v0.8.0

SymbolicAWEModels v0.8.0

Diff since v0.7.2

Changed

• BREAKING: SegmentType positional argument removed from Segment
  constructor. Use unit_stiffness, unit_damping, diameter_mm
  kwargs or a YAML material instead. The SegmentType enum is kept
  temporarily to produce a helpful deprecation error.
• BREAKING: winch_point moved from Tether to Winch. Pass
  winch_point as a keyword to the Winch constructor instead.
• BREAKING: Heading calculation changed from wind-perpendicular
  projection to tangential sphere frame. calc_heading(R_b_to_w, wind_norm) → calc_heading(R_b_to_w, wing_pos).
  get_heading_components() removed. solve_heading_rotation takes
  wing_pos instead of k, wind_norm.
• BREAKING: Tether struct fields restructured — winch_point_idx/ref
  removed, new fields: start_point_idx/ref, end_point_idx/ref,
  n_segments, unit_stiffness, unit_damping, diameter.
• BREAKING: create_tether() utility returns a 5-tuple (added
  ground_point_idx) and no longer takes a SegmentType argument.
• BREAKING: YAML segment format no longer has a type column. Existing
  YAML files with a type column in segments will raise an error.
• BREAKING: tether_len moved from Winch to Tether. Each tether
  now owns its length as an ODE state variable. Winch-connected tethers
  evolve via D(tether_len) = winch_vel; winch-less tethers have
  constant length (D(tether_len) = 0).
• BREAKING: tether_vel renamed to winch_vel and remains on Winch.
  tether_acc renamed to winch_acc in the generated equations.
• BREAKING: SimpleLinModelWithAttributes removed. The
  simple_lin_model field is no longer part of SymbolicAWEModel.
  simple_linearize! is no longer exported.
• BREAKING: sim_oscillate! and sim_turn! removed. Use sim! with
  a custom set_values matrix instead.
• BREAKING: update_aero_yaml_from_struc_yaml! no longer exported.
• BREAKING: set field removed from SymbolicAWEModel. Settings are
  now read from sam.sys_struct.set. The set_set setter was removed
  from ProbWithAttributes and LinProbWithAttributes.
• BREAKING: get_struct_state removed from ProbWithAttributes.
• Wind equations now use get_wind_vec internally instead of
  separate get_v_wind, get_upwind_dir, and get_wind_elevation
  accessors. Not breaking: KiteUtils Settings syncs wind_vec
  from v_wind/upwind_dir/upwind_elevation automatically when
  use_wind_vec=false (the default).
• Tethers no longer require a connected winch. Winch-less tethers use
  constant l0 from segment properties.
• compression_frac description clarified: "Compressive/tensile
  stiffness ratio (0-1). 0 = no compression stiffness."
• init!, next_step!, update_sys_state! are no longer exported
  and must be imported from KiteUtils.
• sim! now requires y_op keyword argument when lin_model is
  provided (previously obtained from the removed simple lin model).
• SerializedModel type parameters tightened for defaults and
  guesses fields.
• fixed most JETLS warnings for improved robustness and performance.
• Package version is now included in .bin cache filenames, so
  upgrading the package automatically invalidates stale cached models.
• the script bin/run_julia was updated to work also with Julia 1.12.6

Added

• Route 2 tether auto-generation: Tether(name; start_point, end_point, n_segments) automatically creates intermediate points
  and segments, evenly spaced between endpoints. YAML format:
  headers: [name, start_point, end_point, n_segments, ...].
• Route 1 tethers auto-detect start_point_idx and end_point_idx
  from the first/last segment endpoints.
• Comprehensive docstrings on all Point, Group, Segment,
  Pulley, Tether, Winch, and Transform struct fields.
• WeightedRefPoints exported for weighted reference point support.
• init! keyword reinit_sys to optionally skip system structure
  reinitialization.
• New tests: "Route 2 auto-generated tether" and "Tether without
  winch" in test_tether_winch.jl.
• New test file test_tether_init.jl for tether initialization.
• New test file test_yaml_weighted_ref.jl for weighted reference
  point YAML loading.
• Airbag pressurized membrane simulation example (examples/airbag.jl).
• the script bin/install. Use it after installation from git.
• the script bin/create_sys_image. Improves time for first run
  by a factor of 3-5.
• the scripts bin/install_jetls and bin/jetls to install and run
  JETLS.jl, a static code checker for Julia.
• Developer documentation improvements (troubleshooting section for
  segfault issues, updated docs to use GLMakie).

