Build SysState with the KiteUtils 0.12 constructor and one-slot winch fields

CHANGELOG.md

@@ -2,6 +2,12 @@
 SPDX-FileCopyrightText: 2025 Uwe Fechner, Bart van de Lint
 SPDX-License-Identifier: MIT
 -->
+### KiteModels v0.11.20 - unreleased
+#### Changed
+- Requires KiteUtils 0.12. `SysState(kps)` builds a single-winch, single-tether state,
+  so `winch_force`, `l_tether`, `v_reelout`, `set_force`, `set_torque` and `set_speed` hold one
+  value instead of four.
+
 ### KiteModels v0.11.19 2026-10-10
 #### Fixed
 - The state of the winch (brake on/off, rate limited set speed) is now updated once per time step

Manifest-v1.12.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.12.7"
 manifest_format = "2.0"
-project_hash = "a65497c5784386dc8f131591d94591ac9efaf61b"
+project_hash = "3333971938da7090e3107cbd985b6065354118c9"
 
 [[deps.ADTypes]]
 deps = ["PrecompileTools"]
@@ -162,9 +162,9 @@ version = "1.11.0"
 
 [[deps.AtmosphericModels]]
 deps = ["FFTW", "HypergeometricFunctions", "KiteUtils", "LinearAlgebra", "MeshGrid", "NPZ", "Printf", "Random", "SHA", "Scratch", "StableRNGs", "Statistics"]
-git-tree-sha1 = "542e1acd424d4263392352bb6150934b6140b419"
+git-tree-sha1 = "44f7988132487cd264e9f2f765f07f770cab1244"
 uuid = "c59cac55-771d-4f45-b14d-1c681463a295"
-version = "0.3.8"
+version = "0.3.12"
 
 [[deps.Automa]]
 deps = ["PrecompileTools", "TranscodingStreams"]
@@ -1360,21 +1360,21 @@ version = "0.11.19"
 
 [[deps.KitePodModels]]
 deps = ["DocStringExtensions", "KiteUtils", "Reexport"]
-git-tree-sha1 = "57f6f71a75d2d26f199a64c03a03796139c540f4"
+git-tree-sha1 = "a54b0d8d4e011b2c8e6135322b1e57d2f2d250be"
 uuid = "9de5dc81-f971-414a-927b-652b2f41c539"
-version = "0.4.0"
+version = "0.4.2"
 
 [[deps.KiteUtils]]
 deps = ["Arrow", "CSV", "DocStringExtensions", "LinearAlgebra", "OrderedCollections", "Parameters", "Parsers", "Pkg", "PrecompileTools", "RecursiveArrayTools", "ReferenceFrameRotations", "Rotations", "StaticArrays", "StructArrays", "StructTypes", "YAML"]
-git-tree-sha1 = "0d7307b9656072383b235e7b4e6ca546bc3fd7ae"
+git-tree-sha1 = "fbeb8355b4797ffc263320be2dc74dcdbe9310fc"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
-version = "0.11.13"
+version = "0.12.2"
 
 [[deps.KiteViewers]]
 deps = ["FileIO", "GLMakie", "GeometryBasics", "Joysticks", "KiteUtils", "LinearAlgebra", "Parameters", "Pkg", "PrecompileTools", "Printf", "Reexport", "Rotations", "StaticArrays", "StructArrays", "Timers"]
-git-tree-sha1 = "cae633ece41d23e572fd5bce01440cee7912d45a"
+git-tree-sha1 = "ba3472753e0fda3b2436936ad12c763c9fd660b7"
 uuid = "2e593061-95e7-45e4-95f4-df0491f2e601"
-version = "0.5.2"
+version = "0.6.0"
 
 [[deps.Krylov]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]

Manifest-v1.13.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.13.1"
 manifest_format = "2.1"
-project_hash = "f8b0f821fe4582a1e16d8efad9295a469ad2e37e"
+project_hash = "15bc8be9d852005d661871bfa51ace960c21e8ae"
 
 [[deps.ADTypes]]
 deps = ["PrecompileTools"]
@@ -176,10 +176,10 @@ version = "1.11.0"
 
 [[deps.AtmosphericModels]]
 deps = ["FFTW", "HypergeometricFunctions", "KiteUtils", "LinearAlgebra", "MeshGrid", "NPZ", "Printf", "Random", "SHA", "Scratch", "StableRNGs", "Statistics"]
-git-tree-sha1 = "542e1acd424d4263392352bb6150934b6140b419"
+git-tree-sha1 = "44f7988132487cd264e9f2f765f07f770cab1244"
 registries = "General"
 uuid = "c59cac55-771d-4f45-b14d-1c681463a295"
-version = "0.3.8"
+version = "0.3.12"
 
