Av 1076 fix monte python

Simulation/6DOF_RK4/properties/configs/legacy_properties.yaml → Simulation/6DOF_RK4/Configurations/configs/legacy_properties.yaml

@@ -31,5 +31,5 @@ sensors:
   bno:
     error: !eval 2.5/3
 meta:
-  output_file: '../output/simulated_6dof.csv'
-  monte_carlo_output_folder: '../output/monte_carlo'
+  output_file: '../../output/simulated_6dof.csv'
+  monte_carlo_output_folder: '../../output/monte_carlo'

Simulation/6DOF_RK4/properties/configs/staging_rocket.yaml → Simulation/6DOF_RK4/Configurations/configs/staging_rocket.yaml

@@ -6,7 +6,7 @@ rocket:
       <<: *simulated_stage
       rocket_body:
         <<: *simulated_rocket_body
-        rasaero_lookup_file: "../lookup/RASAero.csv"
+        rasaero_lookup_file: "../../Configurations/LookUp/RASAero.csv"
         C_d: 0.5
         C_d_s: 1.2
         length: 6.68
@@ -34,7 +34,7 @@ rocket:
       <<: *simulated_stage
       rocket_body:
         <<: *simulated_rocket_body
-        rasaero_lookup_file: "../lookup/RASAero.csv"
+        rasaero_lookup_file: "../../Configurations/LookUp/RASAero.csv"
         C_d: 0.5
         C_d_s: 1.2
         length: 3.34
@@ -60,7 +60,7 @@ rocket:
         max_ext_spd: 0.001
 desired_apogee: 4572
 meta:
-  output_file: '../output/simulated_6dof.csv'
-  monte_carlo_output_folder: '../output/monte_carlo'
+  output_file: '../../Output/simulated_6dof.csv'
+  monte_carlo_output_folder: '../../Output/monte_carlo'
 
 

Simulation/6DOF_RK4/properties/data_loader.py → Simulation/6DOF_RK4/Configurations/data_loader.py

@@ -1,8 +1,10 @@
 import yaml 
 import numpy
 import os
-from properties.yaml_datatypes import get_loader
-import properties.properties as prop
+import sys
+
+from yaml_datatypes import get_loader
+import properties as prop
 
 config = None
 
@@ -46,12 +48,12 @@ def load_config(config_path):
   raw_yaml = ""
 
   # Load all data types and YAML structures
-  with open(os.path.join(os.path.dirname(__file__), "../properties/typedef.yaml")) as typedef: 
+  with open(os.path.join(os.path.dirname(__file__), "typedef.yaml")) as typedef: 
     # Add yaml type definitions to current loaded file
     raw_yaml += typedef.read()
 
   # Load all ./templates
-  template_directory = os.path.join(os.path.dirname(__file__), "../properties/templates")
+  template_directory = os.path.join(os.path.dirname(__file__), "templates")
   for template_filename in os.listdir(template_directory):
     template = os.path.join(template_directory, template_filename)
     # Check if template is a yaml file or not (All ./templates must be .yaml files.)

Simulation/6DOF_RK4/properties/properties.py → Simulation/6DOF_RK4/Configurations/properties.py

@@ -2,7 +2,7 @@
 import numpy as np
 
 # Config file
-sim_config = "../properties/configs/staging_rocket.yaml"
+sim_config = "configs/staging_rocket.yaml"
 
 ### Calculated constants
 # Gravitational const

Simulation/6DOF_RK4/properties/templates/motors.yaml → Simulation/6DOF_RK4/Configurations/templates/motors.yaml

@@ -3,29 +3,29 @@ define: &motor_M2500
   impulse: 9671.0
   motor_mass: 8.064
   delay: 60
-  motor_lookup_file: "../lookup/m2500.csv"
+  motor_lookup_file: "../../Configurations/LookUp/m2500.csv"
   cm: !numpy/array [0.3755, 0., 0.]
 
 define: &motor_N5800
   <<: *simulated_motor
   impulse: 20145.7
   motor_mass: 14.826
   delay: 60
-  motor_lookup_file: "../lookup/n5800.csv"
+  motor_lookup_file: "../../Configurations/LookUp/n5800.csv"
   cm: !numpy/array [0.3755, 0., 0.]
 
 define: &motor_N2450
   <<: *simulated_motor
   impulse: 17907.0
   motor_mass: 10.7
   delay: 60
-  motor_lookup_file: "../lookup/n2540.csv"
+  motor_lookup_file: "../../Configurations/LookUp/n2540.csv"
   cm: !numpy/array [0.3755, 0., 0.]
 
 define: &motor_J244
   <<: *simulated_motor
   impulse: 849
   motor_mass: 0.911
   delay: 60
-  motor_lookup_file: "../lookup/j244.csv"
+  motor_lookup_file: "../../Configurations/LookUp/j244.csv"
   cm: !numpy/array [0.3755, 0., 0.]

