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Enh: support actuator dynamics from ActiveRocketPy #39

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Merged
zuorenchen merged 3 commits into from
Jun 26, 2026
Merged

Enh: support actuator dynamics from ActiveRocketPy #39

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0a046ae
Update ActiveRocketPy submodule to add actuator classes
zuorenchen Jun 25, 2026
9bb0ee9
Update names to align with ActiveRocketPy actuator class updates
zuorenchen Jun 25, 2026
59fab80
Bump ActiveRocketPy version after actuator module merged to main
zuorenchen Jun 26, 2026
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2 changes: 1 addition & 1 deletion ActiveRocketPy
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Submodule ActiveRocketPy updated 27 files
+28 −17 README.md
+37 −51 docs/examples/halcyon_flight_sim_active_control.ipynb
+35 −0 rocketpy/prints/roll_actuator_prints.py
+0 −30 rocketpy/prints/roll_control_prints.py
+35 −0 rocketpy/prints/throttle_actuator_prints.py
+0 −15 rocketpy/prints/throttle_control_prints.py
+41 −0 rocketpy/prints/thrust_vector_actuator_prints.py
+0 −29 rocketpy/prints/tvc_prints.py
+4 −0 rocketpy/rocket/actuator/__init__.py
+165 −0 rocketpy/rocket/actuator/actuator.py
+139 −0 rocketpy/rocket/actuator/roll.py
+143 −0 rocketpy/rocket/actuator/throttle.py
+312 −0 rocketpy/rocket/actuator/thrust_vector.py
+8 −2 rocketpy/rocket/aero_surface/linear_generic_surface.py
+93 −70 rocketpy/rocket/rocket.py
+0 −152 rocketpy/rocket/roll_control.py
+0 −145 rocketpy/rocket/throttle_control.py
+0 −206 rocketpy/rocket/tvc.py
+0 −4 rocketpy/sensors/gnss_receiver.py
+41 −30 rocketpy/simulation/flight.py
+17 −12 rocketpy/simulation/monte_carlo.py
+1 −1 rocketpy/stochastic/stochastic_rocket.py
+5 −5 rocketpy/utilities.py
+13 −7 tests/integration/test_sensor.py
+496 −0 tests/unit/rocket/test_actuators.py
+10 −45 tests/unit/sensors/test_sensor.py
+2 −2 tests/unit/simulation/test_flight.py
38 changes: 22 additions & 16 deletions BalloonPoppingGymEnv/envs/balloon_world.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,8 +100,10 @@ def __init__(self, render_mode, parameters):
dtype=np.float64,
),
"tvc": spaces.Box(
low=-self.rocket_parameters["control"]["gimbal_range"] * np.ones(2),
high=self.rocket_parameters["control"]["gimbal_range"] * np.ones(2),
low=-self.rocket_parameters["control"]["max_gimbal_angle"]
* np.ones(2),
high=self.rocket_parameters["control"]["max_gimbal_angle"]
* np.ones(2),
dtype=np.float64,
),
"throttle": spaces.Box(
Expand Down Expand Up @@ -213,8 +215,12 @@ def step(self, action):
self.__init_rocket_simulation()
else: # Apply action to step the rocket simulation and get sensor measurements
self._rocket_flight.rocket.roll_control.roll_torque = action["roll"]
self._rocket_flight.rocket.tvc.gimbal_angle_x = action["tvc"][0]
self._rocket_flight.rocket.tvc.gimbal_angle_y = action["tvc"][1]
self._rocket_flight.rocket.thrust_vector_control.gimbal_angle_x = action[
"tvc"
][0]
self._rocket_flight.rocket.thrust_vector_control.gimbal_angle_y = action[
"tvc"
][1]
self._rocket_flight.rocket.throttle_control.throttle = action["throttle"]
self._rocket_flight.step_simulation()
_sensor = self._rocket_flight.sensors
Expand All @@ -233,7 +239,7 @@ def step(self, action):
"rocket_states": self._rocket_states.copy().tolist(),
"balloon_states": self._balloon_states.copy().tolist(),
"balloon_status": self._balloon_status[:, 0].tolist(),
}
}
if self.trajectories is None:
self.trajectories = [step_record]
else:
Expand Down Expand Up @@ -926,12 +932,12 @@ def tvc_controller_function(
tvc.gimbal_angle_y,
)

rocket.add_tvc(
gimbal_range=control_cfg["gimbal_range"],
gimbal_rate_limit=control_cfg["gimbal_rate_limit"],
sampling_rate=1 / self.simulation_parameters["time_step"],
rocket.add_thrust_vector_control(
controller_function=tvc_controller_function,
return_controller=False,
sampling_rate=1 / self.simulation_parameters["time_step"],
max_gimbal_angle=control_cfg["max_gimbal_angle"],
gimbal_rate_limit=control_cfg["gimbal_rate_limit"],
gimbal_time_constant=control_cfg["gimbal_time_constant"],
)