Fixed

• YAML calculate_derived_properties! no longer requires l0 to
  compute unit_stiffness from material properties (needed for
  Route 2 tethers).
• YAML update_yaml_from_sys_struct! regex updated for the new
  segment format (no type column).
• YAML weighted reference point loading fixed (broken deserialization
  of weighted refs).
• Heading calculation uses tangential sphere frame, fixing drift issues
  with the old wind-perpendicular projection.
• Unknown solver string (e.g. DFBDF from default KiteUtils settings)
  no longer throws an error — a warning is emitted and the solver
  falls back to FBDF.
• README code examples now include the required
  SymbolicAWEModels.init_module(; force=false) call so they work
  correctly on a fresh install.
• README pendulum example also calls set_data_path("data/base")
  before loading Settings.

Removed

• SimpleLinModelWithAttributes struct and simple_linearize!.
• sim_oscillate! and sim_turn! simulation functions.
• getstate and setstate! functions from linearize.jl.
• upwind_dir helper function (replaced by wind_vec).
• Branch-specific system images: bin/create_sys_image and
  bin/run_julia no longer embed the git branch name in the .so
  filename. A single kps-image-<julia_major>.so is used instead.

Tests

• README pendulum example and README 2-plate kite example are now
  executed in test/setup_integration.jl.

Merged pull requests:

• Add Claude Code GitHub Workflow (#157) (@1-Bart-1)
• warn on unknown solver and fall back to FBDF (#159) (@1-Bart-1)
• fix: add data_prefix=false to all VSMSettings calls (#161) (@1-Bart-1)
• Bump actions/upload-artifact from 4 to 7 (#162) (@dependabot[bot])
• Bump julia-actions/cache from 2 to 3 (#163) (@dependabot[bot])
• Make system image work and fix warnings (#164) (@ufechner7)
• Bump codecov/codecov-action from 5 to 6 (#165) (@dependabot[bot])
• Auto split tether (#168) (@1-Bart-1)
• Use the interface functions from KiteUtils and fix the examples (#170) (@ufechner7)
• Add airbag pressurized membrane simulation example (#174) (@1-Bart-1)
• Remove simple lin model (#176) (@1-Bart-1)
• Improve install script (#178) (@ufechner7)
• Add package version to .bin filename and document segfault issue (#180) (@1-Bart-1)
• Update docs to use GLMakie and separate copy_ functions (#181) (@1-Bart-1)
• Fix broken weighted ref loading (#183) (@1-Bart-1)
• Improve developer documentation (#184) (@ufechner7)
• Remove the branch specific system images (#185) (@ufechner7)
• Move tether length/velocity state from Winch to Tether (#186) (@1-Bart-1)
• Move tether length to Tether, unify settings, add wind_vec (#190) (@1-Bart-1)
• Remove unused parameter winches (#191) (@ufechner7)

Closed issues:

• Run an airbag simulation (nice-to-have) (#102)
• Add CI workflow that creates a PR to update the default Manifests when all tests pass (#149)
• Tether with x segments (#151)
• Error in readme example (#156)
• test/test_setup.sh is failing (#160)
• Fix tests that are broken on MacOS (#166)
• Single source of truth for angles (#167)
• Test readme (#177)
• Loading .bin might cause segmentation fault (#179)

v0.7.2

SymbolicAWEModels v0.7.2

Diff since v0.7.1

Added

• speed_controlled field on Winch — when true, tether velocity
  is prescribed externally (D(tether_vel) = 0) while length still
  tracks velocity.
• Multi-system record() for recording side-by-side SysLog animations
  to video (MP4/GIF/MKV/WebM).
• Makie extension test suite (test_makie_extension.jl) covering
  multi-system plot, record, and replay.
• Zenodo metadata (.zenodo.json) and CITATION.cff for citing the
  package.
• CI: GLMakie tests on Linux via xvfb-run, Julia 1.12 test matrix.

Fixed

• reposition!() now uses the analytical solve_heading_rotation
  for wind-relative heading, consistent with reinit!. Previously
  heading was applied as a relative delta, causing drift.
• reposition!() correctly updates REFINE wings by recalculating
  R_b_to_w and pos_b from structural points.
• Multi-system plot() now passes vector-typed segment colors,
  fixing a crash when setup_segment_hover_events! assigned
  Vector{RGBA}.
• init!() validates that SystemStructure uses VSMWing type
  before equation generation.
• sim_reposition!() passes absolute heading to the transform
  instead of subtracting the current wing heading.
• Typo fixes in README and documentation ("ODE solver" → "ODE
  problem").