Simulation/6DOF_RK4/dynamics/forces.py → Simulation/6DOF_RK4/Core/dynamics/forces.py

@@ -5,14 +5,15 @@
 - aerodynamic
     - wind (comes from atmosphere class)
 '''
-import dynamics.motor as motor
-import environment.atmosphere as atmosphere
-import properties.properties as prop
 import numpy as np
 import util.vectors as vct
 import pandas as pd
 import os
-import random
+import sys
+
+sys.path.insert(0, os.path.abspath(
+    os.path.join(os.path.dirname(__file__), '..','..','Configurations')))
+import properties as prop
 
 # Define Objects
 

Simulation/6DOF_RK4/simulation/simulator.py → Simulation/6DOF_RK4/Core/dynamics/propagator.py

@@ -1,10 +1,6 @@
 import numpy as np
-import scipy
 import random
-import matplotlib.pyplot as plt
-# import dynamics.forces as forces
-import util.vectors as vct
-# import properties.properties as prop
+
 import dynamics.rocket as rocket_model
 import environment.atmosphere as atm_model
 

Simulation/6DOF_RK4/dynamics/rocket.py → Simulation/6DOF_RK4/Core/dynamics/rocket.py

@@ -264,7 +264,7 @@ def add_to_dict(self, x, baro_alt, accel, bno_ang_pos, gyro, kalman_filter, kf_c
         self.sim_dict["motor_mass"].append(motor_mass)
 
     # Converts the data saved in this sim into csv
-    def to_csv(self):
+    def to_list(self):
         #Output
         record = []
         for point in range(len(self.sim_dict["time"])):
@@ -303,8 +303,8 @@ def to_csv(self):
 
             record.append(cur_point)
         return record
-
-        
+    
+
 # if __name__ == '__main__':
     # rocket = Rocket(motor_mass=5,rocket_dry_mass=2)
     # print(rocket.rocket_total_mass)

Simulation/6DOF_RK4/dynamics/sensors.py → Simulation/6DOF_RK4/Core/dynamics/sensors.py

@@ -1,10 +1,16 @@
 import numpy as np
 import util.vectors as vct
 import random
-import properties.properties as prop
-import properties.data_loader as dataloader
+import os
+import sys
+
 import environment.atmosphere as atm
 
+sys.path.insert(0, os.path.abspath(
+    os.path.join(os.path.dirname(__file__), '..','..','Configurations')))
+import properties as prop
+import data_loader as dataloader
+
 def get_accelerometer_data(x_state, sensor_config):
     """Returns the accelerometer data in the body frame of the rocket.
 

Simulation/6DOF_RK4/environment/atmosphere.py → Simulation/6DOF_RK4/Core/environment/atmosphere.py

@@ -293,7 +293,7 @@ def get_wind_vector(self, tStamp)->np.ndarray:
         current_wind_direction_ = np.zeros(3)
         if self.enable_direction_variance_:
             if((tStamp - self.last_direction_variance_update_) >= self.direction_variance_update_rate_):
-                generated_direction_variance = np.random.normal(self.nominal_wind_direction_, 3)
+                generated_direction_variance = np.random.normal(self.nominal_wind_direction_, self.wind_direction_variance_stddev_)
                 generated_direction_variance = generated_direction_variance / np.linalg.norm(generated_direction_variance)
                 self.last_direction_variance_update_ = tStamp
 

Simulation/6DOF_RK4/estimation/apogee_estimator.py → Simulation/6DOF_RK4/Core/estimation/apogee_estimator.py

@@ -1,14 +1,16 @@
 import numpy as np
-import scipy
 import matplotlib.pyplot as plt
 import os
+import sys
 import pandas as pd
 import math
 
-import dynamics.forces as forces
-import util.vectors as vct
-import properties.properties as prop
 import dynamics.rocket as rocket_model
+
+sys.path.insert(0, os.path.abspath(
+    os.path.join(os.path.dirname(__file__), '..','..','Configurations')))
+
+import properties as prop
 class Apogee: 
     '''Apogee Estimator Class
 

