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340 changes: 34 additions & 306 deletions README.md
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<picture>
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/RocketPy_Logo_white.png">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/RocketPy_Logo_black.png">
<img alt="RocketPy Logo" src="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/RocketPy_Logo_black.png">
</picture>
# ActiveRocketPy

<br>
ActiveRocketPy is the enhanced version of [RocketPy](https://github.com/RocketPy-Team/RocketPy), a powerful Python package for simulating the trajectories of high-power rockets. This fork introduces a range of active control and guidance, navigation, and control (GNC) features.

[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/RocketPy-Team/rocketpy/blob/master/docs/notebooks/getting_started_colab.ipynb)
[![Documentation Status](https://readthedocs.org/projects/rocketpyalpha/badge/?version=latest)](https://docs.rocketpy.org/en/latest/?badge=latest)
[![PyPI](https://img.shields.io/pypi/v/rocketpy?color=g)](https://pypi.org/project/rocketpy/)
![Conda Version](https://img.shields.io/conda/v/conda-forge/rocketpy?color=g)
[![codecov](https://codecov.io/gh/RocketPy-Team/RocketPy/graph/badge.svg?token=Ecc3bsHFeP)](https://codecov.io/gh/RocketPy-Team/RocketPy)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![Contributors](https://img.shields.io/github/contributors/RocketPy-Team/rocketpy)](https://github.com/RocketPy-Team/RocketPy/graphs/contributors)
[![Sponsor RocketPy](https://img.shields.io/static/v1?label=Sponsor&message=%E2%9D%A4&logo=GitHub&color=%23fe8e86)](https://github.com/sponsors/RocketPy-Team)
[![Chat on Discord](https://img.shields.io/discord/765037887016140840?logo=discord)](https://discord.gg/b6xYnNh)
[![Instagram](https://img.shields.io/badge/Instagram-E4405F?style=flat&logo=instagram&logoColor=white)](https://www.instagram.com/rocketpyteam)
[![LinkedIn](https://img.shields.io/badge/LinkedIn-0077B5?style=flat&logo=linkedin&logoColor=white)](https://www.linkedin.com/company/rocketpy)
[![DOI](https://img.shields.io/badge/DOI-10.1061%2F%28ASCE%29AS.1943--5525.0001331-blue.svg)](http://dx.doi.org/10.1061/%28ASCE%29AS.1943-5525.0001331)
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## Main features (ActiveRocketPy)
1. **Thrust Vector Control (TVC)**
- Implementation of TVC control class
- Feed X & Y gimbal angles through a control function
- Actuator dynamics and limits for realistic TVC simulations (WIP)

# RocketPy
2. **Roll Control**
- Implementation of roll control class
- Feed ideal roll torque through a control function
- Actuator dynamics and limits for realistic roll control simulations (WIP)

RocketPy is the next-generation trajectory simulation solution for High-Power Rocketry. The code is written as a [Python](http://www.python.org) library and allows for a complete 6 degrees of freedom simulation of a rocket's flight trajectory, including high-fidelity variable mass effects as well as descent under parachutes. Weather conditions, such as wind profiles, can be imported from sophisticated datasets, allowing for realistic scenarios. Furthermore, the implementation facilitates complex simulations, such as multi-stage rockets, design and trajectory optimization and dispersion analysis.
3. **Throttle Control**
- Implementation of throttle control class
- Feed throttle percentage through a control function
- Actuator dynamics and limits for realistic throttle control simulations (WIP)

4. **Step simulation**
- Step through the simulation one time step at a time
- Update control inputs and step simulations in loop

## Main features
## Main features (RocketPy)

1. **Nonlinear 6 Degrees of Freedom Simulations**
- Rigorous treatment of mass variation effects
Expand Down Expand Up @@ -67,307 +64,38 @@ These powerful features make RocketPy an indispensable tool for high-power rocke

## Validation

RocketPy's features have been validated in our latest [research article published in the Journal of Aerospace Engineering](http://dx.doi.org/10.1061/%28ASCE%29AS.1943-5525.0001331).