Changed

• sam_tutorial.jl example updated: adds WING-type points and uses
  VSMSettings with data_prefix=false.
• Examples updated to pass data_prefix=false to VSMSettings.
• 2plate_kite aero geometry TE z-coordinates adjusted.
• settings.yaml now includes sample_freq field.

Merged pull requests:

• Update makie ext (#155) (@1-Bart-1)

Closed issues:

• Allow n aero unequal n struc for quaternion wing (#150)

v0.7.1

SymbolicAWEModels v0.7.1

Diff since v0.7.0

Added

• update_sys_struct_from_yaml!() — update a SystemStructure in-place
  from a modified YAML file (point pos_cad and segment l0).
• segment_cad_length() and autocalc_tether_len() shared helpers,
  replacing duplicated code in the constructor, reinit!, and YAML loader.

Fixed

• SystemStructure constructor auto-calculates winch.tether_len from
  all connected tethers (was only using the first).

Merged pull requests:

• Update sys struct from yaml (#154) (@1-Bart-1)

v0.7.0

SymbolicAWEModels v0.7.0

Diff since v0.6.1

Changed

• BREAKING: Julia version requirement raised from 1.10 to 1.11, 1.12.
• reinit!() uses a unified code path for all wing types, calling
  match_aero_sections_to_structure! and
  compute_spatial_group_mapping! during VSM rebuild.
• test_bench.jl refactored from ad-hoc benchmarks into a proper
  @testset suite with setup_bench_sam() helper.
• Added [workspace] configuration in Project.toml for docs, examples,
  scripts, and test sub-projects.
• Manifest files renamed to .default suffix and gitignored.

Added

• Asymmetric aero/structural section counts: aerodynamic and structural
  meshes can now have different numbers of sections. When counts differ,
  match_aero_sections_to_structure!() rebuilds unrefined
  sections from structural LE/TE positions while use_prior_polar=true
  preserves existing refined panel polars. Opt-in via
  use_prior_polar=true on the VortexStepMethod wing.
• identify_wing_segments() — identifies LE/TE pairs from groups
  (preferred) or via a consecutive-pair heuristic.
• compute_spatial_group_mapping!() — maps groups to VSM sections by
  spatial proximity, supporting n_groups != n_aero_sections.
• REFINE wings can now have groups (used for LE/TE pair identification).
• QUATERNION wings can now have wing_segments for structural geometry
  locking.
• YAML loader fallback LE/TE detection in
  update_aero_yaml_from_struc_yaml!() when no groups are defined
  (consecutive-pair heuristic with x-coordinate check).
• test_match_aero_sections.jl — tests geometry matching and polar
  interpolation for both REFINE and QUATERNION wings, including
  mismatched section counts.
• Helper scripts: bin/install (environment setup, Julia version detection)
  and bin/run_julia (launcher with system image support).

Merged pull requests:

• Add helper scripts (#148) (@ufechner7)
• Allowing n aero unequal n struc (#152) (@1-Bart-1)

v0.6.1

SymbolicAWEModels v0.6.1

Diff since v0.6.0

Fixed

• Disable VSM auto-sorting of sections (sort_sections=false) in all
  VortexStepMethod calls. Auto-sorting silently broke the correspondence
  between VSM sections and structural point indices / group mappings.

Merged pull requests:

• Fix sorting bug (#147) (@1-Bart-1)

Closed issues:

• Add trailing edge deflection (#20)
• Add an option for a KCU to RamAirKite (#15)
• Remove the param adaptive from init_sim! (#14)
• The Point struct stores redundant information (#18)
• Add point mass model aerodynamics (#12)
• Split up the Wing into a RigidBody and Aerodynamics. (#5)
• Do not use the term "world frame" (#27)
• Structural Simulation (#62)
• Add a default transform_idx=0, that creates no transformation (#110)
• Model validation (#117)
• Writing to arrow files that are opened already throws error on windows (#121)
• With the introduction of Makie, yaml_loading & new examples, the documentation needs an update (#124)
• Clicking on SystemStruc does not go the definition of this struc, but opens a google search (#125)

