Add azimuth_rate (#120)

ufechner7 · web-flow · commit dab207cf63b0 · 2026-05-05T20:53:22.000+02:00
- [x] Add field azimuth_rate to SysState struct
- [x] Add test
- [x] Update documentation
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## KiteUtils v0.11.8 05-05-2026
+### Added
+- add `azimuth_rate` to `SysState`, including logging, display, and Arrow load/save support
+
 ## KiteUtils v0.11.7 20-04-2026
 ### Added
 - add version 4 of RecursiveArrayTools in compat
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "KiteUtils"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
 authors = ["Uwe Fechner <uwe.fechner.msc@gmail.com> and contributors"]
-version = "0.11.7"
+version = "0.11.8"
 
 [workspace]
 projects = ["examples", "test", "docs"]
diff --git a/docs/src/examples.md b/docs/src/examples.md
@@ -127,22 +127,71 @@ julia> syslog=log.syslog
 You can acces this array by index:
 ```julia
 syslog[end]
-time      [s]:       10.0
-orient    [w,x,y,z]: Float32[0.5, 0.5, -0.5, -0.5]
-elevation [rad]:     0.64350116
-azimuth   [rad]:     0.0
-l_tether  [m]:       0.0
-v_reelout [m/s]:     0.0
-force     [N]:       0.0
-depower   [-]:       0.0
-steering  [-]:       0.0
-heading   [rad]:     0.0
-course    [rad]:     0.0
-v_app     [m/s]:     0.0
-vel_kite  [m/s]:     Float32[0.0, 0.0, 0.0]
-X         [m]:       Float32[0.0, 1.6666666, 3.3333333, 5.0, 6.6666665, 8.333333, 10.0]
-Y         [m]:       Float32[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Z         [m]:       Float32[0.0, 0.15380114, 0.6194867, 1.4100224, 2.5474184, 4.063342, 6.0000005]
+time [s]:          10.0
+t_sim [s]:         0.012
+sys_state [-]:     0
+cycle [-]:         0
+fig_8 [-]:         0
+e_mech [Wh]:       0.0
+orient [-]:        Float32[0.5, 0.5, -0.5, -0.5]
+turn_rates [rad/s]:Float32[0.0, 0.0, 0.0]
+elevation [rad]:   0.5404195
+azimuth [rad]:     0.0
+azimuth_rate [rad/s]:0.0
+l_tether [m]:      Float32[0.0, 0.0, 0.0, 0.0]
+v_reelout [m/s]:   Float32[0.0, 0.0, 0.0, 0.0]
+winch_force [N]:   Float32[0.0, 0.0, 0.0, 0.0]
+depower [0..1]:    0.0
+steering [-1..1]:  0.0
+kcu_steering [-1..1]:0.0
+set_steering [-1..1]:0.0
+heading [rad]:     0.0
+heading_rate [rad/s]:0.0
+course [rad]:      0.0
+bearing [rad]:     0.0
+attractor [rad]:   Float32[0.0, 0.0]
+v_app [m/s]:       0.0
+v_wind_gnd [m/s]:  Float32[10.4855, 0.0, -3.08324]
+v_wind_200m [m/s]: Float32[10.4855, 0.0, -3.08324]
+v_wind_kite [m/s]: Float32[10.4855, 0.0, -3.08324]
+AoA [rad]:         0.0
+side_slip [rad]:   0.0
+alpha3 [rad]:      0.0
+alpha4 [rad]:      0.0
+CL2 [-]:           0.0
+CD2 [-]:           0.0
+aero_force_b [N]:  Float32[0.0, 0.0, 0.0]
+aero_moment_b [Nm]:Float32[0.0, 0.0, 0.0]
+tether_induced_force [N]:Float32[0.0, 0.0, 0.0]
+tether_induced_moment [Nm]:Float32[0.0, 0.0, 0.0]
+twist_angles [rad]:Float32[0.0, 0.0, 0.0, 0.0]
+vel_kite [m/s]:    Float32[0.0, 0.0, 0.0]
+acc [m/s²]:        0.0
+X [m]:             Float32[0.0, 1.6666666, 3.3333333, 5.0, 6.6666665, 8.333333, 10.0]
+Y [m]:             Float32[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Z [m]:             Float32[0.0, 0.15380114, 0.6194867, 1.4100224, 2.5474184, 4.063342, 6.0000005]
+set_torque [Nm]:   Float32[0.0, 0.0, 0.0, 0.0]
+set_speed [m/s]:   Float32[0.0, 0.0, 0.0, 0.0]
+set_force [N]:     Float32[0.0, 0.0, 0.0, 0.0]
+roll [rad]:        0.0
+pitch [rad]:       0.0
+yaw [rad]:         0.0
+var_01 [-]:        0.0
+var_02 [-]:        0.0
+var_03 [-]:        0.0
+var_04 [-]:        0.0
+var_05 [-]:        0.0
+var_06 [-]:        0.0
+var_07 [-]:        0.0
+var_08 [-]:        0.0
+var_09 [-]:        0.0
+var_10 [-]:        0.0
+var_11 [-]:        0.0
