Creation of the magnetometer sensor

CHANGELOG.md

@@ -33,6 +33,8 @@ Attention: The newest changes should be on top -->
 ### Added
 
 - ENH: 3-DOF single rail button flight phase (tip-off analysis), enabled with the opt-in `Flight(use_udot_rail2=True)`. Between the upper rail button leaving the rail and the lower one following it, the rocket pivots about the lower button under a solved constraint wrench instead of jumping straight to free 6-DOF flight. The window is reported as `between_rails_time`, `between_rails_velocity` and `tip_off_duration`, printed by `Flight.info()` and shaded in the attitude plots. Requires `simulation_mode="6 DOF"` and `equations_of_motion="standard"`. [#920](https://github.com/RocketPy-Team/RocketPy/pull/920)
+- ENH: Creation of the magnetometer sensor [#1190](https://github.com/RocketPy-Team/RocketPy/pull/1190)
+  Adds the `Magnetometer` sensor, which models Earth's geomagnetic field with the World Magnetic Model (via the new `pywmm` dependency) and the magnetic distortions a rocket imposes on it: hard iron as a constant offset, soft iron through the new `Plate` class, and power interference through the new `Wire` class. `Rocket.add_plate`, `Rocket.add_wire` and `Rocket.general_radius` are added to support them, together with plots and prints for both new classes.
 - ENH: Support fixed-time parachute deployment triggers [#1133](https://github.com/RocketPy-Team/RocketPy/pull/1133) [#437](https://github.com/RocketPy-Team/RocketPy/issues/437)
 - DOC: Add SIL parachute ejection integration example [#1131](https://github.com/RocketPy-Team/RocketPy/pull/1131) [#524](https://github.com/RocketPy-Team/RocketPy/issues/524)
 - ENH: List NOAA atmosphere datasets and fetch latest [#1136](https://github.com/RocketPy-Team/RocketPy/pull/1136) [#660](https://github.com/RocketPy-Team/RocketPy/issues/660)
@@ -63,6 +65,8 @@ Attention: The newest changes should be on top -->
 ### Fixed
 
 - BUG: A `Flight` continued from another `Flight` object now records `t_initial`, so a rocket carrying sensors or controllers no longer raises `AttributeError` on that path. [#920](https://github.com/RocketPy-Team/RocketPy/pull/920)
+- BUG: Correct the accelerometer's frame changes [#1190](https://github.com/RocketPy-Team/RocketPy/pull/1190)
+  `Accelerometer.measure` added the lever-arm terms, which are body frame quantities, straight onto the inertial frame acceleration before rotating, and then applied `_total_rotation_sensor_to_body` in the sensor-to-body direction to reach the sensor frame rather than its transpose. Readings from an accelerometer mounted off the center of dry mass, or with a non-identity `orientation`, change as a result. `Gyroscope` applies the same rotation in the same direction and is left untouched here, so that its own change can be reviewed on its own.
 - BUG: Correct the gravity sign an `Accelerometer` applies when `consider_gravity=True`. The gravitational field was added to the inertial acceleration instead of subtracted from it, so the sensor reported the negative of the proper acceleration along the vertical: one at rest read -g rather than +g. Recorded accelerometer data taken with `consider_gravity=True` changes sign in that term. [#1175](https://github.com/RocketPy-Team/RocketPy/pull/1175)
 - BUG: Report a Monte Carlo worker that fails instead of hanging or passing for a finished run [#1182](https://github.com/RocketPy-Team/RocketPy/pull/1182)
 - BUG: Sample `StochasticFlight` inputs once per simulation [#1126](https://github.com/RocketPy-Team/RocketPy/pull/1126) [#1090](https://github.com/RocketPy-Team/RocketPy/issues/1090)

docs/reference/classes/Plate.rst

@@ -0,0 +1,6 @@
+Plate Class
+------------
+
+.. autoclass:: rocketpy.Plate
+   :members:
+   :exclude-members: from_dict

docs/reference/classes/Wire.rst

@@ -0,0 +1,6 @@
+Wire Class
+------------
+
+.. autoclass:: rocketpy.Wire
+   :members:
+   :exclude-members: from_dict

docs/reference/classes/sensors/index.rst

@@ -10,3 +10,4 @@ Sensor Classes
    Barometer Class <barometer>
    Gyroscope Class <gyroscope>
    GNSS Receiver Class <gnss_receiver>
+   Magnetometer Class <magnetometer>

docs/reference/classes/sensors/magnetometer.rst

@@ -0,0 +1,6 @@
+Magnetometer Class
+------------------
+
+.. autoclass:: rocketpy.sensors.Magnetometer
+    :members:
+    :exclude-members: from_dict

docs/reference/index.rst

@@ -14,8 +14,10 @@ This reference manual details functions, modules, methods and attributes include
    classes/Components
    classes/Rocket
    classes/Parachute
-   classes/sensors/index.rst
+   Sensor Classes <classes/sensors/index>
    classes/Flight
+   classes/Wire
+   classes/Plate
    Utilities <classes/utils/index>
    classes/EnvironmentAnalysis
    Monte Carlo Analysis <classes/monte_carlo/index>
@@ -31,6 +33,8 @@ This reference manual details functions, modules, methods and attributes include
    Motor Classes Plots and Prints <plots_prints/motors/index>
    AeroSurface Classes Plots and Prints <plots_prints/aero_surfaces/index>
    Rocket Plots and Prints <plots_prints/Rocket/index>
+   Wire Plots and Prints <plots_prints/Wire/index>
+   Plate Plots and Prints <plots_prints/Plate/index>
    Flight Plots and Prints <plots_prints/Flight/index>
    EnvironmentAnalysis Plots and Prints <plots_prints/EnvironmentAnalysis/index>
-   CompareFlights Plots <plots_prints/compare_flights>
+   CompareFlights Plots <plots_prints/compare_flights>

