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{"documenter":{"julia_version":"1.11.7","generation_timestamp":"2025-09-29T11:53:22","documenter_version":"1.14.1"}}
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julia&gt; </code></pre><p>A second run of this command needs about 3.7 s which means the startup time (load and compilation time of the package and the libraries) has been reduced to about 6.3s.</p><p>Without a system image the first time execution of the script &quot;simulate_simple.jl&quot; on the same computer is about 22.5 seconds while the time for the second execution is the same (3.9s). So now about 15s of time are saved after each restart.</p><h2 id="Hints-for-Developers"><a class="docs-heading-anchor" href="#Hints-for-Developers">Hints for Developers</a><a id="Hints-for-Developers-1"></a><a class="docs-heading-anchor-permalink" href="#Hints-for-Developers" title="Permalink"></a></h2><h3 id="Coding-style"><a class="docs-heading-anchor" href="#Coding-style">Coding style</a><a id="Coding-style-1"></a><a class="docs-heading-anchor-permalink" href="#Coding-style" title="Permalink"></a></h3><ul><li><p>add the packages <code>TestEnv</code> and <code>Revise</code> to your global environment, not to any project</p></li><li><p>avoid hard-coded numeric values like <code>9.81</code> in the code, instead define a global constant <code>G_EARTH</code> or read this value from a configuration file</p></li><li><p>stick to a line length limit of 120 characters</p></li><li><p>try to avoid dot operators unless you have to. </p></li></ul><p>Bad: <code>norm1 .~ norm(segment)</code> Good: <code>norm1 ~ norm(segment)</code></p><ul><li>if you need to refer to the settings you can use <code>se()</code> which will load the settings of the active project. To define the active project use a line like <code>set = se(&quot;system_3l.yaml&quot;)</code> at the beginning of your program.</li><li>use the <code>\cdot</code> operator for the dot product for improved readability</li><li>use a space after a comma, e.g. <code>force_eqs[j, i]</code></li><li>enclose operators like <code>+</code> and <code>*</code> in single spaces, like <code>0.5 * (s.pos[s.i_C] + s.pos[s.i_D])</code>; exception: <code>mass_tether_particle[i-1]</code></li><li>try to align the equation signs for improved readability like this:</li></ul><pre><code class="language-julia hljs"> tether_rhs = [force_eqs[j, i].rhs for j in 1:3]
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f_xy = dot(tether_rhs, e_z) * e_z</code></pre><h2 id="Outlook"><a class="docs-heading-anchor" href="#Outlook">Outlook</a><a id="Outlook-1"></a><a class="docs-heading-anchor-permalink" href="#Outlook" title="Permalink"></a></h2><p>The next steps:</p><ul><li>finish and merge the KPS5 kite power system model, based on ModellingToolkit</li><li>use VortexStepMethod.jl for KPS5 </li><li>add a rigid wing model</li><li>add a Matlab/ Simulink wrapper similar to the Python wrapper <a href="https://github.com/ufechner7/pykitemodels">pykitemodels</a></li></ul></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../quickstart/">« Quickstart</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.14.1 on <span class="colophon-date" title="Monday 29 September 2025 11:53">Monday 29 September 2025</span>. Using Julia version 1.11.7.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
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f_xy = dot(tether_rhs, e_z) * e_z</code></pre><h2 id="Outlook"><a class="docs-heading-anchor" href="#Outlook">Outlook</a><a id="Outlook-1"></a><a class="docs-heading-anchor-permalink" href="#Outlook" title="Permalink"></a></h2><p>The next steps:</p><ul><li>finish and merge the KPS5 kite power system model, based on ModellingToolkit</li><li>use VortexStepMethod.jl for KPS5 </li><li>add a rigid wing model</li><li>add a Matlab/ Simulink wrapper similar to the Python wrapper <a href="https://github.com/ufechner7/pykitemodels">pykitemodels</a></li></ul></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../quickstart/">« Quickstart</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.14.1 on <span class="colophon-date" title="Monday 29 September 2025 12:33">Monday 29 September 2025</span>. Using Julia version 1.11.7.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

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0.0</code></pre><h2 id="Example-of-reeling-out-the-tether"><a class="docs-heading-anchor" href="#Example-of-reeling-out-the-tether">Example of reeling out the tether</a><a id="Example-of-reeling-out-the-tether-1"></a><a class="docs-heading-anchor-permalink" href="#Example-of-reeling-out-the-tether" title="Permalink"></a></h2><pre><code class="language-julia hljs">include(&quot;examples/reel_out_1p.jl&quot;)</code></pre><p><img src="../reelout_force_1p.png" alt="Reel out 1p model"/></p><p>In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the &quot;jump&quot; in the v_reelout at the beginning of the reel-out phase.</p><p>It is not a real jump, but a high acceleration compared to the acceleration afterward.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../parameters/">« Parameters</a><a class="docs-footer-nextpage" href="../examples_4p/">Examples 4p »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.14.1 on <span class="colophon-date" title="Monday 29 September 2025 12:33">Monday 29 September 2025</span>. Using Julia version 1.11.7.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

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0.0</code></pre><h2 id="Example-of-reeling-out-the-tether"><a class="docs-heading-anchor" href="#Example-of-reeling-out-the-tether">Example of reeling out the tether</a><a id="Example-of-reeling-out-the-tether-1"></a><a class="docs-heading-anchor-permalink" href="#Example-of-reeling-out-the-tether" title="Permalink"></a></h2><pre><code class="language-julia hljs">include(&quot;examples/reel_out_4p.jl&quot;)</code></pre><p><img src="../reelout_force_4p.png" alt="Reel out 4p model"/></p><p>In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the &quot;jump&quot; in the v_reelout at the beginning of the reel-out phase.</p><p>It is not a real jump, but a high acceleration compared to the acceleration afterward.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../examples/">« Examples 1p</a><a class="docs-footer-nextpage" href="../examples_ram_air/">Examples SymbolicAWEModel »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.14.1 on <span class="colophon-date" title="Monday 29 September 2025 12:33">Monday 29 September 2025</span>. Using Julia version 1.11.7.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

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sam = SymbolicAWEModel(set)</code></pre></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../examples_4p/">« Examples 4p</a><a class="docs-footer-nextpage" href="../tutorial_system_structure/">SystemStructure for custom models »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.14.1 on <span class="colophon-date" title="Monday 29 September 2025 12:33">Monday 29 September 2025</span>. Using Julia version 1.11.7.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

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