Pull request type

• Code changes (bugfix, features)

Checklist

• Tests for the changes have been added (if needed)
• Docs have been reviewed and added / updated
• Lint (black rocketpy/ tests/) has passed locally
• All tests (pytest tests -m slow --runslow) have passed locally
• CHANGELOG.md has been updated (if relevant)

Description

This PR tackles issue #273 and builds on top of #580

Added:

• Sensors abstract class
• Accelerometer class
• Gyroscope class
• Sensors are included in the Flight simulation loop. Having any amount of sensors in the simulated rocket will add only one additional call to u_dot per simulation step. Sensors only work time_overshoot=False
• add_sensor method in rocket class that receives the sensor and its position and saves them in a Component object
• __and__ operator for elementwise multiplication between Vector objects
• euler_to_quaternions function in tools.py for conversion from euler angles to quaternions
• transformation_euler_angles static method in the Matrix class for construction of a rotation matrix from euler angles
• Sensors representation in the rocket drawing by their position and normal vector, given a choice of plane for the drawing
• Small refactor of Components class for speed purposes
• Parachute triggerfunc can now receive a list of sensors as its last argument
• Controller controller_function can now receive a list of sensors as its last argument

Sensors Architecture

• Sensors have their orientation and noise information saved in itself. When added to the rocket, a position must be given
• Each type of sensor has its own measure method that characterizes the sensor. The measure function receives (t, state, state_derivative, *args). *args refers to the specific input required by the sensor. Different types of sensors will receive different *args.
• At each call of the measure method, the sensor's reading is saved in the measured_data attribute. This means that the state of the sensor changes throughout the simulation.

Notes

• I created a notebook called sensors_testing.ipynb for testing the current sensor implementation. It does not need to be reviewed
• The modulus of all axes of an accelerometer/gyroscope without noise placed in the rocket's center of dry mass should be the same as the flight's acceleration/rotation modulus. This is tested in test_ideal_sensors. The tolerance in this test is limited by numerical errors in the calculation of the rotation matrix from the quaternions. This is probably causing inaccuracies in the simulation. We should fix this soon
• At time 3.9s there is a dissonant acceleration value in the z axis of the Calisto flight. Seems to be related to errors in the derivation of the motor's mass_dot. This does not happen when the old udot is used. We should fix this soon
• Useful links:
  • accelerometer point of measure translation
  • noise models 1 and 2
  • rotations 1 and 2

Breaking change

• Yes
• No