The table below shows a comparison between experimental data and the output from RocketPy.
Flight data and rocket parameters used in this comparison were kindly provided by [EPFL Rocket Team](https://github.com/EPFLRocketTeam) and [Notre Dame Rocket Team](https://ndrocketry.weebly.com/).

| Mission | Result Parameter | RocketPy | Measured | Relative Error |
|:-----------------------:|:-----------------------|:---------:|:---------:|:---------------:|
| Bella Lui Kaltbrumn | Apogee altitude (m) | 461.03 | 458.97 | **0.45 %** |
| Bella Lui Kaltbrumn | Apogee time (s) | 10.61 | 10.56 | **0.47 %** |
| Bella Lui Kaltbrumn | Maximum velocity (m/s) | 86.18 | 90.00 | **-4.24 %** |
| NDRT launch vehicle | Apogee altitude (m) | 1,310.44 | 1,320.37 | **-0.75 %** |
| NDRT launch vehicle | Apogee time (s) | 16.77 | 17.10 | **-1.90 %** |
| NDRT launch vehicle | Maximum velocity (m/s) | 172.86 | 168.95 | **2.31 %** |

Over years of development and testing, RocketPy has been validated across an expanding range of flight scenarios.
For more information on these validated flights, visit our [Flight Examples](https://docs.rocketpy.org/en/latest/examples/index.html) page in the documentation.
> WIP

# Documentation

Check out documentation details using the links below:

- [User Guide](https://docs.rocketpy.org/en/latest/user/index.html)
- [Code Documentation](https://docs.rocketpy.org/en/latest/reference/index.html)
- [Development Guide](https://docs.rocketpy.org/en/latest/development/index.html)
- [Technical Documentation](https://docs.rocketpy.org/en/latest/technical/index.html)
- [Flight Examples](https://docs.rocketpy.org/en/latest/examples/index.html)

<br>

# Join Our Community!

RocketPy is growing fast! Many university groups and rocket hobbyists have already started using it. The number of stars and forks for this repository is skyrocketing. And this is all thanks to a great community of users, engineers, developers, marketing specialists, and everyone interested in helping.
- [RocketPy User Guide](https://docs.rocketpy.org/en/latest/user/index.html)
- [RocketPy Code Documentation](https://docs.rocketpy.org/en/latest/reference/index.html)
- [RocketPy Development Guide](https://docs.rocketpy.org/en/latest/development/index.html)
- [RocketPy Technical Documentation](https://docs.rocketpy.org/en/latest/technical/index.html)
- [RocketPy Flight Examples](https://docs.rocketpy.org/en/latest/examples/index.html)

If you want to be a part of this and make RocketPy your own, join our [Discord](https://discord.gg/b6xYnNh) server today!

<br>

# Previewing

You can preview RocketPy's main functionalities by browsing through a sample notebook in [Google Colab](https://colab.research.google.com/github/RocketPy-Team/rocketpy/blob/master/docs/notebooks/getting_started_colab.ipynb). No installation is required!

When you are ready to run RocketPy locally, you can read the *Getting Started* section!

<br>

# Getting Started

## Quick Installation

To install RocketPy's latest stable version from PyPI, just open up your terminal and run:
To install ActiveRocketPy, run the following commands in your terminal:

```shell
pip install rocketpy
```

For other installation options, visit our [Installation Docs](https://docs.rocketpy.org/en/latest/user/installation.html).
To learn more about RocketPy's requirements, visit our [Requirements Docs](https://docs.rocketpy.org/en/latest/user/requirements.html).

## Running Your First Simulation

In order to run your first rocket trajectory simulation using RocketPy, you can start a Jupyter Notebook and navigate to the `docs/notebooks` folder. Open `getting_started.ipynb` and you are ready to go. We recommend that you read the [First Simulation](https://docs.rocketpy.org/en/latest/user/first_simulation.html) page to get a complete description.

Otherwise, you may want to create your own script or your own notebook using RocketPy. To do this, let's see how to use RocketPy's four main classes:

- `Environment` - Keeps data related to weather.
- `Motor` - Subdivided into `SolidMotor`, `HybridMotor` and `LiquidMotor`. Keeps data related to rocket motors.
- `Rocket` - Keeps data related to a rocket.
- `Flight` - Runs the simulation and keeps the results.