Simulation/6DOF_RK4/simulation/pysim.py → Simulation/6DOF_RK4/Core/simulation.py

@@ -1,66 +1,28 @@
-# ______      _____ _              __________ ___________ 
-# | ___ \    /  ___(_)            / ___|  _  \  _  |  ___|
-# | |_/ /   _\ `--. _ _ __ ___   / /___| | | | | | | |_   
-# |  __/ | | |`--. \ | '_ ` _ \  | ___ \ | | | | | |  _|  
-# | |  | |_| /\__/ / | | | | | | | \_/ | |/ /\ \_/ / |    
-# \_|   \__, \____/|_|_| |_| |_| \_____/___/  \___/\_|    
-#        __/ |                                            
-#       |___/                                             
-
-# A 6DOF RK-4 Based simulation that uses RASAero aerodynamic data and known motor thrust data to simulate motion of the rocket
-# with simulated sensor data as well as a implementation of the Extended Kalman Filter and active drag PID controller for the ISS
-# Spaceshot entry for the 2023 IREC competition. This simulation was used to quantify the effects of the airbrakes, test 
-# different system design methodlogies, and provide preliminary tuning for the EKF and controller prior to implementation in 
-# SILSIM and flight software.
-# 
-# 2022-2023 Guidance, Navigation, and Control Main Contributors #
-# Sub-Team Lead: Parth Shrotri (2024)
-# Colin Kinsey (2024)
-# Evan Yu (2025)
-# Rithvik Bhogavilli (2025)
-# Kabir Cheema (2025)
-# Freya Bansal (2025)
-# Ishaan Bansal (2025)
-# Ethan Pereira (2026)
-
 import numpy as np
-import matplotlib.pyplot as plt
-import os
-import sys
-import shutil
-
-sys.path.insert(0, os.path.abspath(
-    os.path.join(os.path.dirname(__file__), '..')))
 
 import estimation.ekf as ekf
 import estimation.r_ekf as r_ekf
-import properties.properties as prop
-import properties.data_loader as dataloader
-import simulator as sim_class
 import dynamics.sensors as sensors
-import time
 import estimation.apogee_estimator as apg
 import dynamics.rocket as rocket_model
 import environment.atmosphere as atmosphere
 
-# Load desired config file
-config = dataloader.config
-
-# Runs simulation for the specific component of the rocket
 class Simulation:
     # dt can be dynamic in the future, so we need to 
-    def __init__(self, rocket, motor, dt, x0, time_stamp=0, stages=[]):
+    def __init__(self, sim, rocket, atm, dt, x0, kf_dt, time_stamp=0, stages=[]):
+        self.sim = sim
         self.rocket = rocket
         self.stages = stages
-        self.motor = motor
+        self.motor = rocket.motor
+        self.atm = atm
         self.dt = dt
         self.x = x0.copy()
         self.baro = 0
         self.time_stamp = time_stamp
         self.sensor_config = self.rocket.stage_config['sensors']
-        self.init_kalman_filters()
+        self.init_gnc(kf_dt)
 
-    def init_kalman_filters(self):
+    def init_gnc(self, dt):
         # TODO: Init with previous rocket data
         self.kalman_filter = ekf.KalmanFilter(dt, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
         # TODO: init this data with the previous rocket becuase of staging
@@ -82,7 +44,7 @@ def init_kalman_filters(self):
         pitch = -1 * (np.arctan2(-az,-ay) + np.pi/2)
         yaw = np.arctan2(-ax,-ay) + np.pi/2
         self.r_kalman_filter = r_ekf.KalmanFilter_R(dt, 0.0, 0.0, 0.0, pitch, 0.0, 0.0, yaw, 0.0, 0.0)
-        self.apogee_estimator = apg.Apogee(self.kalman_filter.get_state(), 0.1, 0.01, 3, 30, atm, self.rocket.stage_config)
+        self.apogee_estimator = apg.Apogee(self.kalman_filter.get_state(), 0.1, 0.01, 3, 30, self.atm, self.rocket.stage_config)
 
     def update_kalman(self, baro_alt, accel, gyro, bno_ang_pos):
         self.kalman_filter.priori()
@@ -102,17 +64,18 @@ def idle_stage(self):
             self.kalman_filter.reset_lateral_pos()
             current_state, current_covariance, current_state_r = self.get_kalman_state()
 
-            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, 0, current_state[0], self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, dt)
+            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, 0, current_state[0], self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, self.dt)
             self.time_step()
 
-    def execute_stage(self):
+    def execute_stage(self, print=False):
         # Run the stages
         stage_separation_delay = 1
         self.rocket.get_motor().ignite(self.time_stamp)
 
         ignition_time = self.time_stamp
         start = True
-        print(f"Staged at {self.time_stamp}")
+        if print:
+            print(f"Staged at {self.time_stamp}")
         while self.time_stamp < ignition_time + self.rocket.get_motor().get_burn_time() + stage_separation_delay:
             # Get sensor data
             baro_alt, accel, gyro, bno_ang_pos = self.get_sensor_data()
@@ -124,9 +87,9 @@ def execute_stage(self):
             self.rocket.set_motor_mass(self.time_stamp)
 
             is_staging = start and self.rocket.current_stage != -1
-            self.x, alpha = sim.RK4(self.x, dt, self.time_stamp, is_staging, 0)
+            self.x, alpha = self.sim.RK4(self.x, self.dt, self.time_stamp, is_staging, 0)
 