+var_12 [-]:        0.0
+var_13 [-]:        0.0
+var_14 [-]:        0.0
+var_15 [-]:        0.0
+var_16 [-]:        0.0
 
 ```
 But you can also access the syslog component wise:
diff --git a/src/_demo_syslog.jl b/src/_demo_syslog.jl
@@ -24,6 +24,7 @@ function demo_syslog(P; duration=10)
     turn_rates_vec = Vector{MVector{3, MyFloat}}(undef, steps)
     elevation_vec = Vector{MyFloat}(undef, steps)
     azimuth_vec = Vector{MyFloat}(undef, steps)
+    azimuth_rate_vec = Vector{MyFloat}(undef, steps)
     l_tether_vec = Vector{MVector{4, MyFloat}}(undef, steps)
     v_reelout_vec = Vector{MVector{4, MyFloat}}(undef, steps)
     winch_force_vec = Vector{MVector{4, MyFloat}}(undef, steps)
@@ -91,6 +92,7 @@ function demo_syslog(P; duration=10)
         turn_rates_vec[i+1] = state.turn_rates
         elevation_vec[i+1] = state.elevation
         azimuth_vec[i+1] = state.azimuth
+        azimuth_rate_vec[i+1] = state.azimuth_rate
         l_tether_vec[i+1] = state.l_tether
         v_reelout_vec[i+1] = state.v_reelout
         winch_force_vec[i+1] = state.winch_force
@@ -147,14 +149,14 @@ function demo_syslog(P; duration=10)
         var_16_vec[i+1] = state.var_16
     end
     StructArray{SysState{P}}((time_vec, t_sim_vec, sys_state_vec, cycle_vec, fig_8_vec, e_mech_vec, 
-                              orient_vec, turn_rates_vec, elevation_vec, azimuth_vec, l_tether_vec, v_reelout_vec, 
-                              winch_force_vec, depower_vec, steering_vec, kcu_steering_vec, set_steering_vec, heading_vec, 
-                              heading_rate_vec, course_vec, bearing_vec, attractor_vec, v_app_vec, v_wind_gnd_vec, 
-                              v_wind_200m_vec, v_wind_kite_vec, AoA_vec, side_slip_vec, alpha3_vec, alpha4_vec, 
-                              CL2_vec, CD2_vec, aero_force_b_vec, aero_moment_b_vec, tether_induced_force_vec, tether_induced_moment_vec, 
-                              twist_angles_vec, vel_kite_vec, acc_vec, X_vec, Y_vec, Z_vec, 
-                              set_torque_vec, set_speed_vec, set_force_vec, roll_vec, pitch_vec, yaw_vec, 
-                              var_01_vec, var_02_vec, var_03_vec, var_04_vec, var_05_vec, var_06_vec, 
-                              var_07_vec, var_08_vec, var_09_vec, var_10_vec, var_11_vec, var_12_vec, 
-                              var_13_vec, var_14_vec, var_15_vec, var_16_vec))
+                              orient_vec, turn_rates_vec, elevation_vec, azimuth_vec, azimuth_rate_vec, l_tether_vec, 
+                              v_reelout_vec, winch_force_vec, depower_vec, steering_vec, kcu_steering_vec, set_steering_vec, 
+                              heading_vec, heading_rate_vec, course_vec, bearing_vec, attractor_vec, v_app_vec, 
+                              v_wind_gnd_vec, v_wind_200m_vec, v_wind_kite_vec, AoA_vec, side_slip_vec, alpha3_vec, 
+                              alpha4_vec, CL2_vec, CD2_vec, aero_force_b_vec, aero_moment_b_vec, tether_induced_force_vec, 
+                              tether_induced_moment_vec, twist_angles_vec, vel_kite_vec, acc_vec, X_vec, Y_vec, 
+                              Z_vec, set_torque_vec, set_speed_vec, set_force_vec, roll_vec, pitch_vec, 
+                              yaw_vec, var_01_vec, var_02_vec, var_03_vec, var_04_vec, var_05_vec, 
+                              var_06_vec, var_07_vec, var_08_vec, var_09_vec, var_10_vec, var_11_vec, 
+                              var_12_vec, var_13_vec, var_14_vec, var_15_vec, var_16_vec))
 end
diff --git a/src/_load_log.jl b/src/_load_log.jl
@@ -10,7 +10,7 @@
 
 Read a log file that was saved as .arrow file.
