BUG: fixed cont ctrl calls integrated into the ODE solver

Author: Malmahrouqi3

rocketpy/control/controller.py

@@ -1,3 +1,4 @@
+import math
 from inspect import signature
 from typing import Iterable
 
@@ -17,7 +18,7 @@ def __init__(
         self,
         interactive_objects,
         controller_function,
-        sampling_rate,
+        sampling_rate=math.inf,
         initial_observed_variables=None,
         name="Controller",
     ):
@@ -72,7 +73,8 @@ def __init__(
             relevant information in the `observed_variables` list.
 
             .. note:: The function will be called according to the sampling rate
-            specified.
+            specified. If unspecified, the default sampling rate is set to infinity, meaning that the
+            controller function will be called at every step of the simulation.
         sampling_rate : float
             The sampling rate of the controller function in Hertz (Hz). This
             means that the controller function will be called every

rocketpy/rocket/rocket.py

@@ -1952,42 +1952,38 @@ def add_thrust_eccentricity(self, x, y):
         self.thrust_eccentricity_y = y
         return self
 
-    def add_discrete_controller(
-        self,
-        controller_function,
-        refresh_rate,
-        interactive_objects=None,
-        initial_observed_variables=None,
-        name=None,
-    ):
+    def add_discrete_controller(self,
+                                controller_function,
+                                refresh_rate,
+                                interactive_objects=None,
+                                initial_observed_variables=None,
+                                name=None
+                                ):
 
         controller = _Controller(
-            controller_function=controller_function,
-            sampling_rate=refresh_rate,
-            interactive_objects=interactive_objects,
-            initial_observed_variables=initial_observed_variables,
-            name=name,
-        )
+        controller_function=controller_function,
+        sampling_rate=refresh_rate,
+        interactive_objects=interactive_objects,
+        initial_observed_variables=initial_observed_variables,
+        name=name)
 
         self._add_controllers(controller)
 
-        return self
+        return None
 
-    def add_continuous_controller(
-        self,
-        controller_function,
-        interactive_objects=None,
-        initial_observed_variables=None,
-        name=None,
-    ):
+    def add_continuous_controller(self,
+                                controller_function,
+                                interactive_objects=None,
+                                initial_observed_variables=None,
+                                name=None
+                                ):
 
         controller = _Controller(
             controller_function=controller_function,
-            sampling_rate=np.inf,
+            sampling_rate=math.inf,
             interactive_objects=interactive_objects,
             initial_observed_variables=initial_observed_variables,
-            name=name,
-        )
+            name=name)
 
         self._add_controllers(controller)
         return controller

rocketpy/simulation/flight.py

@@ -786,7 +786,14 @@ def __simulate(self, verbose):
                     self.y_sol = phase.solver.y
                     if verbose:
                         print(f"Current Simulation Time: {self.t:3.4f} s", end="\r")
-
+                    for controller in self._continuous_controllers:
+                        controller(
+                            self.t,
+                            self.y_sol,
+                            self.solution[:-1],
+                            self.sensors,
+                            self.env,
+                        )
                     if self.__check_simulation_events(phase, phase_index, node_index):
                         break  # Stop if simulation termination event occurred
 
@@ -1585,6 +1592,8 @@ def __init_equations_of_motion(self):
     def __init_controllers(self):
         """Initialize controllers and sensors"""
         self._controllers = self.rocket._controllers[:]
+        self._continuous_controllers = [c for c in self._controllers if math.isinf(c.sampling_rate)]
+        self._discrete_controllers = [c for c in self._controllers if not math.isinf(c.sampling_rate)]
         self.sensors = self.rocket.sensors.get_components()
 
         # reset controllable object to initial state (only airbrakes for now)