From be42228c8d55f38b38a11900f068e2ff5590780b Mon Sep 17 00:00:00 2001
From: Malmahrouqi3 <mohdsaid497566@gmail.com>
Date: Mon, 30 Mar 2026 09:56:42 -0400
Subject: [PATCH 1/3] ENH: added discrte and continuous controller functions

---
 rocketpy/rocket/rocket.py     | 36 +++++++++++++++++++++++++++++++++++
 rocketpy/simulation/flight.py |  3 +++
 2 files changed, 39 insertions(+)

diff --git a/rocketpy/rocket/rocket.py b/rocketpy/rocket/rocket.py
index e3692d2e8..2fa204fd7 100644
--- a/rocketpy/rocket/rocket.py
+++ b/rocketpy/rocket/rocket.py
@@ -1952,6 +1952,42 @@ 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
+                                ):
+
+        controller = _Controller(
+        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 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,
+            interactive_objects=interactive_objects,
+            initial_observed_variables=initial_observed_variables,
+            name=name)
+
+        self._add_controllers(controller)
+        return controller
+
     def draw(self, vis_args=None, plane="xz", *, filename=None):
         """Draws the rocket in a matplotlib figure.
 
diff --git a/rocketpy/simulation/flight.py b/rocketpy/simulation/flight.py
index 1443d1d80..1104769af 100644
--- a/rocketpy/simulation/flight.py
+++ b/rocketpy/simulation/flight.py
@@ -4497,6 +4497,9 @@ def add_parachutes(self, parachutes, t_init, t_end):
 
         def add_controllers(self, controllers, t_init, t_end):
             for controller in controllers:
+                # Skip node creation for continuous controllers
+                if math.isinf(controller.sampling_rate):
+                    continue
                 # Calculate start of sampling time nodes
                 controller_time_step = 1 / controller.sampling_rate
                 controller_node_list = [

From 6f11c5ed5296f72f15c1b81117f4e9a7f5f8d8df Mon Sep 17 00:00:00 2001
From: Malmahrouqi3 <mohdsaid497566@gmail.com>
Date: Mon, 30 Mar 2026 10:19:35 -0400
Subject: [PATCH 2/3] linted rocketpy/rocket/rocket.py

---
 rocketpy/rocket/rocket.py | 42 +++++++++++++++++++++------------------
 1 file changed, 23 insertions(+), 19 deletions(-)

diff --git a/rocketpy/rocket/rocket.py b/rocketpy/rocket/rocket.py
index 2fa204fd7..ec5772ec4 100644
--- a/rocketpy/rocket/rocket.py
+++ b/rocketpy/rocket/rocket.py
@@ -1952,38 +1952,42 @@ 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 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,
             interactive_objects=interactive_objects,
             initial_observed_variables=initial_observed_variables,
-            name=name)
+            name=name,
+        )
 
         self._add_controllers(controller)
         return controller

From 31d80b9e25a1e1d99935e5287e8dbbe48ee972c0 Mon Sep 17 00:00:00 2001
From: Malmahrouqi3 <mohdsaid497566@gmail.com>
Date: Mon, 30 Mar 2026 10:23:51 -0400
Subject: [PATCH 3/3] lint fix return None to return self in discrete
 controller function

---
 rocketpy/rocket/rocket.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rocketpy/rocket/rocket.py b/rocketpy/rocket/rocket.py
index ec5772ec4..9800d9e46 100644
--- a/rocketpy/rocket/rocket.py
+++ b/rocketpy/rocket/rocket.py
@@ -1971,7 +1971,7 @@ def add_discrete_controller(
 
         self._add_controllers(controller)
 
-        return None
+        return self
 
     def add_continuous_controller(
         self,