Rebase: Merge branch 'develop' of https://github.com/aZira371/RocketPy …

…into enh/3-dof-simulation
RocketPy-Team · aZira371 · Dec 3, 2024 · Dec 6, 2024 · Dec 6, 2024 · Feb 25, 2025
commit 87e918003af304cf6d981cacaca43cf3d72212c5
@@ -518,6 +518,7 @@
         name="Flight",
         equations_of_motion="standard",
         simulation_mode="6 DOF",
+        ode_solver="LSODA",
     ):
         """Run a trajectory simulation.
 
@@ -593,19 +594,16 @@
             more restricted set of equations of motion that only works for
             solid propulsion rockets. Such equations were used in RocketPy v0
             and are kept here for backwards compatibility.
-        simulation_mode : str, optional
-            Type of equations of motion to use. Can be "3 DOF" or
-            "6 DOF". Default is "6 DOF". 3 DOF is a restricted set of equations 
-            of motion that only solves the 3 translational degree of freedom.
-            The system is assumed to be a point-mass system located at the
-            center of mass. Currently, the aerodynamic forces are solved at
-            the specified location but translated to the center of mass without
-            adding the transferring moments. Additionally, neither 
-            the angular components such as omegas aren't evaluated as well
-            nor like moment of inertias are not taken into account. The 
-            structure of functions for 3 DOF is kept very similar to 
-            the original 6 DOF model for identifying missing components
-            and easy read. 
+        ode_solver : str, ``scipy.integrate.OdeSolver``, optional
+            Integration method to use to solve the equations of motion ODE.
+            Available options are: 'RK23', 'RK45', 'DOP853', 'Radau', 'BDF',
+            'LSODA' from ``scipy.integrate.solve_ivp``.
+            Default is 'LSODA', which is recommended for most flights.
+            A custom ``scipy.integrate.OdeSolver`` can be passed as well.
+            For more information on the integration methods, see the scipy
+            documentation [1]_.
+
+
         Returns
         -------
         None
@@ -634,6 +632,7 @@
         self.name = name
         self.equations_of_motion = equations_of_motion
         self.simulation_mode = simulation_mode
+        self.ode_solver = ode_solver
 
         # Controller initialization
         self.__init_controllers()
@@ -1431,10 +1430,8 @@
         """
         # Hey! We will finish this function later, now we just can use u_dot
         return self.u_dot_generalized(t, u, post_processing=post_processing)
-
-    def u_dot_3dof(
-        self, t, u, post_processing=False
-    ):  # pylint: disable=too-many-locals,too-many-statements
+
+    def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals,too-many-statements
         """Calculates derivative of u state vector with respect to time
         when rocket is flying in 6 DOF motion during ascent out of rail
         and descent without parachute.
@@ -1461,7 +1458,7 @@
        _, _, z, vx, vy, vz, e0, e1, e2, e3, omega1, omega2, omega3 = u
        # Determine lift force and moment
        omega1, omega2, omega3 = 0, 0, 0
        R1, R2, M1, M2, M3 = 0, 0, 0, 0, 0
        # Determine current behavior
        if t < self.rocket.motor.burn_out_time:
            # Motor burning
@@ -1481,7 +1478,7 @@
        # Mass
        rocket_dry_mass = self.rocket.dry_mass  # already with motor's dry mass
        total_mass_at_t = propellant_mass_at_t + rocket_dry_mass
        mu = (propellant_mass_at_t * rocket_dry_mass) / (
            propellant_mass_at_t + rocket_dry_mass
        )
        # Prepare transformation matrix
@@ -1616,7 +1613,7 @@
            )
        return u_dot

    def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals,too-many-statements
        """Calculates derivative of u state vector with respect to time
        when rocket is flying in 6 DOF motion during ascent out of rail
        and descent without parachute.
@@ -1950,7 +1947,7 @@
        Kt = K.transpose

        # Compute aerodynamic forces and moments
        R1, R2, R3, M1, M2, M3 = 0, 0, 0, 0, 0, 0

        ## Drag force
        rho = self.env.density.get_value_opt(z)