Kcu steering (#104)

* Bump KiteUtils

* log kcu_steering

* add kcu_steering to KPS3

* add file to .gitignore

Author: ufechner7

.gitignore

@@ -43,4 +43,5 @@ data/settings_v9d.yaml
 data/spectrum*.jld2
 data/settings_v9e.yaml
 cspell.config.yaml
+Manifest-v1.11.toml
 Manifest-v1.10.toml

Project.toml

@@ -50,7 +50,7 @@ DocStringExtensions = "0.8, 0.9"
 Documenter = "1.0"
 Interpolations = "0.15"
 KitePodModels = "0.3.6"
-KiteUtils = "0.9.5"
+KiteUtils = "0.9.7"
 LaTeXStrings = "1.4.0"
 ModelingToolkit = "~9.54.0"
 NLsolve = "4.5"

src/KPS3.jl

@@ -142,6 +142,8 @@ $(TYPEDFIELDS)
     depower::S =           0.0
     "actual relative steering setting, must be between -1.0 .. 1.0"
     steering::S =          0.0
+    "steering after the kcu, before applying offset and depower sensitivity, -1.0 .. 1.0"
+    kcu_steering::S =      0.0
     "factor for the tether stiffness, used to find the steady state with a low stiffness first"
     stiffness_factor::S =  1.0
     "initial masses of the point masses"

src/KPS4.jl

@@ -163,6 +163,8 @@ $(TYPEDFIELDS)
     depower::S =           0.0
     "actual relative steering setting, must be between -1.0 .. 1.0"
     steering::S =          0.0
+    "steering after the kcu, before applying offset and depower sensitivity, -1.0 .. 1.0"
+    kcu_steering::S =      0.0
     "multiplier for the stiffniss of tether and bridle"
     stiffness_factor::S =  1.0
     "initial masses of the point masses"

src/KiteModels.jl

@@ -157,10 +157,11 @@ Parameters:
 This function sets the variables s.depower, s.steering and s.alpha_depower. 
 
 It takes the depower offset c0 and the dependency of the steering sensitivity from
-the depower settings into account.
+the depower settings into account. The raw steering value is stored in s.kcu_steering.
 """
 function set_depower_steering!(s::AKM, depower, steering)
     s.depower  = depower
+    s.kcu_steering = steering
     s.alpha_depower = calc_alpha_depower(s.kcu, depower)
     s.steering = (steering - s.set.c0) / (1.0 + s.set.k_ds * (s.alpha_depower / deg2rad(s.set.alpha_d_max)))
     nothing
@@ -427,6 +428,7 @@ function update_sys_state!(ss::SysState, s::AKM, zoom=1.0)
     ss.v_reelout = s.v_reel_out
     ss.depower = s.depower
     ss.steering = s.steering/s.set.cs_4p
+    ss.kcu_steering = s.kcu_steering/s.set.cs_4p
     ss.vel_kite .= s.vel_kite
     ss.t_sim = 0.0
     ss.AoA = deg2rad(s.alpha_2)