The following image shows how the four main classes interact with each other:

![Diagram](https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/Fluxogram-Page-2.svg)

A typical workflow starts with importing these classes from RocketPy:

```python
from rocketpy import Environment, Rocket, SolidMotor, Flight
git clone https://github.com/<Your-GitHub-Account>/ActiveRocketPy.git
cd ActiveRocketPy
pip install -e . # install the ActiveRocketPy lib in editable mode
pip install -r requirements-optional.txt # install optional requirements
pip install -r requirements-tests.txt # install test/dev requirements
```

An optional step is to import datetime, which is used to define the date of the simulation:

```python
import datetime
```

Then create an Environment object. To learn more about it, you can use:

```python
help(Environment)
```

A sample code is:

```python
env = Environment(
latitude=32.990254,
longitude=-106.974998,
elevation=1400,
)

tomorrow = datetime.date.today() + datetime.timedelta(days=1)

env.set_date(
(tomorrow.year, tomorrow.month, tomorrow.day, 12), timezone="America/Denver"
) # Tomorrow's date in year, month, day, hour UTC format

env.set_atmospheric_model(type='Forecast', file='GFS')
```

This can be followed up by starting a Solid Motor object. To get help on it, just use:

```python
help(SolidMotor)
```

A sample Motor object can be created by the following code:

```python
Pro75M1670 = SolidMotor(
thrust_source="data/motors/cesaroni/Cesaroni_M1670.eng",
dry_mass=1.815,
dry_inertia=(0.125, 0.125, 0.002),
center_of_dry_mass_position=0.317,
grains_center_of_mass_position=0.397,
burn_time=3.9,
grain_number=5,
grain_separation=0.005,
grain_density=1815,
grain_outer_radius=0.033,
grain_initial_inner_radius=0.015,
grain_initial_height=0.12,
nozzle_radius=0.033,
throat_radius=0.011,
interpolation_method="linear",
nozzle_position=0,
coordinate_system_orientation="nozzle_to_combustion_chamber",
)
```

With a Solid Motor defined, you are ready to create your Rocket object. As you may have guessed, to get help on it, use:

```python
help(Rocket)
```

A sample code to create a Rocket is:

```python
calisto = Rocket(
radius=0.0635,
mass=14.426, # without motor
inertia=(6.321, 6.321, 0.034),
power_off_drag="data/rockets/calisto/powerOffDragCurve.csv",
power_on_drag="data/rockets/calisto/powerOnDragCurve.csv",
center_of_mass_without_motor=0,
coordinate_system_orientation="tail_to_nose",
)

buttons = calisto.set_rail_buttons(
upper_button_position=0.0818,
lower_button_position=-0.6182,
angular_position=45,
)

calisto.add_motor(Pro75M1670, position=-1.255)

nose = calisto.add_nose(
length=0.55829, kind="vonKarman", position=1.278
)

fins = calisto.add_trapezoidal_fins(
n=4,
root_chord=0.120,
tip_chord=0.040,
span=0.100,
sweep_length=None,
cant_angle=0,
position=-1.04956,
)

tail = calisto.add_tail(
top_radius=0.0635, bottom_radius=0.0435, length=0.060, position=-1.194656
)
```

You may want to add parachutes to your rocket as well:

```python
main = calisto.add_parachute(
name="main",
cd_s=10.0,
trigger=800, # ejection altitude in meters
sampling_rate=105,
lag=1.5,
noise=(0, 8.3, 0.5),
radius=1.5,
height=1.5,
porosity=0.0432,
)

drogue = calisto.add_parachute(
name="drogue",
cd_s=1.0,
trigger="apogee", # ejection at apogee
sampling_rate=105,
lag=1.5,
noise=(0, 8.3, 0.5),
radius=1.5,
height=1.5,
porosity=0.0432,
)
```

Finally, you can create a Flight object to simulate your trajectory. To get help on the Flight class, use:

```python
help(Flight)
```

To actually create a Flight object, use:

```python
test_flight = Flight(
rocket=calisto, environment=env, rail_length=5.2, inclination=85, heading=0
)
```

Once the Flight object is created, your simulation is done! Use the following code to get a summary of the results:

```python
test_flight.info()
```

To see all available results, use:

```python
test_flight.all_info()
```

Here is just a quick taste of what RocketPy is able to calculate. There are hundreds of plots and data points computed by RocketPy to enhance your analyses.

