Merge pull request #9 from ARRC-Rocket/enh/fix_pytest

Fix pytest

Author: chichunwang

README.md

@@ -3,22 +3,18 @@
 ActiveRocketPy is the enhanced version of [RocketPy](https://github.com/RocketPy-Team/RocketPy), a powerful Python package for simulating the trajectories of high-power rockets. This fork introduces a range of active control and guidance, navigation, and control (GNC) features.
 
 ## Main features (ActiveRocketPy)
-1. **Thrust Vector Control (TVC)**
-   - Implementation of TVC control class
-   - Feed X & Y gimbal angles through a control function
-   - Actuator dynamics and limits for realistic TVC simulations (WIP)
-
-2. **Roll Control**
-   - Implementation of roll control class
-   - Feed ideal roll torque through a control function
-   - Actuator dynamics and limits for realistic roll control simulations (WIP)
-
-3. **Throttle Control**
-   - Implementation of throttle control class
-   - Feed throttle percentage through a control function
-   - Actuator dynamics and limits for realistic throttle control simulations (WIP)
-
-4. **Step simulation**
+
+1. **Actuator Classes for active control**
+   - Actuator dynamics and limits for realistic active flight simulations
+   - **Thrust Vector Control (TVC)**
+      - Feed X & Y gimbal angles through a control function
+   - **Roll Control**
+      - Feed ideal roll torque through a control function
+   - **Throttle Control**
+      - Feed throttle percentage through a control function
+      - Known limitation: The mass properties are pre-calculated before flight according to max flow rate and burn time. Throttle commands does not affect the change of the mass properties in-flight. It is equivalent to throttling the Isp of rocket engine while the flow rate remains constant. The engine is cut off when burn time is reached
+
+2. **Step simulation**
     - Step through the simulation one time step at a time
     - Update control inputs and step simulations in loop
 
@@ -76,7 +72,6 @@ Check out documentation details using the links below:
 - [RocketPy Technical Documentation](https://docs.rocketpy.org/en/latest/technical/index.html)
 - [RocketPy Flight Examples](https://docs.rocketpy.org/en/latest/examples/index.html)
 
-
 <br>
 
 # Getting Started
@@ -100,7 +95,6 @@ pip install -r requirements-tests.txt  # install test/dev requirements
 
 ActiveRocketPy is forked and maintained by [ZuoRen Chen](https://github.com/zuorenchen), along with the team from [Advanced Rocket Research Center (ARRC)](https://github.com/ARRC-Rocket).
 
