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+28.49051,S,26.52051,0.2118458,0.5197438,0.7200752,0.001314023,0,7.87125,2.08332,0.003808889,29.79639,37.68041,2.543233,-23.9810356120562,-23.89721,-2.003353,235.396968042916,-224.0541,54.58667,-71.62122,-76.30769,4409.1,2003.473 +28.50051,S,26.53051,0.2120431,0.5173789,0.7200617,0.001308039,0,7.87125,2.087343,0.003798923,29.79639,37.68041,2.543233,-23.964564128442,-23.88058,-2.004553,235.618130406989,-224.2929,54.56662,-71.64603,-76.32655,4406.856,2004.019 +28.51051,S,26.54051,0.2122404,0.5150282,0.7200482,0.00130209,0,7.87125,2.091369,0.003788997,29.79639,37.68041,2.543233,-23.9480827916892,-23.86394,-2.005751,235.83913496285,-224.5315,54.54656,-71.67078,-76.34537,4404.611,2004.565 +28.52051,S,26.55051,0.2124375,0.5126919,0.7200348,0.001296175,0,7.87125,2.095394,0.003779109,29.79639,37.68041,2.543233,-23.9316013990503,-23.8473,-2.006945,236.060077933095,-224.77,54.52649,-71.69546,-76.36414,4402.364,2005.11 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+38,7 @@ class Forces: rasaero_file_location = "" # Will be set in constructor rasaero = None - def __init__(self, max_ext_length, cm, cp, A, A_s, rocket_dry_mass, motor, rasaero_lookup_file, atm): + def __init__(self, max_ext_length, cm, cp, A, A_s, rocket_dry_mass, motor, rasaero_lookup_file, atm, given_multiplier=1): self.max_ext_length = max_ext_length self.cm = cm self.cp = cp @@ -45,12 +47,13 @@ def __init__(self, max_ext_length, cm, cp, A, A_s, rocket_dry_mass, motor, rasae self.rocket_dry_mass = rocket_dry_mass self.motor = motor self.atm = atm + self.Alpha_Tilt_Multiplier = given_multiplier self.rasaero_file_location = os.path.join(os.path.dirname(__file__), rasaero_lookup_file) self.rasaero = pd.read_csv(self.rasaero_file_location) - def get_force(self, x_state, flap_ext, time_stamp, ejection_force, theta, phi, density_noise=False) -> np.ndarray: + def get_force(self, x_state, flap_ext, time_stamp, ejection_force, theta, phi, multiplier, density_noise=False) -> np.ndarray: '''Calculates net force felt by rocket while accounting for thrust, drag, gravity, wind Args: @@ -67,8 +70,19 @@ def get_force(self, x_state, flap_ext, time_stamp, ejection_force, theta, phi, d density = self.atm.get_density(alt, noise=density_noise, position=x_state[0]) thrust = self.motor.get_thrust(time_stamp) wind_vector = self.atm.get_wind_vector(time_stamp) - alpha = self.get_alpha(x_state, wind_vector) + + + alpha = self.get_alpha(x_state, wind_vector) drag = self.aerodynamic_force(x_state, density, wind_vector, alpha, self.rasaero, thrust.dot(thrust) > 0, flap_ext) + + # no clue why drag is not working as intended orignally, this is like a bandaid over the problem + # needs to be looked at down the road but works for now. DO NOT DELETE!!!! + drag_magnitude = np.linalg.norm(drag) + max_drag = 70 + if(drag_magnitude > max_drag): + drag = (drag/drag_magnitude) * max_drag + + grav = self.gravitational_force(alt, time_stamp) force = vct.body_to_world(*x_state[2],thrust + drag) + grav moment = vct.body_to_world(*x_state[2], np.cross(-self.cm, thrust) + self.aerodynamic_moment(drag)) @@ -199,10 +213,14 @@ def aerodynamic_moment(self, aerodynamic_force) -> np.ndarray: return aerodynamic_moment def get_alpha(self, x_state, wind_vector) -> float: + incident_velocity = vct.world_to_body(*x_state[2], vct.norm(x_state[1] + wind_vector)) orientation = vct.world_to_body(*x_state[2], np.array([1,0,0])) alpha = np.arccos(np.dot(incident_velocity, orientation)) if(np.linalg.norm(incident_velocity) == 0): alpha = 0 - return alpha + # Takes alpha value generated mathematically and multiplies it by the Alpha_Tilt_Multiplier + # Multiplier = 1 if Nominal, else if tilt_lockout: Multiplier = 30 + return alpha * self.Alpha_Tilt_Multiplier + \ No newline at end of file