![6-DOF Trajectory Plot](https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/rocketpy_example_trajectory.svg)

If you want to see the trajectory on Google Earth, RocketPy acn easily export a KML file for you:

```python
test_flight.export_kml(file_name="test_flight.kml")
```

<img alt="6-DOF Trajectory Plot" src="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/trajectory-earth.png" width="501">

# Authors and Contributors

This package was originally created by [Giovani Ceotto](https://github.com/giovaniceotto/) as part of his work at [Projeto Jupiter](https://github.com/Projeto-Jupiter/). [Rodrigo Schmitt](https://github.com/rodrigo-schmitt/) was one of the first contributors. Later, [Guilherme Fernandes](https://github.com/Gui-FernandesBR/) and [Lucas Azevedo](https://github.com/lucasfourier/) joined the team to work on the expansion and sustainability of this project.

Since then, the [RocketPy Team](https://github.com/orgs/RocketPy-Team/teams/rocketpy-team) has been growing fast and our contributors are what makes us special!

## Institutional Contributors

RocketPy extends its gratitude to the following institutions for their support and contributions:

<div>
<a href="https://github.com/Projeto-Jupiter">
<picture align=top>
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/institutional/projeto_jupiter_dark.png" height="150px">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/institutional/projeto_jupiter_light.jpg" height="150px">
<img align=top id="projeto-jupiter-image" alt="Projeto Jupiter Logo" src="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/institutional/projeto_jupiter_light.jpg" height="150px">
</picture>
</a>
<a href="https://github.com/Space-Enterprise-at-Berkeley">
<img align=top alt="Space Enterprise at Berkeley Logo" src="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/institutional/space_enterprise_at_berkeley.jpeg" height="150px">
</a>
<a href="https://www.instagram.com/faradayupv">
<img align=top alt="Faraday Rocketry UPV Logo" src="https://raw.githubusercontent.com/RocketPy-Team/RocketPy/master/docs/static/institutional/faraday_team_logo.jpg" height="150px">
</a>
</div>

## Individual Contributors

RocketPy is also indebted to a growing list of individual contributors who actively participate in its development. These include:

[![GitHub Contributors Image](https://contrib.rocks/image?repo=RocketPy-Team/RocketPy)](https://github.com/RocketPy-Team/RocketPy/contributors)

See a [detailed list of contributors](https://github.com/RocketPy-Team/RocketPy/contributors) who are actively working on RocketPy.

## Supporting RocketPy and Contributing

The easiest way to help RocketPy is to demonstrate your support by starring our repository!

[![starcharts stargazers over time](https://starchart.cc/rocketpy-team/rocketpy.svg)](https://starchart.cc/rocketpy-team/rocketpy)

You can also become a [sponsor](https://github.com/sponsors/RocketPy-Team) and help us financially to keep the project going.

If you are actively using RocketPy in one of your projects, reaching out to our core team via [Discord](https://discord.gg/b6xYnNh) and providing feedback can help improve RocketPy a lot!

And if you are interested in going one step further, please read the [development documentation](https://docs.rocketpy.org/en/latest/development/index.html) to learn more about how you can contribute to the development of this next-gen trajectory simulation solution for rocketry.

## License

This project is licensed under the MIT License - see the [LICENSE.md](https://github.com/RocketPy-Team/RocketPy/blob/master/LICENSE) file for details

## Release Notes
> RocketPy was originally created by [Giovani Ceotto](https://github.com/giovaniceotto/) as part of his work at [Projeto Jupiter](https://github.com/Projeto-Jupiter/). [Rodrigo Schmitt](https://github.com/rodrigo-schmitt/) was one of the first contributors. Later, [Guilherme Fernandes](https://github.com/Gui-FernandesBR/) and [Lucas Azevedo](https://github.com/lucasfourier/) joined the team to work on the expansion and sustainability of this project.
> Since then, the [RocketPy Team](https://github.com/orgs/RocketPy-Team/teams/rocketpy-team) has been growing fast and our contributors are what makes us special!

Want to know which bugs have been fixed and the new features of each version? Check out the [release notes](https://github.com/RocketPy-Team/RocketPy/releases).
ActiveRocketPy is forked and maintained by [ZuoRen Chen](https://github.com/zuorenchen), along with the team from [Advanced Rocket Research Center (ARRC)](https://github.com/ARRC-Rocket).
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