-            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, alpha, apogee_est, self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, dt)
+            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, alpha, apogee_est, self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, self.dt)
             self.time_step()
             if start:
                 start = False
@@ -159,56 +122,22 @@ def coast(self):
 
             apogee_est = self.apogee_estimator.predict_apogee(current_state[0:3])
 
-            self.x, alpha = sim.RK4(self.x, dt, self.time_stamp, 0)
+            self.x, alpha = self.sim.RK4(self.x, self.dt, self.time_stamp, 0)
 
-            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, alpha, apogee_est, self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, dt)
+            self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, alpha, apogee_est, self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, self.dt)
             self.time_step()
-
-def simulator(x0, rocket, motor, dt) -> None:
-    '''Method which handles running the simulation and logging sim data to dict
-
-    Args:
-        x0 (np.array): state vector initialized to 0s [6x3]
-             x:         y:         z:
-           [[pos,       pos,       pos],
-            [vel,       vel,       vel],
-            [accel,     accel,     accel],
-            [ang_pos,   ang_pos,   ang_pos],
-            [ang_vel,   ang_vel,   ang_vel],
-            [ang_accel, ang_accel, ang_accel]]
-        dt (float): time step between each iteration in simulation
-    '''
-    simulator = Simulation(rocket, motor, dt, x0, stages=rocket.stages)
-    simulator.idle_stage()
-    t_start = time.time()
-    simulator.run_stages()
-    simulator.coast()
-    t_end = time.time() - t_start
-    print(f"Runtime: {t_end:.2f} seconds")
-
-
-if __name__ == '__main__':
-    x0 = np.zeros((6, 3))
-    x0[3] = [0, 0.05, 0]
-    dt = 0.01
-
-    atm = atmosphere.Atmosphere(enable_direction_variance=True, enable_magnitude_variance=True)
 
+def gen_sim_objs(config, atmo_args):
+    atm = atmosphere.Atmosphere(wind_direction_variance_stddev=atmo_args.get("wind_direction_stddev", 0),
+                            wind_magnitude_variance_stddev=atmo_args.get("wind_magnitude_stddev", 0),
+                            enable_direction_variance=atmo_args.get("enable_direction_variance", False),
+                            enable_magnitude_variance=atmo_args.get("enable_magnitude_variance", False),
+                            nominal_wind_magnitude=atmo_args.get("nominal_wind_magnitude", 0.0),
+                            nominal_wind_direction=atmo_args.get("nominal_wind_direction", np.array([0, 0, 0])))
     stages = []
     for stage in config['rocket']['stages'][1:]:
         stages.append(rocket_model.Rocket(stage, atm=atm))
     rocket = rocket_model.Rocket(config['rocket']['stages'][0], atm=atm, stages=stages)
 
-    motor = rocket.motor
-    sim = sim_class.Simulator(atm=atm, rocket=rocket)
-
-    simulator(x0, rocket, motor, dt)
-
-    print("Writing to file...")
-
-    record = rocket.to_csv()
-    output_file = os.path.join(os.path.dirname(__file__), config["meta"]["output_file"])
-    with open(output_file, 'w') as f:
-        f.write("time,pos_x,pos_y,pos_z,vel_x,vel_y,vel_z,accel_x,accel_y,accel_z,ang_pos_x,ang_pos_y,ang_pos_z,ang_vel_x,ang_vel_y,ang_vel_z,ang_accel_x,ang_accel_y,ang_accel_z,alpha,rocket_total_mass,motor_mass,flap_ext,baro_alt,imu_accel_x,imu_accel_y,imu_accel_z,imu_ang_pos_x,imu_ang_pos_y,imu_ang_pos_z,imu_gyro_x,imu_gyro_y,imu_gyro_z,apogee_estimate,kalman_pos_x,kalman_vel_x,kalman_accel_x,kalman_pos_y,kalman_vel_y,kalman_accel_y,kalman_pos_z,kalman_vel_z,kalman_accel_z,pos_cov_x,vel_cov_x,accel_cov_x,pos_cov_y,vel_cov_y,accel_cov_y,pos_cov_z,vel_cov_z,accel_cov_z,kalman_rpos_x,kalman_rvel_x,kalman_raccel_x,kalman_rpos_y,kalman_rvel_y,kalman_raccel_y,kalman_rpos_z,kalman_rvel_z,kalman_raccel_z\n")
-        for point in record:
-            f.write(f"{','.join(point)}\n")
+    return atm, rocket
+