 """
-load_log(_, filename::String) = load_log(filename)
+load_log(P, filename::String) = load_log(filename)
 function load_log(filename::String; path="")
     if path == ""
         path = DATA_PATH[1]
@@ -45,16 +45,17 @@ function load_log(filename::String; path="")
     # example_metadata = KiteUtils.Arrow.getmetadata(table.var_01)
     syslog = StructArray{SysState{P}}((table.time, table.t_sim, table.sys_state, table.cycle, table.fig_8, 
                                        table.e_mech, table.orient, table.turn_rates, table.elevation, table.azimuth, 
-                                       table.l_tether, table.v_reelout, table.winch_force, table.depower, table.steering, 
-                                       table.kcu_steering, table.set_steering, table.heading, table.heading_rate, table.course, 
-                                       table.bearing, table.attractor, table.v_app, table.v_wind_gnd, table.v_wind_200m, 
-                                       table.v_wind_kite, table.AoA, table.side_slip, table.alpha3, table.alpha4, 
-                                       table.CL2, table.CD2, table.aero_force_b, table.aero_moment_b, table.tether_induced_force, 
-                                       table.tether_induced_moment, table.twist_angles, table.vel_kite, table.acc, table.X, 
-                                       table.Y, table.Z, table.set_torque, table.set_speed, table.set_force, 
-                                       table.roll, table.pitch, table.yaw, table.var_01, table.var_02, 
-                                       table.var_03, table.var_04, table.var_05, table.var_06, table.var_07, 
-                                       table.var_08, table.var_09, table.var_10, table.var_11, table.var_12, 
-                                       table.var_13, table.var_14, table.var_15, table.var_16))
+                                       table.azimuth_rate, table.l_tether, table.v_reelout, table.winch_force, table.depower, 
+                                       table.steering, table.kcu_steering, table.set_steering, table.heading, table.heading_rate, 
+                                       table.course, table.bearing, table.attractor, table.v_app, table.v_wind_gnd, 
+                                       table.v_wind_200m, table.v_wind_kite, table.AoA, table.side_slip, table.alpha3, 
+                                       table.alpha4, table.CL2, table.CD2, table.aero_force_b, table.aero_moment_b, 
+                                       table.tether_induced_force, table.tether_induced_moment, table.twist_angles, table.vel_kite, table.acc, 
+                                       table.X, table.Y, table.Z, table.set_torque, table.set_speed, 
+                                       table.set_force, table.roll, table.pitch, table.yaw, table.var_01, 
+                                       table.var_02, table.var_03, table.var_04, table.var_05, table.var_06, 
+                                       table.var_07, table.var_08, table.var_09, table.var_10, table.var_11, 
+                                       table.var_12, table.var_13, table.var_14, table.var_15, table.var_16
+                                       ))
     return SysLog{P}(basename(fullname[1:end-6]), colmeta, syslog)
 end
diff --git a/src/_log.jl b/src/_log.jl
@@ -26,6 +26,7 @@ function log!(logger::Logger, state::SysState)
     logger.turn_rates_vec[i] .= state.turn_rates
     logger.elevation_vec[i] = state.elevation
     logger.azimuth_vec[i] = state.azimuth
+    logger.azimuth_rate_vec[i] = state.azimuth_rate
     logger.l_tether_vec[i] .= state.l_tether
     logger.v_reelout_vec[i] .= state.v_reelout
     logger.winch_force_vec[i] .= state.winch_force
diff --git a/src/_logger.jl b/src/_logger.jl
@@ -31,6 +31,7 @@ $(TYPEDFIELDS)
     turn_rates_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
     elevation_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     azimuth_vec::Vector{MyFloat} = zeros(MyFloat, Q)
