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ufechner7
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Aug 1, 2026
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- src/fig8_controller.jl: L0 attractor-point guidance on a lemniscate in (azimuth, elevation), with turn-radius feasibility helpers.
- src/fig8_metrics.jl: headless run-quality metrics and success criteria.
- src/turn_rate_id.jl, src/turn_rate_table.jl: turn-rate law identification and the coefficient table with conditions checking.
- src/ripple_metrics.jl: ripple diagnostics.
- examples/simple_fig8.jl and simple_fig8_plots.jl: run script and plots.
- test/test_fig8_controller.jl, test_turn_rate_id.jl, test_ripple_metrics.jl.
- PlanFig8.md, PlanC1C2.md: design notes and tuning history.
Squashed history of the fig8 branch. - src/fig8_controller.jl: L0 attractor-point guidance on a lemniscate in (azimuth, elevation), with turn-radius feasibility helpers. - src/fig8_metrics.jl: headless run-quality metrics and success criteria. - src/turn_rate_id.jl, src/turn_rate_table.jl: turn-rate law identification and the coefficient table with conditions checking. - src/ripple_metrics.jl: ripple diagnostics. - examples/simple_fig8.jl and simple_fig8_plots.jl: run script and plots. - test/test_fig8_controller.jl, test_turn_rate_id.jl, test_ripple_metrics.jl. - PlanFig8.md, PlanC1C2.md: design notes and tuning history. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
ufechner7
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August 1, 2026 14:09
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Pull request overview
Adds a figure-eight (lemniscate) guidance stack for V3Kite, including geometry-only guidance, headless run-quality metrics, and a YAML-backed turn-rate coefficient table loaded at package init. It also extends the winch/controller interface to support compliant behavior (scaled force feed-forward and force-mode torque control), adds an optional model warm-up to remove settling transients from logs, and improves several logging/plotting and cache-key behaviors.
Changes:
- Introduces
turn_rate_coeffstable loading/interpolation fromdata/turn_rate_coeffs.yaml, plus related exports and tests. - Adds figure-eight path-following guidance (
FigureEightController) and figure-eight run metrics/criteria (fig8_metrics/print_fig8_metrics), plus example run + plotting scripts and tuning/settings YAML. - Updates winch settings + interface: feed-forward scaling, a force-mode winch controller, warm-up support, drag-floor gating for L/D logging, and stabilization cache-key improvements (include elevation / numeric tags).
Reviewed changes
Copilot reviewed 29 out of 29 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| test/test-interface.jl | Updates interface expectations for compliant winch settings and bounded position-mode behavior. |
| test/test_fig8_controller.jl | Adds geometry-focused tests for fig8 guidance, metrics regressions, and turn-rate lookup/interpolation behavior. |
| test/runtests.jl | Includes the new fig8 controller test file in the test suite. |
| src/wc_settings.jl | Adds new winch settings fields (ff scale, force-mode parameters) with documentation. |
| src/V3Kite.jl | Includes new modules, exports new APIs, and loads the turn-rate table in __init__. |
| src/turn_rate_table.jl | Implements YAML-backed turn-rate coefficient table loading, validation, warnings, and interpolation. |
| src/stabilization.jl | Improves settled-geometry cache key (elevation + generalized numeric tag helper). |
| src/sim_helpers.jl | Adds drag-floor gating helper and span-mean AoA helper; enhances PID factory with derivative filter parameter. |
| src/interface.jl | Adds winch feed-forward scaling, force-mode winch torque controller, warm-up facility, vsm_interval plumbing, and L/D gating. |
| src/fig8_metrics.jl | Adds headless metrics + pass/fail criteria for figure-eight runs, including extent/reach checks. |
| src/fig8_controller.jl | Adds L0 attractor-point fig8 guidance and turn-radius feasibility helpers. |
| src/fc_settings.jl | Adds YAML-loadable fig8 flight-controller tuning/settings struct. |
| SmallPlan.md | Adds detailed tuning log/plan and supporting rationale for the fig8 work. |
| examples/steering_test_v3.jl | Updates documentation/comments about depower sensitivity in turn-rate ID. |
| examples/simple_parking.jl | Adjusts default depower setpoint for the simple parking example. |
| examples/simple_fig8.jl | Adds the full fig8 simulation script with entry phases, PID scheduling, metrics, and logging conventions. |
| examples/simple_fig8_plots.jl | Adds plotting script for fig8 runs (pattern, time series, aero panels). |
| examples/Project.toml | Pins MakieControlPlots compat to avoid known legend rendering crash. |
| examples/plot_rate_coeffs.jl | Adds plotting script for turn-rate coefficient table vs depower. |
| examples/fig8_log_meta.jl | Adds utilities to store/read fig8 geometry metadata in Arrow logs. |
| examples/fig_eight_plots.jl | Adds/updates plotting for fig8 reference logs, with metadata fallback. |
| examples/build_turn_rate_table.jl | Adds a driver to populate/update the YAML coefficient table via sweeps. |
| data/wc_settings.yaml | Adds/updates winch compliance + force-mode settings and detailed tuning notes. |
| data/turn_rate_coeffs.yaml | Adds the YAML-backed coefficient table used by turn_rate_coeffs. |
| data/settings_reelout.yaml | Updates initial tether length configuration. |
| data/fc_settings.yaml | Adds default YAML settings for the fig8 flight-controller example. |
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| mutable struct TurnRateTable | ||
| conditions::Dict{Symbol, Any} | ||
| entries::Vector{<:NamedTuple} | ||
| end |
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| max_steering_delivered = maximum(abs.(act)) | ||
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| return (; | ||
| stats_start, | ||
| laps, | ||
| az_reach_pos, | ||
| az_reach_neg, | ||
| az_reach_pos_worst, | ||
| az_reach_neg_worst, | ||
| az_fill_pos, | ||
| az_fill_neg, | ||
| el_span, | ||
| el_fill, | ||
| az_amplitude, | ||
| el_height, | ||
| rms_d = sqrt(mean(d .^ 2)), | ||
| mean_d = mean(d), | ||
| max_d = maximum(d), | ||
| min_elevation_settled = rad2deg(minimum(sl.elevation[settled])), | ||
| min_elevation_all = rad2deg(minimum(sl.elevation)), | ||
| mean_force = mean(fp), | ||
| std_force = std(fp), | ||
| cv_force = std(fp) / mean(fp), |
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| n = round(Int, warmup_time / s.dt) | ||
| n < 1 && return nothing | ||
| if n > s.steps | ||
| # The warm-up logs through the run's logger before that log is thrown | ||
| # away, and the logger holds `steps + 1` rows. | ||
| @warn "warmup_time is longer than the whole run; clamping to sim_time." | ||
| n = s.steps | ||
| end | ||
| @info @sprintf("init: warming up %.2f s (%d steps) with the winch in %s mode...", | ||
| warmup_time, n, force_mode ? "force" : "position") |
Member
Author
|
Shall not be merged. Moving it to SimpleKiteControllers.jl. |
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