diff --git a/Simulation/6DOF_RK4/dynamics/rocket.py b/Simulation/6DOF_RK4/dynamics/rocket.py index 2b7c41c..5e6b7a4 100644 --- a/Simulation/6DOF_RK4/dynamics/rocket.py +++ b/Simulation/6DOF_RK4/dynamics/rocket.py @@ -19,6 +19,8 @@ class Rocket: motor = None forces = None stage_config = None + #Multiplier passed through to Rocket to be used for over exaggerating alpha values + Alpha_multiplier = 1 def init_dicts(self): self.sim_dict = { @@ -338,6 +340,7 @@ 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): #Output record = [] @@ -375,4 +378,4 @@ def to_csv(self): cur_point += map(str, list(self.kalman_dict["rz"][point])) record.append(cur_point) - return record + return record \ No newline at end of file diff --git a/Simulation/6DOF_RK4/properties/configs/stargazer14_flightlike.yaml b/Simulation/6DOF_RK4/properties/configs/stargazer14_flightlike.yaml new file mode 100644 index 0000000..180c69a --- /dev/null +++ b/Simulation/6DOF_RK4/properties/configs/stargazer14_flightlike.yaml @@ -0,0 +1,66 @@ +<<: *pysim_simulation +rocket: + <<: *simulated_rocket + stages: + - booster: + <<: *simulated_stage + rocket_body: + <<: *simulated_rocket_body + rasaero_lookup_file: "../lookup/RASAero.csv" + C_d: 0.8 + C_d_s: 1.2 + length: 2.338 + dry_mass: 7.189 + radius: 0.0381 + structure_cm: !numpy/array [1.111, 0., 0.] + combined_cm: !numpy/array [1.006, 0., 0.] + combined_cp: !numpy/array [0.792, 0., 0.] + motor: + <<: *motor_J430 + sensors: + high_g: + RMS: 1.9 # milli g + gyro: + RMS: 75 # mdps (millidegrees per second) + barometer: + RMS: .012 # Pascal Conversion + bno: + error: !eval 2.5/3 + flaps: + <<: *simulated_flaps + max_ext_length: 0.001 + max_ext_spd: 0.001 + - sustainer: + <<: *simulated_stage + rocket_body: + <<: *simulated_rocket_body + rasaero_lookup_file: "../lookup/RASAero.csv" + C_d: 0.5 + C_d_s: 1.2 + length: 1.341 + dry_mass: 3.570 + radius: 0.0381 + structure_cm: !numpy/array [0.65, 0., 0.] + combined_cm: !numpy/array [0.526, 0., 0.] + combined_cp: !numpy/array [0.378, 0., 0.] + motor: + <<: *motor_J280 + sensors: + high_g: + RMS: 1.9 # milli g + gyro: + RMS: 75 # mdps (millidegrees per second) + barometer: + RMS: .012 # Pascal Conversion + bno: + error: !eval 2.5/3 + flaps: + <<: *simulated_flaps + max_ext_length: 0.001 + max_ext_spd: 0.001 +desired_apogee: 1824 +meta: + output_file: '../output/simulated_6dof.csv' + monte_carlo_output_folder: '../output/monte_carlo' + + diff --git a/Simulation/6DOF_RK4/properties/data_loader.py b/Simulation/6DOF_RK4/properties/data_loader.py index 25d5900..8843563 100644 --- a/Simulation/6DOF_RK4/properties/data_loader.py +++ b/Simulation/6DOF_RK4/properties/data_loader.py @@ -72,4 +72,64 @@ def load_config(config_path): print("PySim Configuration loaded with no fatal errors.") return yaml_content -config = load_config(prop.sim_config) \ No newline at end of file +def load_config_skip_section(config_path, start_key, end_key): + """Loads and validates a config, but skips content between start_key and end_key. + this is for tilt lockout scenarios, where we skip through the yaml file and cut out the second motor to test + drogue deployment. its literally a copy-paste of the load_config function except after raw yaml += and filteredyaml shows up + """ + + if config is not None: + print("PySim Configuration WARN: data_loader.load_config_skip_section() has been called more than once.") + + raw_yaml = "" + + with open(os.path.join(os.path.dirname(__file__), "../properties/typedef.yaml")) as typedef: + raw_yaml += typedef.read() + + template_directory = os.path.join(os.path.dirname(__file__), "../properties/templates") + for template_filename in os.listdir(template_directory): + template = os.path.join(template_directory, template_filename) + if os.path.isfile(template) and template.endswith(".yaml"): + with