-
 ## Citation
 
 If you run ActiveRocketPy in your research, please consider citing:
@@ -114,4 +108,5 @@ If you run ActiveRocketPy in your research, please consider citing:
   url = {https://github.com/ARRC-Rocket/ActiveRocketPy}
 }
 ```
-To cite RocketPy, please check its repository for the latest citation information: [RocketPy](https://github.com/RocketPy-Team/RocketPy)
+
+To cite RocketPy, please check its repository for the latest citation information: [RocketPy](https://github.com/RocketPy-Team/RocketPy)

rocketpy/rocket/aero_surface/linear_generic_surface.py

@@ -169,7 +169,7 @@ def __init__(
         # Populate the coefficients from the list of constants if they are not defined
         if coefficients is None:
             coefficients = self._get_default_coefficients()
-        if coefficient_constants is not None:
+        if coefficient_constants:
             assert len(coefficient_constants) == len(
                 self._get_default_coefficients()
             ), (

rocketpy/utilities.py

@@ -626,7 +626,7 @@ def save_to_rpy(flight: Flight, filename: str, include_outputs=False):
     file = Path(filename).with_suffix(".rpy")
 
     with open(file, "w") as f:
-        data = {"date": str(date.today()), "version": version("rocketpy")}
+        data = {"date": str(date.today()), "version": version("activerocketpy")}
         data["simulation"] = flight
         json.dump(
             data,
@@ -650,7 +650,7 @@ def load_from_rpy(filename: str, resimulate=False):
 
     Returns
     -------
-    rocketpy.Flight
+    activerocketpy.Flight
         Flight object containing simulation information from the .rpy file
     """
     ext = os.path.splitext(os.path.basename(filename))[1]
@@ -660,12 +660,12 @@ def load_from_rpy(filename: str, resimulate=False):
     with open(filename, "r") as f:
         data = json.load(f)
         if packaging_version.parse(data["version"]) > packaging_version.parse(
-            version("rocketpy")
+            version("activerocketpy")
         ):
             warnings.warn(
                 "The file was saved in an updated version of",
-                f"RocketPy (v{data['version']}), the current",
-                f"imported module is v{version('rocketpy')}",
+                f"ActiveRocketPy (v{data['version']}), the current",
+                f"imported module is v{version('activerocketpy')}",
             )
         simulation = json.dumps(data["simulation"])
         flight = json.loads(simulation, cls=RocketPyDecoder, resimulate=resimulate)

tests/integration/test_sensor.py

@@ -82,13 +82,19 @@ def test_barometer(self):
     def test_gnss_receiver(self):
         """Test an ideal GnssReceiver."""
         gnss = self.flight.rocket.sensors[4].component
-        time, latitude, longitude, altitude = zip(*gnss.measured_data)
-        sim_latitude = self.flight.latitude(time)
-        sim_longitude = self.flight.longitude(time)
-        sim_altitude = self.flight.altitude(time)
-        assert np.allclose(np.array(latitude), sim_latitude, atol=1e-12)
-        assert np.allclose(np.array(longitude), sim_longitude, atol=1e-12)
-        assert np.allclose(np.array(altitude), sim_altitude, atol=1e-12)
+        time, x, y, z, vx, vy, vz = zip(*gnss.measured_data)
+        sim_x = self.flight.x(time)
+        sim_y = self.flight.y(time)
+        sim_z = self.flight.z(time)
+        sim_vx = self.flight.vx(time)
+        sim_vy = self.flight.vy(time)
+        sim_vz = self.flight.vz(time)
+        assert np.allclose(np.array(x), sim_x, atol=1e-12)
+        assert np.allclose(np.array(y), sim_y, atol=1e-12)
+        assert np.allclose(np.array(z), sim_z, atol=1e-12)
+        assert np.allclose(np.array(vx), sim_vx, atol=1e-12)
+        assert np.allclose(np.array(vy), sim_vy, atol=1e-12)
+        assert np.allclose(np.array(vz), sim_vz, atol=1e-12)
 
 
 @pytest.mark.parametrize("plane", ["xz", "yz"])

tests/unit/sensors/test_sensor.py

@@ -381,70 +381,35 @@ def test_noisy_barometer(noisy_barometer, example_plain_env):
 
 def test_noisy_gnss(noisy_gnss, example_plain_env):
     """Test the measure method of the GnssReceiver class. Checks if saved
-    measurement is (latitude, longitude, altitude) and if measured_data is [(t, (latitude, longitude, altitude)), ...]