docs/reference/plots_prints/Plate/PlatePlots.rst

@@ -0,0 +1,5 @@
+Plate Plots Class
+-------------------
+
+.. autoclass:: rocketpy.plots.plate_plots._PlatePlots
+   :members:

docs/reference/plots_prints/Plate/PlatePrints.rst

@@ -0,0 +1,5 @@
+Plate Prints Class
+-------------------
+
+.. autoclass:: rocketpy.prints.plate_prints._PlatePrints
+   :members:

docs/reference/plots_prints/Plate/index.rst

@@ -0,0 +1,9 @@
+Plate Plots and Prints Classes
+===============================
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Contents:
+
+   PlatePlots
+   PlatePrints

docs/reference/plots_prints/Wire/WirePlots.rst

@@ -0,0 +1,5 @@
+Wire Plots Class
+-------------------
+
+.. autoclass:: rocketpy.plots.wire_plots._WirePlots
+   :members:

docs/reference/plots_prints/Wire/WirePrints.rst

@@ -0,0 +1,5 @@
+Wire Prints Class
+-------------------
+
+.. autoclass:: rocketpy.prints.wire_prints._WirePrints
+   :members:

docs/reference/plots_prints/Wire/index.rst

@@ -0,0 +1,9 @@
+Wire Plots and Prints Classes
+===============================
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Contents:
+
+   WirePlots
+   WirePrints

requirements.txt

@@ -6,3 +6,4 @@ requests
 pytz
 simplekml
 dill
+pywmm>=1.1.1

rocketpy/__init__.py

@@ -46,16 +46,18 @@
     LinearGenericSurface,
     NoseCone,
     Parachute,
+    Plate,
     PointMassRocket,
     RailButtons,
     Rocket,
     Tail,
     TrapezoidalFin,
     TrapezoidalFins,
     TubeFins,
+    Wire,
 )
 from .sensitivity import SensitivityModel
-from .sensors import Accelerometer, Barometer, GnssReceiver, Gyroscope
+from .sensors import Accelerometer, Barometer, GnssReceiver, Gyroscope, Magnetometer
 from .simulation import Flight, MonteCarlo, MultivariateRejectionSampler
 from .stochastic import (
     CustomSampler,

rocketpy/environment/environment.py

@@ -6,8 +6,8 @@
 import os
 import re
 import warnings
-from collections.abc import Mapping
 from collections import namedtuple
+from collections.abc import Mapping
 from datetime import datetime
 
 import netCDF4

rocketpy/environment/fetchers/__init__.py

@@ -20,18 +20,6 @@
     fetch_atmospheric_data_from_meteomatics,
     fetch_meteomatics_token,
 )
-from rocketpy.environment.fetchers.open_meteo_fetcher import (
-    OPEN_METEO_ENSEMBLE_MODELS,
-    OPEN_METEO_ENSEMBLE_URL,
-    OPEN_METEO_FORECAST_URL,
-    OPEN_METEO_HISTORICAL_START_DATE,
-    OPEN_METEO_HISTORICAL_URL,
-    OPEN_METEO_PRESSURE_LEVELS,
-    OPEN_METEO_TIMEOUT_SECONDS,
-    build_hourly_variables,
-    fetch_open_meteo_ensemble,
-    fetch_open_meteo_forecast,
-)
 from rocketpy.environment.fetchers.noaa_catalog import (
     FORECAST_MODELS_CATALOG_URL,
     NOAA_MODEL_COLLECTIONS,
@@ -45,6 +33,18 @@
     list_noaa_dataset_identifiers,
     resolve_noaa_collection_path,
 )
+from rocketpy.environment.fetchers.open_meteo_fetcher import (
+    OPEN_METEO_ENSEMBLE_MODELS,
+    OPEN_METEO_ENSEMBLE_URL,
+    OPEN_METEO_FORECAST_URL,
+    OPEN_METEO_HISTORICAL_START_DATE,
+    OPEN_METEO_HISTORICAL_URL,
+    OPEN_METEO_PRESSURE_LEVELS,
+    OPEN_METEO_TIMEOUT_SECONDS,
+    build_hourly_variables,
+    fetch_open_meteo_ensemble,
+    fetch_open_meteo_forecast,
+)
 from rocketpy.environment.fetchers.opendap_fetchers import (
     fetch_aigfs_file_return_dataset,
     fetch_cmc_ensemble,

rocketpy/exceptions.py

@@ -11,8 +11,9 @@ class RocketPyError(Exception):
 
 
 class InvalidParameterError(RocketPyError, ValueError):
-    """Raised when a constructor parameter has an invalid value (e.g. negative
-    radius or mass)."""
+    """Raised when a function, method, or constructor parameter receives an
+    invalid value or violates geometric/physical constraints (e.g., negative
+    mass, out-of-bounds coordinates, or unsupported options)."""
 
 
 class InvalidInertiaError(RocketPyError, ValueError):