open(template) as template_raw: + raw_yaml += "\n" + template_raw.read() + else: + print(f"PySim Configuration WARN: Non-YAML file {template} found in /templates.") + + with open(os.path.join(os.path.dirname(__file__), config_path)) as cfg_raw: + raw_yaml += "\n" + cfg_raw.read() + + filtered_yaml = skip_section(raw_yaml, start_key, end_key) + + yaml_content = list(yaml.load_all(filtered_yaml, Loader=get_loader()))[0] + validate_config(yaml_content) + del yaml_content['define'] # Remove header data + + print("PySim Configuration loaded with sustainer motor cut.") + return yaml_content + +def skip_section(yaml_text, start_key, end_key): + """Removes lines from start_key to end_key in a YAML string. + startkey will typically be " sustainer:" + endkey will be like "desired apogee:", + and it skips over everything starting at sustainer and right before desired apogee + works perfect for our two stage rockets if we follow naming convention, might need some tweaking once we go to three-stage + """ + lines = yaml_text.splitlines() + result = [] + skip = False + + for line in lines: + if start_key in line: + skip = True + if end_key in line: + skip = False + continue + + if not skip: + result.append(line) + + return "\n".join(result) + +config = load_config(prop.sim_config) # nominal config load, has all the gears and gadgets +config_tilt = load_config_skip_section(prop.sim_config, prop.tiltlock_startkey, prop.tiltlock_endkey) +# config for tilt, which shouldnt have sustainer motor data, check console when running pysim.py diff --git a/Simulation/6DOF_RK4/properties/properties.py b/Simulation/6DOF_RK4/properties/properties.py index 188ed78..f193877 100644 --- a/Simulation/6DOF_RK4/properties/properties.py +++ b/Simulation/6DOF_RK4/properties/properties.py @@ -2,7 +2,10 @@ import numpy as np # Config file -sim_config = "../properties/configs/staging_rocket.yaml" +sim_config = "../properties/configs/stargazer14_flightlike.yaml" +tiltlock_startkey = " - sustainer:" +tiltlock_endkey = "desired_apogee:" + ### Calculated constants # Gravitational const diff --git a/Simulation/6DOF_RK4/properties/templates/motors.yaml b/Simulation/6DOF_RK4/properties/templates/motors.yaml index 84e6dce..dbba598 100644 --- a/Simulation/6DOF_RK4/properties/templates/motors.yaml +++ b/Simulation/6DOF_RK4/properties/templates/motors.yaml @@ -28,4 +28,20 @@ define: &motor_J244 motor_mass: 0.911 delay: 60 motor_lookup_file: "../lookup/j244.csv" + cm: !numpy/array [0.3755, 0., 0.] + +define: &motor_J280 + <<: *simulated_motor + impulse: 716.5 + motor_mass: 0.954 + delay: 60 + motor_lookup_file: "../lookup/j280.csv" + cm: !numpy/array [0.3755, 0., 0.] + +define: &motor_J430 + <<: *simulated_motor + impulse: 821.1 + motor_mass: 0.8 + delay: 60 + motor_lookup_file: "../lookup/j430.csv" cm: !numpy/array [0.3755, 0., 0.] \ No newline at end of file diff --git a/Simulation/6DOF_RK4/simulation/pysim.py b/Simulation/6DOF_RK4/simulation/pysim.py index 22d1c76..26060d7 100644 --- a/Simulation/6DOF_RK4/simulation/pysim.py +++ b/Simulation/6DOF_RK4/simulation/pysim.py @@ -42,8 +42,25 @@ import dynamics.rocket as rocket_model import environment.atmosphere as atmosphere +"""" +This branch of TARS-Controls purpose is to modify Pysim to allow for non-nominal flight data. + + + +"""" + # Load desired config file config = dataloader.config +#Asks if user would like a nominal flight or one with Tilt Lockout. +angleCheck = input("Nominal or Tilted Angle of Attack? ").lower() +tiltCommand = "Tilt".lower() + +# zero at first, it waits for program to load and then when first rocket ignites, it tracks that value for calc used later +# for some reason when the rocket is staged, it gets a random alpha value. just ignore it, its not a big deal +firstIgnitTime = 0 + +if angleCheck == tiltCommand: + config = dataloader.config_tilt # Runs simulation for the specific component of the rocket class Simulation: @@ -56,6 +73,9 @@ def __init__(self, rocket, motor, dt, x0, time_stamp=0, stages=[]): self.x = x0.copy() self.baro = 0 self.time_stamp = time_stamp + self.nominal = angleCheck + if (self.nominal == tiltCommand): + sim.Vmultiplier = 30 self.sensor_config = self.rocket.stage_config['sensors'] def time_step(self): @@ -73,11 +93,19 @@ def idle_stage(self): def execute_stage(self): # Run the stages + stage_separation_delay = 1 self.rocket.get_motor().ignite(self.time_stamp) - + # Print take off time stamp + if(rocket.current_stage == -1): + print(f"Take off at {self.time_stamp}") ignition_time = self.time_stamp + # Print sustainer ignition time stamp + # Checks current stage >= 0 to make sure current stage != first stage + if(rocket.current_stage >= 0): + print(f"Sustainer Ignition at {ignition_time}") start = True + # Print staging time stamp 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 @@ -89,17 +117,23 @@ def execute_stage(self): is_staging = start and self.rocket.current_stage != -1 self.x, alpha = sim.RK4(self.x, dt, self.time_stamp, is_staging, 0) + # the function for RK4 is defined as: + # def RK4(self, y0, dt, time_stamp, flap_ext=0, staging=False, staging_noise= False, density_noise=False) -> np.ndarray: self.rocket.add_to_dict(self.x, baro_alt, accel, bno_ang_pos, gyro, current_state, current_covariance, current_state_r, alpha, self.rocket.get_rocket_dry_mass(), self.rocket.get_total_motor_mass(self.time_stamp), 0, dt) self.time_step() if start: start = False - + def run_stages(self): has_more_stages = True - while has_more_stages: + while has_more_stages: + if(self.motor.burnout(self.time_stamp)): + # Prints motor burn out time + print(f"First Motor burnout at {self.time_stamp}") + firstIgnitTime = self.time_stamp self.execute_stage() - has_more_stages = self.rocket.separate_stage(self.time_stamp) + has_more_stages = self.rocket.separate_stage(self.time_stamp) # Function to retrive all sensor data def get_sensor_data(self): @@ -115,6 +149,8 @@ def get_kalman_state(self): return (current_state, current_cov, current_state_r) def coast(self): + if(self.motor.burnout(self.time_stamp)): + print(f"Sustainer Motor burnout at {self.time_stamp}") while self.x[1, 0] >= 0: # Get sensor data baro_alt, accel, gyro, bno_ang_pos = self.get_sensor_data() @@ -145,10 +181,17 @@ def simulator(x0, rocket, motor, dt) -> None: 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] @@ -164,13 +207,71 @@ def simulator(x0, rocket, motor, dt) -> None: motor = rocket.motor sim = sim_class.Simulator(atm=atm, rocket=rocket) + print("Aye, the beat go off?") + simulator(x0, rocket, motor, dt) + apogee_index = max(range(len(rocket.sim_dict["pos"])), key=lambda i: rocket.sim_dict["pos"][i][0]) + apogee_time = rocket.sim_dict["time"][apogee_index] + apogee_pos = rocket.sim_dict["pos"][apogee_index][0] + # Prints apogee time stamp and height + print(f"Apogee at: {apogee_time}, reaches to {apogee_pos}") + + # this checks for when angle is past our threshhold, currently 23 for SG1.4 + angle_exceeded = True + while angle_exceeded: + for point in range(len(rocket.sim_dict["time"])): + # checks if our angle of attack is past 23 AND is past staging point + if (rocket.sim_dict["alpha"][point] > 23) and (rocket.sim_dict["time"][point] > firstIgnitTime): + print("Angle of attack exceeds 23 degrees: ", rocket.sim_dict["time"][point]) + angle_exceeded = False + break + angle_exceeded = False + print("Writing to file...") + """ Alot of data is written to the console. when running it under nominal conditions, you should see something like +PySim Configuration loaded with no fatal errors. +PySim Configuration WARN: data_loader.load_config_skip_section() has been