v0.6.0

SymbolicAWEModels v0.6.0

Diff since v0.5.0

Changed

• Component constructors (Point, Segment, Wing, Winch,
  Transform) now accept a symbolic name (Symbol) as the first
  argument in addition to numeric indices. Numeric idx values still
  work. Use e.g. Point(:kcu, pos, DYNAMIC).
• BREAKING: Segment constructor takes separate point_i, point_j
  arguments instead of a point_idxs vector.
• BREAKING: Rotation matrix fields renamed from R_a_b to R_a_to_b
  throughout (e.g. wing.R_b_w → wing.R_b_to_w).
• BREAKING: ControlPlotsExt package extension removed. Visualization is
  now handled entirely by SymbolicAWEModelsMakieExt.
• BREAKING: Predefined model factory functions removed
  (create_ram_sys_struct, create_simple_ram_sys_struct). Build models
  using component constructors or YAML instead.
• BREAKING: Ram air kite and V3 kite models moved to dedicated packages
  (RamAirKite.jl,
  V3Kite.jl).
  Their data directories are removed from this package.
• src/system_structure.jl split into modular files under
  src/system_structure/ (types, core, utilities, transforms, wing,
  named_collection).
• src/generate_system.jl split into 13 focused modules under
  src/generate_system/ (point_eqs, segment_eqs, wing_eqs, group_eqs,
  winch_eqs, pulley_eqs, tether_eqs, scalar_eqs, vsm_eqs, accessors,
  helpers, create_sys).
• Makie extension significantly overhauled with new plotting functions.
• Test suite completely rewritten. The old tests (test_simulation,
  test_linearization, test_initialization, test_sam, etc.) tested
  the full assembled kite model as a black box, making failures hard to
  diagnose. The new tests isolate each component with minimal models
  built from constructors, verifying physics against analytical
  solutions:
  • test_point — gravity free-fall, damping, quasi-static equilibrium
  • test_segment — spring-damper forces, stiffness, drag
  • test_wing — QUATERNION and REFINE wing construction, VSM coupling
  • test_wing_dynamics — rigid body torque response, precession,
    angular momentum conservation
  • test_tether_winch — reel-out dynamics, Coulomb and viscous
    friction, terminal velocity
  • test_pulley — equal-tension constraints, multi-segment pulleys
  • test_transform — spherical coordinate positioning
  • test_quaternion_conversions — quaternion ↔ rotation matrix
  • test_quaternion_auto_groups — auto-generated twist DOFs
  • test_principal_body_frame — principal vs body frame separation
  • test_heading_calculation — kite heading from tether geometry
  • test_section_alignment — VSM section ↔ structural point mapping
  • test_profile_law — atmospheric wind profile verification
  • test_bench — performance regression tracking
• Complete documentation overhaul with new pages: coordinate_frames,
  vsm_coupling, pipeline, tutorial_julia, tutorial_yaml.
• Data files reorganised: base settings moved to data/base/, new
  data/2plate_kite/ and data/saddle_form/ model directories added.

Added

• NamedCollection indexing — components support symbolic names
  (e.g. sys.points[:kcu], sys.segments[:bridle_1]).
  SystemStructure resolves all symbolic references to numeric indices
  automatically via assign_indices_and_resolve!().
• WingType enum (QUATERNION, REFINE) for explicit wing type
  selection. REFINE applies per-panel forces directly to structural
  points for higher fidelity aeroelastic coupling.
• AeroMode enum (AERO_NONE, AERO_DIRECT, AERO_LINEARIZED) for
  build-time control over aerodynamic computation strategy.
• YAML-based model definition via load_sys_struct_from_yaml(),
  update_yaml_from_sys_struct!(), and
  update_aero_yaml_from_struc_yaml!().
• REFINE wing support (src/vsm_refine.jl) — structural deformation
  coupled directly to VSM panel geometry with moment-preserving force
  distribution.
• Principal vs body frame separation for QUATERNION wings. Principal
  frame (diagonal inertia) used for Euler equations, body frame (from
  reference points) used for output and VSM coupling.
• Auto-group generation for QUATERNION wings when groups are not
  explicitly provided.
• record() for saving simulation replays to MP4.
• plot_sphere_trajectory, plot_body_frame, plot_aoa plotting
  functions.
• update_segment_forces!, set_world_frame_damping,
  set_body_frame_damping, segment_stretch_stats utility functions.
• New examples: hanging_mass, catenary_line, saddle_form,
  coupled_2plate_kite, coupled_realtime_visualization,
  coupled_linearize, coupled_simple_lin_model,
  coupled_tether_deflection, heading_gate,
  cosine_steering_trajectory, makie_polar_plots,
  static_load_2plate_kite.
• Benchmark test (test_bench.jl) for performance tracking.

Removed

• predefined_structures.jl and factory functions
  (create_ram_sys_struct, create_simple_ram_sys_struct,
  create_tether_sys_struct, copy_to_simple!).
• Ram air kite data files, LEI kite directory, data/kite.obj.
• Old examples: ram_air_kite, lin_ram_model, simple_lin_model,
  lin_simple_tuned_model, simple_tuned_model,
  realtime_visualization, reposition, tether_props.
• SymbolicAWEModelsControlPlotsExt package extension.
• src/precompile.jl.

