X Tutup
Skip to content

Enh/acceleration data to trigger parachutes #911

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ViniciusCMB wants to merge 13 commits into
base: develop
Choose a base branch
from
+1,313 −48
Open

Enh/acceleration data to trigger parachutes #911

Changes from 1 commit
Commits
Show all changes
13 commits
Select commit Hold shift + click to select a range
2575950
ENH: Pass Acceleration Data to Parachute Trigger Functions (RocketPy-…
ViniciusCMB Dec 4, 2025
7ec7ac9
ENH: Add acceleration-based parachute triggers with IMU sensor simula…
ViniciusCMB Dec 7, 2025
18aab57
ENH: Enable sensors+acceleration triggers in parachutes
ViniciusCMB Dec 8, 2025
0932277
Merge branch 'develop' into enh/acceleration-data-to-trigger-parachutes
ViniciusCMB Dec 8, 2025
916b0fc
STY: Apply ruff format to flight.py
ViniciusCMB Dec 8, 2025
8e88fa8
STY: Fix pylint for parachute triggers
ViniciusCMB Dec 9, 2025
e84df40
Merge branch 'develop' into enh/acceleration-data-to-trigger-parachutes
ViniciusCMB Dec 9, 2025
a7f5c3a
TST: Add comprehensive unit tests for acceleration-based parachute tr…
ViniciusCMB Dec 9, 2025
ad7e6d0
DOC: Add comprehensive documentation for acceleration-based parachute…
ViniciusCMB Dec 9, 2025
8f65022
STY: Apply ruff format to test_parachute_trigger_acceleration.py
ViniciusCMB Dec 9, 2025
d45b3a5
STY: Fix pylint warnings in test_parachute_triggers.py
ViniciusCMB Dec 9, 2025
6d79d62
FIX: Add missing u_dot parameter to direct triggerfunc calls
ViniciusCMB Dec 9, 2025
5619b3a
STY: Apply ruff format to flight.py
ViniciusCMB Dec 9, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
Merge branch 'develop' into enh/acceleration-data-to-trigger-parachutes
  • Loading branch information
@ViniciusCMB
ViniciusCMB authored Dec 9, 2025
commit e84df408af795de30f97d5c957e5a1829c7ae68e
265 changes: 1 addition & 264 deletions rocketpy/simulation/flight.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -822,270 +822,7 @@ def __simulate(self, verbose):
if self.time_overshoot and self.__process_overshootable_nodes(
phase, phase_index, node_index
):
# Check exactly when it went out using root finding
# Disconsider elevation
self.solution[-2][3] -= self.env.elevation
self.solution[-1][3] -= self.env.elevation
# Get points
y0 = (
sum(self.solution[-2][i] ** 2 for i in [1, 2, 3])
- self.effective_1rl**2
)
yp0 = 2 * sum(
self.solution[-2][i] * self.solution[-2][i + 3]
for i in [1, 2, 3]
)
t1 = self.solution[-1][0] - self.solution[-2][0]
y1 = (
sum(self.solution[-1][i] ** 2 for i in [1, 2, 3])
- self.effective_1rl**2
)
yp1 = 2 * sum(
self.solution[-1][i] * self.solution[-1][i + 3]
for i in [1, 2, 3]
)
# Put elevation back
self.solution[-2][3] += self.env.elevation
self.solution[-1][3] += self.env.elevation
# Cubic Hermite interpolation (ax**3 + bx**2 + cx + d)
a, b, c, d = calculate_cubic_hermite_coefficients(
0,
float(phase.solver.step_size),
y0,
yp0,
y1,
yp1,
)
a += 1e-5 # TODO: why??
# Find roots
t_roots = find_roots_cubic_function(a, b, c, d)
# Find correct root
valid_t_root = [
t_root.real
for t_root in t_roots
if 0 < t_root.real < t1 and abs(t_root.imag) < 0.001
]
if len(valid_t_root) > 1: # pragma: no cover
raise ValueError(
"Multiple roots found when solving for rail exit time."
)
if len(valid_t_root) == 0: # pragma: no cover
raise ValueError(
"No valid roots found when solving for rail exit time."
)
# Determine final state when upper button is going out of rail
self.t = valid_t_root[0] + self.solution[-2][0]
interpolator = phase.solver.dense_output()
self.y_sol = interpolator(self.t)
self.solution[-1] = [self.t, *self.y_sol]
self.out_of_rail_time = self.t
self.out_of_rail_time_index = len(self.solution) - 1
self.out_of_rail_state = self.y_sol
# Create new flight phase
self.flight_phases.add_phase(
self.t,
self.u_dot_generalized,
index=phase_index + 1,
)
# Prepare to leave loops and start new flight phase
phase.time_nodes.flush_after(node_index)
phase.time_nodes.add_node(self.t, [], [], [])
phase.solver.status = "finished"

# Check for apogee event
# TODO: negative vz doesn't really mean apogee. Improve this.
if len(self.apogee_state) == 1 and self.y_sol[5] < 0:
# Assume linear vz(t) to detect when vz = 0
t0, vz0 = self.solution[-2][0], self.solution[-2][6]
t1, vz1 = self.solution[-1][0], self.solution[-1][6]
t_root = find_root_linear_interpolation(t0, t1, vz0, vz1, 0)
# Fetch state at t_root
interpolator = phase.solver.dense_output()
self.apogee_state = interpolator(t_root)
# Store apogee data
self.apogee_time = t_root
self.apogee_x = self.apogee_state[0]
self.apogee_y = self.apogee_state[1]
self.apogee = self.apogee_state[2]