called more than once. +PySim Configuration WARN: desired_apogee is inherited from a structure but has an unset value. +PySim Configuration loaded with sustainer motor cut. +Nominal or Tilted Angle of Attack? nom +Take off at 60.00999999999663 +Staged at 60.00999999999663 +Motor burnout at 62.97999999999604 +Sustainer Ignition at 62.97999999999604 +Staged at 62.97999999999604 +Motor burnout at 66.51999999999713 +Runtime: 11.59 seconds +Apogee at: 76.36000000000216, reaches to 1362.6535973142961 +Writing to file... + +however, when running tilt, you should not see sustainer ignition and burnout. double check to make sure thats happening + """ + 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,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") + +# probably safe to delete, had issues creating csv on some machines, so sometimes we alternated between the two +# or keep it here in case u need it ¯\_(ツ)_/¯ + +""" + + output_dir = os.path.join(os.path.dirname(__file__), config["meta"]["output_file"]) + if not os.path.exists(output_dir): + os.makedirs(output_dir) + output_file = os.path.join(output_dir, 'simulated_6dof.csv') + 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,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") + """ + + + diff --git a/Simulation/6DOF_RK4/simulation/simulator.py b/Simulation/6DOF_RK4/simulation/simulator.py index 32bcd8f..aec8acf 100644 --- a/Simulation/6DOF_RK4/simulation/simulator.py +++ b/Simulation/6DOF_RK4/simulation/simulator.py @@ -11,6 +11,7 @@ class Simulator(): atm = None rocket = None forces = None + Vmultiplier = 1 def __init__(self, atm: atm_model.Atmosphere, rocket: rocket_model.Rocket): self.atm = atm @@ -18,7 +19,7 @@ def __init__(self, atm: atm_model.Atmosphere, rocket: rocket_model.Rocket): ### TEST PURPOSES ### def newtonProp(self, y0, dt, time_stamp, flap_ext=0) -> np.ndarray: - temp = (self.rocket.forces.get_force(np.array([y0[0], y0[1], y0[3], y0[4]]), flap_ext, time_stamp)) + temp = (self.rocket.forces.get_force(np.array([y0[0], y0[1], y0[3], y0[4]]), flap_ext, time_stamp, multiplier = self.Vmultiplier)) a = temp[0]/self.rocket.rocket_total_mass moment = temp[1] @@ -45,6 +46,7 @@ def RK4(self, y0, dt, time_stamp, flap_ext=0, staging=False, staging_noise= Fals Returns: (np.array): state vector of rocket in x-axis [6x3] ''' + Rk4Multiplier = self.Vmultiplier if staging: ejection_force = (random.gauss(0, 1) if staging_noise else 0)+12 ejection_theta = random.gauss(0, .05) if staging_noise else 0 @@ -89,7 +91,8 @@ def RK4(self, y0, dt, time_stamp, flap_ext=0, staging=False, staging_noise= Fals ang_p = (y0[3] + (1/6)*(k1_ap+(2*k2_ap)+(2*k3_ap)+k4_ap)*dt) - temp,alpha = (self.rocket.forces.get_force(np.array([p, v, y0[3], y0[4]]), flap_ext, time_stamp, ejection_force, ejection_theta, ejection_phi, density_noise=density_noise)) + temp,alpha = (self.rocket.forces.get_force(np.array([p, v, y0[3], y0[4]]), flap_ext, time_stamp, ejection_force, ejection_theta, ejection_phi, density_noise=density_noise, multiplier = self.Vmultiplier)) + alpha *= Rk4Multiplier a = temp[0]/rocket_total_mass return np.array([p, v, a, ang_p, ang_v, I_inv @ temp[1]]), alpha @@ -121,4 +124,4 @@ def step_v(self, pos, vel, ang_pos, ang_vel, time_stamp, ejection_force, ejectio Returns: (np.array): rate of change of velocity (acceleration) in form of state vector ''' - return self.rocket.forces.get_force(np.array([pos, vel, ang_pos, ang_vel]), flap_ext, time_stamp, ejection_force, ejection_theta, ejection_phi)[0] # return slope times mass/inertia \ No newline at end of file + return self.rocket.forces.get_force(np.array([pos, vel, ang_pos, ang_vel]), flap_ext, time_stamp, ejection_force, ejection_theta, ejection_phi, multiplier = self.Vmultiplier)[0] # return slope times mass/inertia \ No newline at end of file