Fix docs

Author: amacati

crazyflow/drones/__init__.py

@@ -5,7 +5,7 @@
 (``params.toml`` with mass, inertia, thrust and torque curves, …). These describe the *hardware* and
 are independent of the dynamics formulation used to simulate it (see [crazyflow.dynamics][]).
 
-Use [available_drones][crazyflow.drones.available_drones] to enumerate the supported configurations.
+Use ``available_drones`` to enumerate the supported configurations.
 """
 
 # Currently supported platforms:

crazyflow/dynamics/__init__.py

@@ -9,8 +9,7 @@
 estimation or control design.
 
 Use [parametrize][crazyflow.dynamics.parametrize] to bind a dynamics function to a named drone
-configuration, and [available_dynamics][crazyflow.dynamics.available_dynamics] to enumerate all
-registered dynamics.
+configuration, and ``available_dynamics`` to enumerate all registered dynamics.
 """
 
 import os

crazyflow/dynamics/core.py

@@ -113,7 +113,7 @@ def load_params(dynamics: str, drone: str, xp: ModuleType | None = None) -> dict
 
     Raises:
         KeyError: If ``drone`` is not found in either TOML file, or if ``dynamics`` does not
-        correspond to a known sub-package.
+            correspond to a known sub-package.
     """
     xp = np if xp is None else xp
     with open(Path(__file__).parents[1] / "drones/params.toml", "rb") as f:

crazyflow/dynamics/first_principles/dynamics.py

@@ -211,9 +211,9 @@ def symbolic_dynamics(
         Tuple ``(X_dot, X, U, Y)`` of CasADi ``MX`` expressions:
 
         * ``X_dot``: State derivative, length 17 when ``model_rotor_vel=True`` (13 otherwise), plus
-          3 per enabled disturbance.
+            3 per enabled disturbance.
         * ``X``: State vector ``[pos(3), quat(4), vel(3), ang_vel(3)]``, with ``rotor_vel(4)``
-          appended if ``model_rotor_vel=True``.
+            appended if ``model_rotor_vel=True``.
         * ``U``: Input vector ``[rpm_1, rpm_2, rpm_3, rpm_4]``.
         * ``Y``: Output ``[pos(3), quat(4)]``.
     """

crazyflow/dynamics/so_rpy_rotor/dynamics.py

@@ -184,10 +184,10 @@ def symbolic_dynamics(
         Tuple ``(X_dot, X, U, Y)`` of CasADi ``MX`` expressions:
 
         * ``X_dot``: State derivative, length 14 when ``model_rotor_vel=True`` (13 otherwise), plus
-          3 per enabled disturbance.
+            3 per enabled disturbance.
         * ``X``: State vector ``[pos(3), quat(4), vel(3), ang_vel(3)]``, with ``rotor_vel(1)``
-          appended if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust
-          state in Newtons.
+            appended if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust
+            state in Newtons.
         * ``U``: Input vector ``[roll_rad, pitch_rad, yaw_rad, thrust_N]``.
         * ``Y``: Output ``[pos(3), quat(4)]``.
     """
@@ -296,8 +296,8 @@ def symbolic_dynamics_euler(
 
         * ``X_dot``: State derivative, length 13 when ``model_rotor_vel=True`` (12 otherwise).
         * ``X``: State vector ``[pos(3), rpy(3), vel(3), drpy(3)]``, with ``rotor_vel(1)`` appended
-          if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust state in
-          Newtons.
+            if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust state in
+            Newtons.
         * ``U``: Input vector ``[roll_rad, pitch_rad, yaw_rad, thrust_N]``.
         * ``Y``: Output ``[pos(3), rpy(3)]``.
     """

crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py

@@ -203,10 +203,10 @@ def symbolic_dynamics(
         Tuple ``(X_dot, X, U, Y)`` of CasADi ``MX`` expressions:
 
         * ``X_dot``: State derivative, length 14 when ``model_rotor_vel=True`` (13 otherwise), plus
-          3 per enabled disturbance.
+            3 per enabled disturbance.
         * ``X``: State vector ``[pos(3), quat(4), vel(3), ang_vel(3)]``, with ``rotor_vel(1)``
-          appended if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust
-          state in Newtons.
+            appended if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust
+            state in Newtons.
         * ``U``: Input vector ``[roll_rad, pitch_rad, yaw_rad, thrust_N]``.
         * ``Y``: Output ``[pos(3), quat(4)]``.
     """
@@ -321,8 +321,8 @@ def symbolic_dynamics_euler(
 
         * ``X_dot``: State derivative, length 13 when ``model_rotor_vel=True`` (12 otherwise).
         * ``X``: State vector ``[pos(3), rpy(3), vel(3), drpy(3)]``, with ``rotor_vel(1)`` appended
-          if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust state in
-          Newtons.
+            if ``model_rotor_vel=True``. Note that ``rotor_vel`` here represents the thrust state in
+            Newtons.
         * ``U``: Input vector ``[roll_rad, pitch_rad, yaw_rad, thrust_N]``.
         * ``Y``: Output ``[pos(3), rpy(3)]``.
     """

crazyflow/dynamics/utils/data_utils.py

@@ -22,15 +22,11 @@
 def preprocessing(data: dict[str, Array]) -> dict[str, Array]:
     """Applies preprocessing to collected data.
 