+    measurement is (x, y, z, vx, vy, vz) and if measured_data is [(t, x, y, z, vx, vy, vz), ...]
     """
     # expected measurement without noise
     relative_position = Vector([0.4, 0.4, 1])
-    lat, lon = example_plain_env.latitude, example_plain_env.longitude
-    earth_radius = example_plain_env.earth_radius
     x, y, z = (Matrix.transformation(U[6:10]) @ relative_position) + Vector(U[0:3])
-    drift = (x**2 + y**2) ** 0.5
-    bearing = (2 * np.pi - np.arctan2(-x, y)) * (180 / np.pi)
-    latitude = np.degrees(
-        np.arcsin(
-            np.sin(np.radians(lat)) * np.cos(drift / earth_radius)
-            + np.cos(np.radians(lat))
-            * np.sin(drift / earth_radius)
-            * np.cos(np.radians(bearing))
-        )
-    )
-    longitude = np.degrees(
-        np.radians(lon)
-        + np.arctan2(
-            np.sin(np.radians(bearing))
-            * np.sin(drift / earth_radius)
-            * np.cos(np.radians(lat)),
-            np.cos(drift / earth_radius)
-            - np.sin(np.radians(lat)) * np.sin(np.radians(latitude)),
-        )
-    )
-    altitude = z
+    vx, vy, vz = (
+        Matrix.transformation(U[6:10])
+        @ Vector.cross(Vector(U[10:13]), relative_position)
+    ) + Vector(U[3:6])
 
     noisy_gnss.measure(
         time=TIME,
         u=U,
         relative_position=relative_position,
         environment=example_plain_env,
     )
-    assert noisy_gnss.measurement == approx([latitude, longitude, altitude], abs=3.2)
-    assert len(noisy_gnss.measurement) == 3
-    assert noisy_gnss.measured_data[0][1:] == approx(
-        [latitude, longitude, altitude], abs=3.2
-    )
+    assert noisy_gnss.measurement == approx([x, y, z, vx, vy, vz], abs=3.0)
+    assert len(noisy_gnss.measurement) == 6
+    assert noisy_gnss.measured_data[0][1:] == approx([x, y, z, vx, vy, vz], abs=3.0)
     assert noisy_gnss.measured_data[0][0] == TIME
 
-    # check last measurement considering noise error bounds
-    noisy_gnss.measure(
-        time=TIME,
-        u=U,
-        relative_position=relative_position,
-        environment=example_plain_env,
-    )
-    assert noisy_gnss.measurement == approx([latitude, longitude, altitude], abs=3.2)
-    assert len(noisy_gnss.measurement) == 3
-    assert noisy_gnss.measured_data[1][1:] == approx(
-        [latitude, longitude, altitude], abs=3.2
-    )
-    assert noisy_gnss.measured_data[1][0] == TIME
-
 
 @pytest.mark.parametrize(
     "sensor, file_format, expected_header",
     [
         ("ideal_accelerometer", "csv", "t,ax,ay,az\n"),
         ("ideal_gyroscope", "csv", "t,wx,wy,wz\n"),
         ("ideal_barometer", "csv", "t,pressure\n"),
-        ("ideal_gnss", "csv", "t,latitude,longitude,altitude\n"),
+        ("ideal_gnss", "csv", "t,x,y,z,vx,vy,vz\n"),
     ],
 )
 def test_export_data_csv(
@@ -485,7 +450,7 @@ def test_export_data_csv(
         ("ideal_accelerometer", "json", ("ax", "ay", "az")),
         ("ideal_gyroscope", "json", ("wx", "wy", "wz")),
         ("ideal_barometer", "json", ("pressure",)),
-        ("ideal_gnss", "json", ("latitude", "longitude", "altitude")),
+        ("ideal_gnss", "json", ("x", "y", "z", "vx", "vy", "vz")),
     ],
 )
 def test_export_data_json(

tests/unit/simulation/test_flight.py

@@ -210,7 +210,7 @@ def test_export_sensor_data(flight_calisto_with_sensors):
 @pytest.mark.parametrize(
     "flight_time, expected_values",
     [
-        ("t_initial", (0.25886, -0.649623, 0)),
+        ("t_initial", (0.05072660158631715, -0.12730092240875748, 0)),
         ("out_of_rail_time", (0.792028, -1.987634, 0)),
         ("apogee_time", (-0.509420, -0.732933, -2.089120e-14)),
         ("t_final", (0, 0, 0)),
@@ -249,7 +249,7 @@ def test_aerodynamic_moments(flight_calisto_custom_wind, flight_time, expected_v
 @pytest.mark.parametrize(
     "flight_time, expected_values",
     [
-        ("t_initial", (1.654150, 0.659142, -0.067103)),
+        ("t_initial", (0.32414923451082056, 0.12916629952407094, -0.067103)),
         ("out_of_rail_time", (5.052628, 2.013361, -1.75370)),
         ("apogee_time", (2.321838, -1.613641, -0.962108)),
         ("t_final", (-0.019802, 0.012030, 159.051604)),