if self.terminate_on_apogee:
self.t = self.t_final = t_root
# Roll back solution
self.solution[-1] = [self.t, *self.apogee_state]
# Set last flight phase
self.flight_phases.flush_after(phase_index)
self.flight_phases.add_phase(self.t)
# Prepare to leave loops and start new flight phase
phase.time_nodes.flush_after(node_index)
phase.time_nodes.add_node(self.t, [], [], [])
phase.solver.status = "finished"
elif len(self.solution) > 2:
# adding the apogee state to solution increases accuracy
# we can only do this if the apogee is not the first state
self.solution.insert(-1, [t_root, *self.apogee_state])
# Check for impact event
if self.y_sol[2] < self.env.elevation:
# Check exactly when it happened using root finding
# Cubic Hermite interpolation (ax**3 + bx**2 + cx + d)
a, b, c, d = calculate_cubic_hermite_coefficients(
x0=0, # t0
x1=float(phase.solver.step_size), # t1 - t0
y0=float(self.solution[-2][3] - self.env.elevation), # z0
yp0=float(self.solution[-2][6]), # vz0
y1=float(self.solution[-1][3] - self.env.elevation), # z1
yp1=float(self.solution[-1][6]), # vz1
)
# Find roots
t_roots = find_roots_cubic_function(a, b, c, d)
# Find correct root
t1 = self.solution[-1][0] - self.solution[-2][0]
valid_t_root = [
t_root.real
for t_root in t_roots
if abs(t_root.imag) < 0.001 and 0 < t_root.real < t1
]
if len(valid_t_root) > 1: # pragma: no cover
raise ValueError(
"Multiple roots found when solving for impact time."
)
# Determine impact state at t_root
self.t = self.t_final = valid_t_root[0] + self.solution[-2][0]
interpolator = phase.solver.dense_output()
self.y_sol = self.impact_state = interpolator(self.t)
# Roll back solution
self.solution[-1] = [self.t, *self.y_sol]
# Save impact state
self.x_impact = self.impact_state[0]
self.y_impact = self.impact_state[1]
self.z_impact = self.impact_state[2]
self.impact_velocity = self.impact_state[5]
# Set last flight phase
self.flight_phases.flush_after(phase_index)
self.flight_phases.add_phase(self.t)
# Prepare to leave loops and start new flight phase
phase.time_nodes.flush_after(node_index)
phase.time_nodes.add_node(self.t, [], [], [])
phase.solver.status = "finished"

# List and feed overshootable time nodes
if self.time_overshoot:
# Initialize phase overshootable time nodes
overshootable_nodes = self.TimeNodes()
# Add overshootable parachute time nodes
overshootable_nodes.add_parachutes(
self.parachutes, self.solution[-2][0], self.t
)
# Add last time node (always skipped)
overshootable_nodes.add_node(self.t, [], [], [])
if len(overshootable_nodes) > 1:
# Sort and merge equal overshootable time nodes
overshootable_nodes.sort()
overshootable_nodes.merge()
# Clear if necessary
if overshootable_nodes[0].t == phase.t and phase.clear:
overshootable_nodes[0].parachutes = []
overshootable_nodes[0].callbacks = []
# Feed overshootable time nodes trigger
interpolator = phase.solver.dense_output()
for (
overshootable_index,
overshootable_node,
) in self.time_iterator(overshootable_nodes):
# Calculate state at node time
overshootable_node.y_sol = interpolator(
overshootable_node.t
)
for parachute in overshootable_node.parachutes:
# Calculate and save pressure signal
(
noisy_pressure,
height_above_ground_level,
) = self.__calculate_and_save_pressure_signals(
parachute,
overshootable_node.t,
overshootable_node.y_sol[2],
)

# Check for parachute trigger
if self._evaluate_parachute_trigger(
parachute,
noisy_pressure,
height_above_ground_level,
overshootable_node.y_sol,
self.sensors,
phase.derivative,
overshootable_node.t,
):
# Remove parachute from flight parachutes
self.parachutes.remove(parachute)
# Create phase for time after detection and
# before inflation
# Must only be created if parachute has any lag
i = 1
if parachute.lag != 0:
self.flight_phases.add_phase(
overshootable_node.t,
phase.derivative,
clear=True,
index=phase_index + i,
)
i += 1
# Create flight phase for time after inflation
callbacks = [
lambda self,
parachute_cd_s=parachute.cd_s: setattr(
self, "parachute_cd_s", parachute_cd_s
),
lambda self,
parachute_radius=parachute.radius: setattr(
self,
"parachute_radius",
parachute_radius,
),
lambda self,
parachute_height=parachute.height: setattr(
self,
"parachute_height",
parachute_height,
),
lambda self,
parachute_porosity=parachute.porosity: setattr(
self,
"parachute_porosity",
parachute_porosity,
),
lambda self,
added_mass_coefficient=parachute.added_mass_coefficient: setattr(
self,
"parachute_added_mass_coefficient",
added_mass_coefficient,
),
]
self.flight_phases.add_phase(
overshootable_node.t + parachute.lag,
self.u_dot_parachute,
callbacks,
clear=False,
index=phase_index + i,
)
# Rollback history
self.t = overshootable_node.t
self.y_sol = overshootable_node.y_sol
self.solution[-1] = [
overshootable_node.t,
*overshootable_node.y_sol,
]
# Prepare to leave loops and start new flight phase
overshootable_nodes.flush_after(
overshootable_index
)
phase.time_nodes.flush_after(node_index)
phase.time_nodes.add_node(self.t, [], [], [])
phase.solver.status = "finished"
# Save parachute event
self.parachute_events.append(
[self.t, parachute]
)
break

# If controlled flight, post process must be done on sim time
# Post-process controllers if needed
Expand Down
You are viewing a condensed version of this merge commit. You can view the full changes here.
X Tutup