self.consider_gravity = consider_gravity
         self.prints = _AccelerometerPrints(self)
 
@@ -236,7 +237,7 @@
         )
         A = inertial_to_sensor @ A
 
-        # Apply noise + bias and quatize
+        # Apply noise + bias and quantize
         A = self.apply_noise(A)
         A = self.apply_temperature_drift(A)
         A = self.quantize(A)
@@ -260,7 +261,9 @@
         -------
         None
         """
-        if format == "csv":
+        if format.lower() not in ["json", "csv"]:
+            raise ValueError("Invalid format")
+        if format.lower() == "csv":
             # if sensor has been added multiple times to the simulated rocket
             if isinstance(self.measured_data[0], list):
                 print("Data saved to", end=" ")
@@ -276,7 +279,8 @@
                     for t, ax, ay, az in self.measured_data:
                         f.write(f"{t},{ax},{ay},{az}\n")
                 print(f"Data saved to {filename}")
-        elif format == "json":
+            return
+        if format.lower() == "json":
             if isinstance(self.measured_data[0], list):
                 print("Data saved to", end=" ")
                 for i, data in enumerate(self.measured_data):
@@ -299,5 +303,4 @@
                 with open(filename, "w") as f:
                     json.dump(dict, f)
                 print(f"Data saved to {filename}")
-        else:
-            raise ValueError("Invalid format")
+            return

rocketpy/sensors/gyroscope.py

@@ -61,6 +61,8 @@
         temperature drift.
     """
 
+    __units__ = "rad/s"
+
     def __init__(
         self,
         sampling_rate,
@@ -191,7 +193,6 @@
             cross_axis_sensitivity=cross_axis_sensitivity,
             name=name,
         )
-        self.type = "Gyroscope"
         self.acceleration_sensitivity = self._vectorize_input(
             acceleration_sensitivity, "acceleration_sensitivity"
         )
@@ -291,7 +292,9 @@
         -------
         None
         """
-        if format == "csv":
+        if format.lower() not in ["csv", "json"]:
+            raise ValueError("Invalid format")
+        if format.lower() == "csv":
             # if sensor has been added multiple times to the simulated rocket
             if isinstance(self.measured_data[0], list):
                 print("Data saved to", end=" ")
@@ -307,7 +310,8 @@
                     for t, wx, wy, wz in self.measured_data:
                         f.write(f"{t},{wx},{wy},{wz}\n")
                 print(f"Data saved to {filename}")
-        elif format == "json":
+            return
+        if format.lower() == "json":
             if isinstance(self.measured_data[0], list):
                 print("Data saved to", end=" ")
                 for i, data in enumerate(self.measured_data):
@@ -330,5 +334,4 @@
                 with open(filename, "w") as f:
                     json.dump(dict, f)
                 print(f"Data saved to {filename}")
-        else:
-            raise ValueError("Invalid format")
+            return

rocketpy/sensors/sensors.py

@@ -87,6 +87,8 @@
               standard rotation sequence is z-y-x (3-2-1) is used, meaning the
               sensor is first rotated by ψ around the z axis, then by θ around
               the new y axis and finally by φ around the new x axis.
+              TODO: x and y are not defined in the rocket class. User has no
+              way to know which axis is which.
             - A list of lists (matrix) of shape 3x3, representing the rotation
               matrix from the sensor frame to the rocket frame. The sensor frame
               of reference is defined as to have z axis along the sensor's normal
@@ -194,21 +196,23 @@
 
         # handle measurement range
         if isinstance(measurement_range, (tuple, list)):
             if len(measurement_range) != 2:
                 raise ValueError("Invalid measurement range format")
             self.measurement_range = measurement_range
         elif isinstance(measurement_range, (int, float)):
             self.measurement_range = (-measurement_range, measurement_range)
         else:
             raise ValueError("Invalid measurement range format")
 
         # rotation matrix and normal vector
         if any(isinstance(row, (tuple, list)) for row in orientation):  # matrix
             self.rotation_matrix = Matrix(orientation)
         elif len(orientation) == 3:  # euler angles
-            self.rotation_matrix = Matrix.transformation_euler_angles(*orientation)
+            self.rotation_matrix = Matrix.transformation_euler_angles(
+                *orientation
+            ).round(12)
         else:
             raise ValueError("Invalid orientation format")
         self.normal_vector = Vector(
             [
                 self.rotation_matrix[0][2],
@@ -233,10 +237,10 @@
         self._attached_rockets = {}
 
     def __repr__(self):
         return f"{self.name}"
 
     def __call__(self, *args, **kwargs):
         return self.measure(*args, **kwargs)
 
     def _vectorize_input(self, value, name):
         if isinstance(value, (int, float)):
@@ -244,7 +248,7 @@
         elif isinstance(value, (tuple, list)):
             return Vector(value)
         else:
             raise ValueError(f"Invalid {name} format")
 
     def _reset(self, simulated_rocket):
         """Reset the sensor data for a new simulation."""
@@ -274,11 +278,11 @@
 