 [[deps.Automa]]
 deps = ["PrecompileTools", "TranscodingStreams"]
@@ -1517,24 +1517,24 @@ version = "0.11.19"
 
 [[deps.KitePodModels]]
 deps = ["DocStringExtensions", "KiteUtils", "Reexport"]
-git-tree-sha1 = "57f6f71a75d2d26f199a64c03a03796139c540f4"
+git-tree-sha1 = "a54b0d8d4e011b2c8e6135322b1e57d2f2d250be"
 registries = "General"
 uuid = "9de5dc81-f971-414a-927b-652b2f41c539"
-version = "0.4.0"
+version = "0.4.2"
 
 [[deps.KiteUtils]]
 deps = ["Arrow", "CSV", "DocStringExtensions", "LinearAlgebra", "OrderedCollections", "Parameters", "Parsers", "Pkg", "PrecompileTools", "RecursiveArrayTools", "ReferenceFrameRotations", "Rotations", "StaticArrays", "StructArrays", "StructTypes", "YAML"]
-git-tree-sha1 = "0d7307b9656072383b235e7b4e6ca546bc3fd7ae"
+git-tree-sha1 = "fbeb8355b4797ffc263320be2dc74dcdbe9310fc"
 registries = "General"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
-version = "0.11.13"
+version = "0.12.2"
 
 [[deps.KiteViewers]]
 deps = ["FileIO", "GLMakie", "GeometryBasics", "Joysticks", "KiteUtils", "LinearAlgebra", "Parameters", "Pkg", "PrecompileTools", "Printf", "Reexport", "Rotations", "StaticArrays", "StructArrays", "Timers"]
-git-tree-sha1 = "cae633ece41d23e572fd5bce01440cee7912d45a"
+git-tree-sha1 = "ba3472753e0fda3b2436936ad12c763c9fd660b7"
 registries = "General"
 uuid = "2e593061-95e7-45e4-95f4-df0491f2e601"
-version = "0.5.2"
+version = "0.6.0"
 
 [[deps.Krylov]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]

Project.toml

@@ -44,7 +44,7 @@ DiscretePIDs = "0.1.5, 1.0"
 DocStringExtensions = "0.9.4"
 Interpolations = "0.15.1, 0.16"
 KitePodModels = "0.4.0"
-KiteUtils = "0.11.8"
+KiteUtils = "0.12"
 LinearAlgebra = "1.11, 1.12"
 LinearSolve = "3.59"
 Logging = "1.11, 1.12"

docs/Project.toml

@@ -13,6 +13,6 @@ KiteModels = {path = ".."}
 [compat]
 Documenter = "1.11"
 KitePodModels = "0.4"
-KiteUtils = "0.7, 0.8, 0.9, 0.10, 0.11"
+KiteUtils = "0.7, 0.8, 0.9, 0.10, 0.11, 0.12"
 OpenSSL_jll = "3.0.0"
 julia = "1.12, 1.13"

examples_3d/Project.toml

@@ -25,5 +25,5 @@ KiteModels = {path = ".."}
 [compat]
 MakieControlPlots = "0.1.4"
 KiteModels = "0.11.0"
-KiteViewers = "0.5.1"
+KiteViewers = "0.5.1, 0.6"
 julia = "1.12, 1.13"

