Write KA orientations to SysState, keep KS inside the model

[1-Bart-1]

TL;DR

SysState now carries KA orientations (aft-right-up, against ENU), the convention KiteUtils 0.13 stores; the model keeps working in KS and update_sys_state! converts at the boundary. Building on KiteUtils 0.13 forces two more changes that ride here: the 0.12 SysState migration (#321, merged in) and dropping Julia 1.11.

What a downstream consumer will notice

• roll, pitch, yaw are no longer written to SysState — KiteUtils 0.13 removed those fields. orient_euler(s) still returns them against NED, and euler_KS(ss.orient) recovers them from a state or a log.
• ss.orient is KA, not KS. calc_orient_quat and kite_ref_frame still return KS.
• turn_rates is KA, so its z component has the opposite sign to before (a rate about an axis that pointed down and now points up).
• winch_force, l_tether, v_reelout, set_force, set_torque, set_speed hold one value instead of four (from Build SysState with the KiteUtils 0.12 constructor and one-slot winch fields #321).
• calc_heading(s) passes the quaternion instead of Euler angles; same angle, one quat2euler round trip fewer.

Julia 1.11 dropped

Agreed on this thread (option A). WinchModels 0.3.11 and AtmosphericModels 0.3.11, the only releases accepting KiteUtils 0.13, require Julia 1.12. So julia compat is 1.12, 1.13, Manifest-v1.11.toml.default is deleted, the CI cells move 1.11 → 1.12, and bin/install, bin/update_default_manifest and the install docs lose their 1.11 branch. CI's '1' cell runs 1.13.

Temporary: KiteViewers from a branch

No released KiteViewers accepts KiteUtils 0.13. examples_3d/Project.toml and test/Project.toml take it via [sources] from OpenSourceAWE/KiteViewers.jl#56's branch (agent/54-update-kiteutils). Those two lines must come out, and the compat point at the released version, before this merges — hence the draft and the Depends-On below.

Also in the diff

• test-kps3.jl: calc_heading(kps) ≈ 0 had no absolute tolerance; the quaternion route gives 2.8e-17, the Euler route 2π − ε. It now compares modulo 2π.
• examples_3d/parking_*.jl: stop overwriting sys_state.orient with a KS quaternion, and plot the KS body rate next to heading_rate so the curves keep the same sign.
• calc_orient_quat gets a docstring and a place in docs/src/functions.md.

Review order: src/KiteModels.jl, then test/test-update-sys-state.jl. Everything under CHANGELOG.md and the one-slot winch fields is #321's and disappears from this diff when #321 merges.

Verification

• test/test-update-sys-state.jl fails without the KA conversion (orient, turn_rates), passes 58/58 with it — Julia 1.12.7 and 1.13.0.
• 1.13.0 on 6bf76f9: test-update-sys-state.jl 58/58, test-kps3.jl 77/77, test-aqua.jl 9/9. Earlier on 1.12.7: test-kps4.jl (11 @test_broken from main), test-orientation.jl 88/88, test-simulate_4p.jl 2/2, test-interface.jl, test-helpers.jl 19/19.
• Docs build clean · REUSE lint clean · up to date with main · GitHub CI green on eb9d276.
• agent ci-local on 1.13 stops at test_find_steady_state, which is find_steady_state! does not converge for KPS4 on Julia 1.13, and CI hides it #314 and fails the same way on main.
• examples_3d parking examples not run (need a display).
• Risk: the [sources] lines pin a branch that will be deleted after KiteViewers#56 merges.

Scope

24 files; Manifest-v1.11.toml.default is −3139 of the −3469. Source change is src/KiteModels.jl (+19/−27, most of it #321's).

Depends-On: #321
Depends-On: OpenSourceAWE/KiteViewers.jl release after v0.6.0

🤖 Generated with Claude Code

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.

📢 Thoughts on this report? Let us know!

[1-Bort-1]

Not a bug in this PR: the one error is #314, the same failure that happens on main. On eb2238a under Julia 1.13.0, only test_find_steady_state errors. That is the 392 m KPS4 case, where find_steady_state! stops converging on 1.13. The 11 broken results are main's own @test_broken, and every other testset in the run passes. The same signature showed up on 6bf76f9 before the merge, and the merge touched only CHANGELOG.md and the package diagram. #314 is still open and records the same deterministic failure on main under 1.13.0, while 1.12.7 passes. GitHub CI doesn't show it because its CI=true path catches the error. No change here: the fix belongs to #314. Hiding the test to get this run green is exactly what that issue is about.