     @abstractmethod
     def measure(self, *args, **kwargs):
         pass
 
     @abstractmethod
     def export_measured_data(self):
         pass
 
     def quantize(self, value):
         """
@@ -366,6 +370,4 @@
             Vector([1, 1, 1])
             + (self.operating_temperature - 25) / 100 * self.temperature_scale_factor
         )
-        value = value & scale_factor
-
-        return value
+        return value & scale_factor

rocketpy/simulation/flight.py

@@ -606,11 +606,8 @@
         self.terminate_on_apogee = terminate_on_apogee
         self.name = name
         self.equations_of_motion = equations_of_motion
-
-        # Controller initialization
-        self.__init_controllers()
-
         # Flight initialization
+        self.__init_controllers()
         self.__init_post_process_variables()
         self.__init_solution_monitors()
         self.__init_equations_of_motion()
@@ -744,7 +741,7 @@
                         self.env.barometric_height(pressure + noise)
                         - self.env.elevation
                     )
                     if parachute.triggerfunc(
                         pressure + noise, hAGL, self.y_sol, self.sensors
                     ):
                         # print('\nEVENT DETECTED')
@@ -778,7 +775,7 @@
                         )
                         # Prepare to leave loops and start new flight phase
                         phase.TimeNodes.flush_after(node_index)
                         phase.TimeNodes.add_node(self.t, [], [], [])
                         phase.solver.status = "finished"
                         # Save parachute event
                         self.parachute_events.append([self.t, parachute])
@@ -1250,7 +1247,7 @@
         self.sensors = self.rocket.sensors.get_components()
         if self._controllers or self.sensors:
             if self.time_overshoot == True:
                 self.time_overshoot = False
                 warnings.warn(
                     "time_overshoot has been set to False due to the presence "
                     "of controllers or sensors. "
@@ -1288,22 +1285,15 @@
         ]
 
     def __cache_sensor_data(self):
+        """Cache sensor data for simulations with sensors."""
         sensor_data = {}
         sensors = []
         for sensor in self.sensors:
             # skip sensors that are used more then once in the rocket
             if sensor not in sensors:
                 sensors.append(sensor)
                 num_instances = sensor._attached_rockets[self.rocket]
-                # sensor added only once
-                if num_instances == 1:
-                    sensor_data[sensor] = sensor.measured_data[:]
-                # sensor added more then once
-                if num_instances > 1:
-                    sensor_data[sensor] = {}
-                    # iterate through each of the same sensor instances
-                    for index in range(num_instances):
-                        sensor_data[sensor][index + 1] = sensor.measured_data[index][:]
+                sensor_data[sensor] = sensor.measured_data[:]
         self.sensor_data = sensor_data
 
     @cached_property
@@ -1712,12 +1702,12 @@
 
         if post_processing:
             # Accelerations
             self.ax_list.append([t, ax])
             self.ay_list.append([t, ay])
             self.az_list.append([t, az])
             self.alpha1_list.append([t, alpha1])
             self.alpha2_list.append([t, alpha2])
             self.alpha3_list.append([t, alpha3])
             # Dynamics variables
             self.R1_list.append([t, R1])
             self.R2_list.append([t, R2])
@@ -3415,8 +3405,8 @@
                 data_dict[key.name] = value
         else:
             # export data of only that sensor
             data_dict = {}
             data_dict[sensor.name] = self.sensor_data[sensor]
         with open(file_name, "w") as file:
             json.dump(data_dict, file)
         print("Sensor data exported to", file_name)

rocketpy/tools.py

@@ -1,6 +1,7 @@
 import functools
 import importlib
 import importlib.metadata
+import math
 import re
 import time
 from bisect import bisect_left
@@ -467,32 +468,33 @@ def quaternions_to_nutation(e1, e2):
     return (180 / np.pi) * 2 * np.arcsin(-((e1**2 + e2**2) ** 0.5))
 
 
-def euler_to_quaternions(roll, pitch, yaw):
-    """Calculates the quaternions from the Euler angles in 3-2-1 sequence.
+def euler_to_quaternions(yaw, pitch, roll):
+    """Calculates the quaternions (Euler parameters) from the Euler angles in
+    yaw, pitch, and roll sequence (3-2-1).
 
     Parameters
     ----------
-    roll : float
-        Euler angle due to roll (psi) in degrees
-    pitch : float
-        Euler angle due to pitch (theta) in degrees
     yaw : float
         Euler angle due to yaw (phi) in degrees
+    pitch : float
+        Euler angle due to pitch (theta) in degrees
+    roll : float
+        Euler angle due to roll (psi) in degrees
 
     Returns
     -------
     tuple
         Tuple containing the Euler parameters e0, e1, e2, e3
     """
-    psi = np.radians(roll)
-    theta = np.radians(pitch)
-    phi = np.radians(yaw)
-    cr = np.cos(phi / 2)
-    sr = np.sin(phi / 2)
-    cp = np.cos(theta / 2)
-    sp = np.sin(theta / 2)
-    cy = np.cos(psi / 2)
-    sy = np.sin(psi / 2)
+    phi = math.radians(yaw)
+    theta = math.radians(pitch)
+    psi = math.radians(roll)
+    cr = math.cos(phi / 2)
+    sr = math.sin(phi / 2)
+    cp = math.cos(theta / 2)
+    sp = math.sin(theta / 2)
+    cy = math.cos(psi / 2)
+    sy = math.sin(psi / 2)
     e0 = cr * cp * cy + sr * sp * sy
     e1 = sr * cp * cy - cr * sp * sy
     e2 = cr * sp * cy + sr * cp * sy