src/KiteModels.jl

@@ -534,16 +534,16 @@ function update_sys_state!(ss::SysState, s::AKM, zoom=1.0)
     d_az = atan(sin(new_azimuth - ss.azimuth), cos(new_azimuth - ss.azimuth))
     ss.azimuth_rate = d_az / dt
     ss.azimuth = new_azimuth
-    ss.winch_force .= [winch_force(s); 0; 0; 0]
+    ss.winch_force[1] = winch_force(s)
     new_heading = calc_heading(s)
     # Use shortest-angle difference to avoid artificial spikes at wrap boundaries
     d_psi = atan(sin(new_heading - ss.heading), cos(new_heading - ss.heading))
     ss.heading_rate = d_psi / dt
     ss.heading = new_heading
     ss.course = calc_course(s)
     ss.v_app = norm(s.v_apparent)
-    ss.l_tether .= [s.l_tether; 0; 0; 0]
-    ss.v_reelout .= [s.v_reel_out; 0; 0; 0]
+    ss.l_tether[1] = s.l_tether
+    ss.v_reelout[1] = 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
@@ -553,11 +553,7 @@ function update_sys_state!(ss::SysState, s::AKM, zoom=1.0)
     if isa(s, KPS4)
         ss.alpha3 = deg2rad(s.alpha_3)
         ss.alpha4 = deg2rad(s.alpha_4)
-        if isnothing(s.set_force)
-            ss.set_force .= [NaN, 0, 0, 0]
-        else
-            ss.set_force .= [s.set_force, 0, 0, 0]
-        end
+        ss.set_force[1] = something(s.set_force, NaN)
         if isnothing(s.bearing)
             ss.bearing = NaN
         else
@@ -570,16 +566,8 @@ function update_sys_state!(ss::SysState, s::AKM, zoom=1.0)
         end
     end
     ss.set_steering = s.kcu.set_steering
-    if isnothing(s.set_torque)
-        ss.set_torque .= [NaN, 0, 0, 0]
-    else
-        ss.set_torque .= [s.set_torque, 0, 0, 0]
-    end
-    if isnothing(s.sync_speed)
-        ss.set_speed .= [NaN, 0, 0, 0]
-    else
-        ss.set_speed .= [s.sync_speed, 0, 0, 0]
-    end
+    ss.set_torque[1] = something(s.set_torque, NaN)
+    ss.set_speed[1] = something(s.sync_speed, NaN)
     ss.roll, ss.pitch, ss.yaw = orient_euler(s)
     # Calculate body turn rate around z-axis using Erhard and Strauch (2013) formula
     # psi_m = psi - phi_dot * cos(theta)
@@ -604,7 +592,7 @@ system state in a viewer. Optionally the position arrays can be zoomed
 according to the requirements of the viewer.
 """
 function SysState(s::AKM, zoom=1.0)
-    ss = SysState{length(s.pos)}()
+    ss = SysState(length(s.pos))
     update_sys_state!(ss, s, zoom)
     ss
 end

test/test-update-sys-state.jl

@@ -56,10 +56,9 @@ end
     @test ss.v_wind_gnd ≈ kps4.v_wind_gnd
     @test ss.v_wind_kite ≈ kps4.v_wind
     @test ss.v_wind_200m ≈ kps4.v_wind_gnd * calc_wind_factor(kps4.am, 200.0)
-    # the winch quantities are scalars on a single-tether model, in slot 1 of a 4-tether vector
-    @test ss.winch_force ≈ [winch_force(kps4), 0, 0, 0]
-    @test ss.l_tether ≈ [kps4.l_tether, 0, 0, 0]
-    @test ss.v_reelout ≈ [kps4.v_reel_out, 0, 0, 0]
+    @test ss.winch_force ≈ [winch_force(kps4)]
+    @test ss.l_tether ≈ [kps4.l_tether]
+    @test ss.v_reelout ≈ [kps4.v_reel_out]
 end
 
 @testset "update_sys_state! zoom" begin
@@ -75,7 +74,7 @@ end
     ss = SysState(kps4)
     next_step!(kps4, integrator; set_speed=0.5, dt=DT)
     update_sys_state!(ss, kps4)
-    @test ss.set_speed ≈ [0.5, 0, 0, 0]
+    @test ss.set_speed ≈ [0.5]
     # a set value of `nothing` is logged as NaN, not as zero
     @test isnan(ss.set_torque[1])
     @test isnan(ss.set_force[1])
@@ -89,8 +88,8 @@ end
     kps4.attractor  = SVector(0.1, 0.7)
     update_sys_state!(ss, kps4)
     @test isnan(ss.set_speed[1])
-    @test ss.set_torque ≈ [-20.0, 0, 0, 0]
-    @test ss.set_force ≈ [1200.0, 0, 0, 0]
+    @test ss.set_torque ≈ [-20.0]
+    @test ss.set_force ≈ [1200.0]
     @test ss.bearing ≈ 0.3
     @test ss.attractor ≈ [0.1, 0.7]
 end
@@ -131,10 +130,10 @@ end
     @test ss.elevation ≈ calc_elevation(kps3)
     @test ss.azimuth ≈ calc_azimuth(kps3)
     @test ss.heading ≈ calc_heading(kps3)
-    @test ss.l_tether ≈ [kps3.l_tether, 0, 0, 0]
+    @test ss.l_tether ≈ [kps3.l_tether]
     # set_force, bearing and attractor are KPS4 only and keep their defaults here
     @test ss.bearing == 0
-    @test ss.set_force ≈ [0, 0, 0, 0]
+    @test ss.set_force ≈ [0]
     @test ss.attractor ≈ [0, 0]
 
     azimuth_0, heading_0, time_0 = ss.azimuth, ss.heading, ss.time