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Merged
ufechner7 merged 9 commits into from
May 5, 2026
Merged

Add azimuth_rate #120

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688746a
Add file to .gitignore
ufechner7 May 5, 2026
bda6a04
Add azimuth_rate
ufechner7 May 5, 2026
1b0cec0
Update CHANGELOG.md
ufechner7 May 5, 2026
a46040a
Bump version
ufechner7 May 5, 2026
8472028
Fix load_log.jl
ufechner7 May 5, 2026
bd6f00e
Address comment
ufechner7 May 5, 2026
62e6799
Remove round-trip test
ufechner7 May 5, 2026
974efe9
Update CHANGELOG.md
ufechner7 May 5, 2026
a3c3167
Update docs and tests
ufechner7 May 5, 2026
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1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -16,3 +16,4 @@ Manifest-v1.12.toml
.vscode/settings.json
.JETLSConfig.toml
Manifest-v1.11.toml
docs/src/heading.pdf
4 changes: 4 additions & 0 deletions CHANGELOG.md
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@@ -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
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2 changes: 1 addition & 1 deletion Project.toml
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@@ -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"]
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81 changes: 65 additions & 16 deletions docs/src/examples.md
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Expand Up @@ -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:
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22 changes: 12 additions & 10 deletions src/_demo_syslog.jl
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Expand Up @@ -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)
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
25 changes: 13 additions & 12 deletions src/_load_log.jl
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Expand Up @@ -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]
Expand Down Expand Up @@ -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,
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table.steering, table.kcu_steering, table.set_steering, table.heading, table.heading_rate,
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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
1 change: 1 addition & 0 deletions src/_log.jl
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Expand Up @@ -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
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logger.l_tether_vec[i] .= state.l_tether
logger.v_reelout_vec[i] .= state.v_reelout
logger.winch_force_vec[i] .= state.winch_force
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1 change: 1 addition & 0 deletions src/_logger.jl
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Expand Up @@ -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]
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1 change: 1 addition & 0 deletions src/_save_log.jl
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Expand Up @@ -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)
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1 change: 1 addition & 0 deletions src/_show.jl
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Expand Up @@ -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)
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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)
Expand Down
23 changes: 12 additions & 11 deletions src/_syslog.jl
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Expand Up @@ -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,
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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
2 changes: 2 additions & 0 deletions src/_sysstate.jl
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Expand Up @@ -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]"
Expand Down
9 changes: 7 additions & 2 deletions src/load_log.jl
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Expand Up @@ -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)
Expand Down Expand Up @@ -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,
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: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,
Expand All @@ -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
Expand Down Expand Up @@ -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,
Expand Down
3 changes: 3 additions & 0 deletions src/logger.jl
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Expand Up @@ -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)
Expand Down
1 change: 1 addition & 0 deletions src/sysstate.yaml
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Expand Up @@ -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]
Expand Down
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