Generated Data Simulator (WIP)

README.md

@@ -114,12 +114,14 @@ We have put great effort into keeping the file structure of this project organiz
 ```
 AirbrakesV2/
 ├── airbrakes/
+|   ├── data_handling/
+│   │   ├── [files related to the processing of data ...]
 |   ├── hardware/
 │   │   ├── [files related to the connection of the pi with hardware ...]
 |   ├── mock/
 │   │   ├── [files related to the connection of mock (or simulated) hardware ...]
-|   ├── data_handling/
-│   │   ├── [files related to the processing of data ...]
+|   ├── simulation/
+│   │   ├── [files related to our custom air brakes sim ...]
 │   ├── [files which control the airbrakes at a high level ...]
 ├── tests/  [used for testing all the code]
 │   ├── ...
@@ -179,6 +181,10 @@ If you want to run a mock launch, but with the real servo running, run:
 ```bash
 python3 main.py -m -r
 ```
+To run a mock launch with our custom simulation:
+```bash
+python3 main.py -m -s 
+```
 There are some additional options you can use when running a mock launch. To view them all, run:
 ```bash
 python3 main.py --help

airbrakes/data_handling/apogee_predictor.py

@@ -152,7 +152,6 @@ def _curve_fit(self) -> CurveCoefficients:
         uncertainties = np.sqrt(np.diag(pcov))
         if np.all(uncertainties < UNCERTAINTY_THRESHOLD):
             self._has_apogee_converged = True
-
         a, b = popt
         return CurveCoefficients(A=a, B=b)
 

airbrakes/data_handling/data_processor.py

@@ -204,7 +204,6 @@ def _calculate_rotated_accelerations(self) -> npt.NDArray[np.float64]:
         Calculates the rotated acceleration vector. Converts gyroscope data into a delta
         quaternion, and adds onto the last quaternion. Will most likely be replaced by IMU
         quaternion data in the future, this is a work-around due to bad datasets.
-
         :return: numpy list of rotated acceleration vector [x,y,z]
         """
 
@@ -229,7 +228,8 @@ def _calculate_rotated_accelerations(self) -> npt.NDArray[np.float64]:
             if any(val is None for val in [x_accel, y_accel, z_accel, gyro_x, gyro_y, gyro_z]):
                 return rotated_accelerations
 
-            # scipy docs for more info: https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html
+            # scipy docs for more info:
+            # https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html
             # Calculate the delta quaternion from the angular rates
             delta_rotation = R.from_rotvec([gyro_x * dt, gyro_y * dt, gyro_z * dt])
 
@@ -285,7 +285,7 @@ def _calculate_time_differences(self) -> npt.NDArray[np.float64]:
         This cannot be called on the first update as _last_data_packet is None. Units are in
         seconds.
         :return: A numpy array of the time difference between each data packet and the previous
-            data packet.
+        data packet.
         """
         # calculate the time differences between each data packet
         # We are converting from ns to s, since we don't want to have a velocity in m/ns^2

airbrakes/mock/mock_imu.py

@@ -28,8 +28,6 @@ class MockIMU(IMU):
     and returns data read from a previous log file.
     """
 
-    __slots__ = ("_log_file_path",)
-
     def __init__(
         self,
         real_time_simulation: bool,

airbrakes/simulation/README.md

@@ -0,0 +1,30 @@
+# Rotation Guide for sim IMU
+
+### Axes and Direction Definitions:
+#### Vehicle Frame:
+- The coordinate system with respect to the IMU inside of the rocket.
+#### Earth Frame:
+- The coordinate system with respect to Earth frame of reference.
+#### WGS Vertical:
+- The upwards orientation of the rocket, direction opposite of gravitational force
+#### Rocket Body Axis:
+- The direction that the rocket is facing; roll axis, longitudinal axis of the rocket
+#### Flight Path:
+- Velocity vector direction of the rocket; which way the rocket is travelling
+#### Azimuth:
+- $\phi$, phi, the horizontal cardinal direction of the flight path, relative to Earth's surface
+- An azimuth of zero degrees is facing North.
+
+### Angle Vector Definitions:
+#### Pitch Angle:
+- $\theta$, theta, angle from WGS vertical to the rocket body axis
+#### Flight Path Angle:
+- $\gamma$, gamma, angle from WGS vertical to the flight path
+#### Angle of Attack:
+- $\alpha$, alpha, angle from the flight path to the rocket body axis
+
+
+WGS vertical of the IMU is described in vector form.
+- Example: If the -x axis of the IMU is facing the sky, the WGS vertical is [-1, 0, 0]
+
+Important to note that the IMU does not change orientation inside of the rocket when changing launch pad angle.