+    azimuth_rate_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     l_tether_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
     v_reelout_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
     winch_force_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
diff --git a/src/_save_log.jl b/src/_save_log.jl
@@ -59,6 +59,7 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.turn_rates_vec, nl)
     resize!(logger.elevation_vec, nl)
     resize!(logger.azimuth_vec, nl)
+    resize!(logger.azimuth_rate_vec, nl)
     resize!(logger.l_tether_vec, nl)
     resize!(logger.v_reelout_vec, nl)
     resize!(logger.winch_force_vec, nl)
diff --git a/src/_show.jl b/src/_show.jl
@@ -16,6 +16,7 @@ function Base.show(io::IO, st::SysState)
     println(io, "turn_rates [rad/s]:", st.turn_rates)
     println(io, "elevation [rad]:   ", st.elevation)
     println(io, "azimuth [rad]:     ", st.azimuth)
+    println(io, "azimuth_rate [rad/s]:", st.azimuth_rate)
     println(io, "l_tether [m]:      ", st.l_tether)
     println(io, "v_reelout [m/s]:   ", st.v_reelout)
     println(io, "winch_force [N]:   ", st.winch_force)
diff --git a/src/_syslog.jl b/src/_syslog.jl
@@ -9,15 +9,16 @@ function syslog(logger::Logger)
     l = logger
     StructArray{SysState{l.points}}((l.time_vec, l.t_sim_vec, l.sys_state_vec, l.cycle_vec, l.fig_8_vec, 
                                      l.e_mech_vec, l.orient_vec, l.turn_rates_vec, l.elevation_vec, l.azimuth_vec, 
-                                     l.l_tether_vec, l.v_reelout_vec, l.winch_force_vec, l.depower_vec, l.steering_vec, 
-                                     l.kcu_steering_vec, l.set_steering_vec, l.heading_vec, l.heading_rate_vec, l.course_vec, 
-                                     l.bearing_vec, l.attractor_vec, l.v_app_vec, l.v_wind_gnd_vec, l.v_wind_200m_vec, 
-                                     l.v_wind_kite_vec, l.AoA_vec, l.side_slip_vec, l.alpha3_vec, l.alpha4_vec, 
-                                     l.CL2_vec, l.CD2_vec, l.aero_force_b_vec, l.aero_moment_b_vec, l.tether_induced_force_vec, 
-                                     l.tether_induced_moment_vec, l.twist_angles_vec, l.vel_kite_vec, l.acc_vec, l.X_vec, 
-                                     l.Y_vec, l.Z_vec, l.set_torque_vec, l.set_speed_vec, l.set_force_vec, 
-                                     l.roll_vec, l.pitch_vec, l.yaw_vec, l.var_01_vec, l.var_02_vec, 
-                                     l.var_03_vec, l.var_04_vec, l.var_05_vec, l.var_06_vec, l.var_07_vec, 
-                                     l.var_08_vec, l.var_09_vec, l.var_10_vec, l.var_11_vec, l.var_12_vec, 
-                                     l.var_13_vec, l.var_14_vec, l.var_15_vec, l.var_16_vec))
+                                     l.azimuth_rate_vec, l.l_tether_vec, l.v_reelout_vec, l.winch_force_vec, l.depower_vec, 
+                                     l.steering_vec, l.kcu_steering_vec, l.set_steering_vec, l.heading_vec, l.heading_rate_vec, 
+                                     l.course_vec, l.bearing_vec, l.attractor_vec, l.v_app_vec, l.v_wind_gnd_vec, 
+                                     l.v_wind_200m_vec, l.v_wind_kite_vec, l.AoA_vec, l.side_slip_vec, l.alpha3_vec, 
+                                     l.alpha4_vec, l.CL2_vec, l.CD2_vec, l.aero_force_b_vec, l.aero_moment_b_vec, 
+                                     l.tether_induced_force_vec, l.tether_induced_moment_vec, l.twist_angles_vec, l.vel_kite_vec, l.acc_vec, 
+                                     l.X_vec, l.Y_vec, l.Z_vec, l.set_torque_vec, l.set_speed_vec, 
+                                     l.set_force_vec, l.roll_vec, l.pitch_vec, l.yaw_vec, l.var_01_vec, 
+                                     l.var_02_vec, l.var_03_vec, l.var_04_vec, l.var_05_vec, l.var_06_vec, 
+                                     l.var_07_vec, l.var_08_vec, l.var_09_vec, l.var_10_vec, l.var_11_vec, 