def roll_controller_function(
Expand All @@ -950,11 +956,11 @@ def roll_controller_function(
)

rocket.add_roll_control(
controller_function=roll_controller_function,
sampling_rate=1 / self.simulation_parameters["time_step"],
max_roll_torque=control_cfg["max_roll_torque"],
torque_rate_limit=control_cfg["torque_rate_limit"],
sampling_rate=1 / self.simulation_parameters["time_step"],
controller_function=roll_controller_function,
return_controller=False,
roll_torque_time_constant=control_cfg["roll_torque_time_constant"],
)

def throttle_controller_function(
Expand All @@ -973,11 +979,11 @@ def throttle_controller_function(
)

rocket.add_throttle_control(
controller_function=throttle_controller_function,
sampling_rate=1 / self.simulation_parameters["time_step"],
throttle_range=control_cfg["throttle_range"],
throttle_rate_limit=control_cfg["throttle_rate_limit"],
sampling_rate=1 / self.simulation_parameters["time_step"],
controller_function=throttle_controller_function,
return_controller=False,
throttle_time_constant=control_cfg["throttle_time_constant"],
)

self._rocket_flight = Flight(
Expand Down
5 changes: 4 additions & 1 deletion BalloonPoppingGymEnv/envs/scenario_parameters/scenario_0_given_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,9 +76,12 @@ rocket:
- gnss_altitude_accuracy
- gnss_velocity_accuracy
control:
- gimbal_range
- max_gimbal_angle
- gimbal_rate_limit
- gimbal_time_constant
- max_roll_torque
- torque_rate_limit
- roll_torque_time_constant
- throttle_range
- throttle_rate_limit
- throttle_time_constant
8 changes: 6 additions & 2 deletions BalloonPoppingGymEnv/envs/scenario_parameters/scenario_0_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ environment:
enable: false
altitude_spacing: 10.0 # (m) vertical spacing between gust samples
max_gust_speed: 3.0 # (m/s) maximum gust speed
gust_decay_height: 150.0 # (m) characteristic decay height for the gust speed with altitude
gust_decay_height: 150.0 # (m) characteristic decay height for the gust speed with altitude

# Simulation timing configuration
simulation:
Expand Down Expand Up @@ -105,9 +105,13 @@ rocket:
gnss_altitude_accuracy: 0.0 # (m) altitude accuracy of the GNSS receiver
gnss_velocity_accuracy: 0.0 # (m/s) velocity accuracy of the GNSS receiver
control:
gimbal_range: 15 # (deg) maximum gimbal angle in any direction
max_gimbal_angle: 15 # (deg) maximum gimbal angle in any direction
gimbal_rate_limit: 60 # (deg/s) maximum gimbal rate
gimbal_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.
max_roll_torque: 10 # (N*m) maximum roll torque
torque_rate_limit: 20 # (N*m/s) maximum roll torque rate
roll_torque_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.
throttle_range: [0.0, 1.0] # range of the throttle (0 to 1)
throttle_rate_limit: 2.0 # (1/s) maximum throttle rate
throttle_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.

5 changes: 4 additions & 1 deletion BalloonPoppingGymEnv/envs/scenario_parameters/scenario_1_given_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,9 +76,12 @@ rocket:
- gnss_altitude_accuracy
- gnss_velocity_accuracy
control:
- gimbal_range
- max_gimbal_angle
- gimbal_rate_limit
- gimbal_time_constant
- max_roll_torque
- torque_rate_limit
- roll_torque_time_constant
- throttle_range
- throttle_rate_limit
- throttle_time_constant
7 changes: 5 additions & 2 deletions BalloonPoppingGymEnv/envs/scenario_parameters/scenario_1_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ environment:
enable: false
altitude_spacing: 10.0 # (m) vertical spacing between gust samples
max_gust_speed: 3.0 # (m/s) maximum gust speed
gust_decay_height: 150.0 # (m) characteristic decay height for the gust speed with altitude
gust_decay_height: 150.0 # (m) characteristic decay height for the gust speed with altitude

# Simulation timing configuration
simulation:
Expand Down Expand Up @@ -105,9 +105,12 @@ rocket:
gnss_altitude_accuracy: 0.0 # (m) altitude accuracy of the GNSS receiver
gnss_velocity_accuracy: 0.0 # (m/s) velocity accuracy of the GNSS receiver
control:
gimbal_range: 15 # (deg) maximum gimbal angle in any direction
max_gimbal_angle: 15 # (deg) maximum gimbal angle in any direction
gimbal_rate_limit: 60 # (deg/s) maximum gimbal rate
gimbal_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.
max_roll_torque: 10 # (N*m) maximum roll torque
torque_rate_limit: 20 # (N*m/s) maximum roll torque rate
roll_torque_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.
throttle_range: [0.0, 1.0] # range of the throttle (0 to 1)
throttle_rate_limit: 2.0 # (1/s) maximum throttle rate
throttle_time_constant: null # 1st order low pass filter time constant for actuator dynamics. null to turn off.
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