Merged pull requests:

• Improve simple model (#120) (@1-Bart-1)
• Add Makie extension (#122) (@1-Bart-1)
• Add sysstate conversion functions (#126) (@1-Bart-1)
• Overhaul the package to be compiler-focused (#143) (@1-Bart-1)
• Improve readme (#145) (@1-Bart-1)

Closed issues:

• Defining a kite geometry in a .yaml file (#49)
• Add "load geometry from yaml" functionality (#59)
• adding-simple-structural-test-cases (#61)
• Zenith Pyramid Model AeroStructuralCoupled Dynamic Simulation (#63)
• Zenith --V3 Kite Model AeroStructuralCoupled Dynamic-- Flight Simulation (#64)
• Circular --Pyramid Model AeroStructuralCoupled Dynamic-- Flight Simulation (#65)
• Circular --V3 Kite AeroStructuralCoupled Dynamic-- Flight Simulation (#66)
• Hardcode on line 91 of prefined_structure.jl (#93)
• Add a 3d plot extension for Makie.jl (#106)
• Use global damping during find_steady_state! (#116)
• Main branch is broken (#118)
• Add a slider to the Makie plots to enable manual time-step changing (#123)
• Create new release (#142)

v0.5.0

SymbolicAWEModels v0.5.0

Diff since v0.4.2

Removed

• BREAKING: the Winch struct doesn't have a model field anymore. Instead, all equations are symbolic, and the WinchModels dependency is removed.

Added

• The function calc_steady_torque calculates the torque that will result in zero acceleration.

Merged pull requests:

• Add calc steady torque function and remove WinchModels dependency (#113) (@1-Bart-1)
• Update Artifacts.toml.default and default Manifests (#114) (@opensourceawe-pull-request[bot])

v0.4.2

SymbolicAWEModels v0.4.2

Diff since v0.4.1

Fixed

• Don't write protect manifest

Merged pull requests:

• Add the function reposition (#109) (@1-Bart-1)
• Update Artifacts.toml.default and default Manifests (#112) (@opensourceawe-pull-request[bot])

Closed issues:

• Run a static AERO (VSM) V3 analysis, defined from a yaml file (#60)
• Can't place system in subfolder due to KiteUtils Settings definition (#81)

v0.4.1

SymbolicAWEModels v0.4.1

Diff since v0.4.0

Fixed

• Update Artifacts.toml.default

Merged pull requests:

• Update Artifacts.toml.default and default Manifests (#105) (@opensourceawe-pull-request[bot])

v0.4.0

SymbolicAWEModels v0.4.0

Diff since v0.3.3

Added

• Structs with attributes for better serialization and code structure (SimpleLinModelWithAttributes, ProbWithAttributes, LinProbWithAttributes, ControlFuncWithAttributes).
• plot_force option to the plot recipe.
• model_management.jl file to better organize the code.

Changed

• BREAKING: init_module function to simplify project setup, replacing install_examples, copy_examples, copy_bin and copy_model_settings.
• Major refactoring of the SymbolicAWEModel and its initialization process. The SerializedModel struct is now much simpler and more robust.
• The run_julia script is now much more powerful, with argument parsing for --copy-manifest and --precompile.
• The precompilation process now uses artifacts instead of downloading files directly.

Fixed

• URLs in Artifacts.toml.default.
• Cross-correlation analysis in tests.

Removed

• data/kite.obj file.
• copy_examples, copy_bin, copy_model_settings, install_examples functions.

Merged pull requests:

• Update Artifacts.toml.default and default Manifests (#76) (@opensourceawe-pull-request[bot])
• 🤖 Compat: Update ModelingToolkit to ~10.15 (#85) (@opensourceawe-pull-request[bot])
• 🤖 Compat: Update ModelingToolkit to ~10.16 (#89) (@opensourceawe-pull-request[bot])
• Add control function and improve serialization (#90) (@1-Bart-1)
• Bump actions/checkout from 4 to 5 (#97) (@dependabot[bot])
• Bump dawidd6/action-download-artifact from 6 to 11 (#99) (@dependabot[bot])
• Improve the serialization by grouping prob, lin_prob and control_funcs with their attributes in structs (#103) (@1-Bart-1)

Closed issues:

• Dont rebuild normal sys if linear outputs change (#86)
• Add option for control function so it gets serialized (#87)
• Write a test suite to test if the serialization works as intended (#88)