-    The preprocessing includes
-        outlier detection and interpolation,
-        normalizing orientation (assuming hover at start),
-        calculating rpy from quaternions,
-        and calculating rotational error
+    The preprocessing includes outlier detection and interpolation, normalizing orientation
+    (assuming hover at start), calculating rpy from quaternions, and calculating rotational error.
 
     Args:
-        data: The raw data dictionary containing
-              time [s], pos [m], quat, cmd_rpy [rad], cmd_f [N].
+        data: The raw data dictionary containing time [s], pos [m], quat, cmd_rpy [rad], cmd_f [N].
 
     Returns:
         The same dict with the following keys added or modified:
@@ -40,8 +36,7 @@ def preprocessing(data: dict[str, Array]) -> dict[str, Array]:
         * ``"quat"``: Quaternions corrected so the initial attitude is identity.
         * ``"rpy"``: Roll/pitch/yaw in radians, shape ``(N, 3)``.
         * ``"z_axis"``: Body z-axis in world frame, shape ``(N, 3)``.
-        * ``"eR"``: Rotation error vector (vee of skew-symmetric error matrix),
-          shape ``(N, 3)``.
+        * ``"eR"``: Rotation error vector (vee of skew-symmetric error matrix), shape ``(N, 3)``.
         * ``"eR_vec"``: Rotation error as rotation vector, shape ``(N, 3)``.
     """
     data["dt"] = np.diff(data["time"])
@@ -94,10 +89,9 @@ def preprocessing(data: dict[str, Array]) -> dict[str, Array]:
 def derivatives_svf(data: dict[str, Array]) -> dict[str, Array]:
     """Apply a State Variable Filter (SVF) to compute smoothed signals and their time derivatives.
 
-    Filters position, attitude (RPY), and command signals with separate
-    corner frequencies (6 Hz for translation, 8 Hz for rotation) and computes
-    up to third-order time derivatives.  All output keys are prefixed with
-    ``"SVF_"``.
+    Filters position, attitude (RPY), and command signals with separate corner frequencies (6 Hz for
+    translation, 8 Hz for rotation) and computes up to third-order time derivatives.  All output
+    keys are prefixed with ``"SVF_"``.
 
     Args:
         data: Dict produced by [preprocessing][crazyflow.dynamics.utils.data_utils.preprocessing].
@@ -106,18 +100,17 @@ def derivatives_svf(data: dict[str, Array]) -> dict[str, Array]:
     Returns:
         The same dict with the following ``"SVF_"`` keys added:
 
-        * ``"SVF_pos"``, ``"SVF_vel"``, ``"SVF_acc"``, ``"SVF_jerk"``:
-          Filtered position and its first three derivatives.
-        * ``"SVF_rpy"``, ``"SVF_drpy"``, ``"SVF_ddrpy"``, ``"SVF_dddrpy"``:
-          Filtered roll/pitch/yaw and its first three derivatives.
+        * ``"SVF_pos"``, ``"SVF_vel"``, ``"SVF_acc"``, ``"SVF_jerk"``: Filtered position and its
+            first three derivatives.
+        * ``"SVF_rpy"``, ``"SVF_drpy"``, ``"SVF_ddrpy"``, ``"SVF_dddrpy"``: Filtered roll/pitch/yaw
+            and its first three derivatives.
         * ``"SVF_quat"``: Quaternion computed from ``SVF_rpy``.
         * ``"SVF_z_axis"``: Body z-axis in world frame computed from ``SVF_rpy``.
-        * ``"SVF_ang_vel"``, ``"SVF_ang_acc"``, ``"SVF_ang_jerk"``:
-          Angular velocity/acceleration/jerk in body frame.
+        * ``"SVF_ang_vel"``, ``"SVF_ang_acc"``, ``"SVF_ang_jerk"``: Angular
+            velocity/acceleration/jerk in body frame.
         * ``"SVF_cmd_f"``: Filtered collective thrust command.
         * ``"SVF_cmd_rpy"``: Filtered roll/pitch/yaw command.
-        * ``"SVF_eR"``, ``"SVF_eR_vec"``: Rotation error between actual and
-          commanded attitude.
+        * ``"SVF_eR"``, ``"SVF_eR_vec"``: Rotation error between actual and commanded attitude.
     """
     # Important: Don't mix with unfiltered signals (also for input!)
     if data is None:

properdocs.yml

@@ -16,7 +16,6 @@ theme:
     - content.code.annotate
     - navigation.footer
     - navigation.indexes
-    - navigation.sections
     - navigation.tabs
     - navigation.top
     - navigation.tracking