+                                     l.var_12_vec, l.var_13_vec, l.var_14_vec, l.var_15_vec, l.var_16_vec
+                                     ))
 end
diff --git a/src/_sysstate.jl b/src/_sysstate.jl
@@ -34,6 +34,8 @@ $(TYPEDFIELDS)
     elevation::MyFloat = 0
     "azimuth angle in wind reference frame [rad]"
     azimuth::MyFloat = 0
+    "azimuth rate [rad/s]"
+    azimuth_rate::MyFloat = 0
     "tether length, tether 1 to 4 [m]"
     l_tether::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
     "reelout speed, tether 1 to 4 [m/s]"
diff --git a/src/load_log.jl b/src/load_log.jl
@@ -47,6 +47,7 @@ function load_log(filename::String; path="", debug=false)
     cycle = Vector{Int16}(undef, n)
     fig_8 = Vector{Int16}(undef, n)
     turn_rates = Vector{Float32}(undef, n)
+    azimuth_rate = Vector{Float32}(undef, n)
     kcu_steering = Vector{Float32}(undef, n)
     set_steering = Vector{Float32}(undef, n)
     heading_rate = Vector{Float32}(undef, n)
@@ -75,7 +76,9 @@ function load_log(filename::String; path="", debug=false)
     yaw = Vector{Float32}(undef, n)
     winch_force = Vector{MVector{4, Float32}}(undef, n)
 
-    for name in [:cycle, :fig_8, :turn_rates, :kcu_steering,
+    fill!(azimuth_rate, 0)
+
+    for name in [:cycle, :fig_8, :turn_rates, :azimuth_rate, :kcu_steering,
                  :set_steering, :heading_rate, :bearing, :attractor, :v_wind_gnd,
                  :v_wind_200m, :v_wind_kite, :AoA, :side_slip, :alpha3, :alpha4, :CL2, :CD2,
                  :aero_force_b, :aero_moment_b, :tether_induced_force, :tether_induced_moment,
@@ -88,6 +91,8 @@ function load_log(filename::String; path="", debug=false)
                 fig_8 = table.fig_8
             elseif name == :turn_rates
                 turn_rates = table.turn_rates
+            elseif name == :azimuth_rate
+                azimuth_rate = table.azimuth_rate
             elseif name == :kcu_steering
                 kcu_steering = table.kcu_steering
             elseif name == :set_steering
@@ -153,7 +158,7 @@ function load_log(filename::String; path="", debug=false)
     end
     syslog = StructArray{SysState{P}}((table.time, table.t_sim, table.sys_state, cycle, fig_8, 
                                        table.e_mech, table.orient, turn_rates, table.elevation, table.azimuth, 
-                                       table.l_tether, table.v_reelout, winch_force, table.depower, table.steering, 
+                                       azimuth_rate, table.l_tether, table.v_reelout, winch_force, table.depower, table.steering, 
                                        kcu_steering, set_steering, table.heading, heading_rate, table.course, 
                                        bearing, attractor, table.v_app, v_wind_gnd, v_wind_200m, 
                                        v_wind_kite, AoA, side_slip, alpha3, alpha4, 
diff --git a/src/logger.jl b/src/logger.jl
@@ -105,6 +105,9 @@ function import_log(filename)
         ss.orient = orient
         ss.elevation = row.elevation
         ss.azimuth = row.azimuth
+        if haskey(row, :azimuth_rate)
+            ss.azimuth_rate = row.azimuth_rate
+        end
         ss.l_tether[1] = row.l_tether
         ss.v_reelout[1] = row.v_reelout
         if haskey(row, :winch_force)
diff --git a/src/sysstate.yaml b/src/sysstate.yaml
@@ -9,6 +9,7 @@ sysstate:
     turn_rates: "MVector{3, MyFloat}"   # turn rates around the body fixed x, y and z axis [rad/s]
     elevation: "MyFloat"                # elevation angle [rad]
     azimuth: "MyFloat"                  # azimuth angle in wind reference frame [rad]
+    azimuth_rate: "MyFloat"             # azimuth rate [rad/s]
     l_tether: "MVector{4, MyFloat}"     # tether length, tether 1 to 4 [m]
     v_reelout: "MVector{4, MyFloat}"    # reelout speed, tether 1 to 4 [m/s]
     winch_force: "MVector{4, MyFloat}"  # tether force at the winch, tether 1 to 4 [N]
diff --git a/test/test-logfiles.jl b/test/test-logfiles.jl
