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-Bart-1]

@1-Bort-1 address the review comments

[1-Bart-1]

And update the PR body

[1-Bort-1]

Review addressed in 6bf76f9, and the PR body rewritten to describe the branch as it stands: the roll/pitch/yaw removal, the Julia 1.11 drop and the temporary KiteViewers [sources] pin are now named there.

The fixes: LinearAlgebra and Pkg compat move to 1.12, 1.13 (Julia 1.13 ships 1.13.0 of both; Logging and REPL are 1.11.0 on 1.12 and 1.13, so their entries stay). The minimal resolve on 1.12.7 and 1.13.0 moves only project_hash in each .default. The inline comment above ss.orient .= fromKS2KA(...) is gone, calc_orient_quat's docstring no longer names its callers, and the dangling "make sure Python3 and Matplotlib are installed:" in docs/src/index.md and a trailing space in README.md are removed.

Not changed: the CHANGELOG.md entry is #321's and leaves this diff when #321 merges; the README relinks, bin/setup_env deletion, KitePodModels/aenarete links and VortexStepMethod bullet the review mentions are not in this branch's diff against main.

To review: git show 6bf76f94 — seven lines plus two manifest hashes.

Verification

• Julia 1.13.0 on 6bf76f9: test-update-sys-state.jl 58/58, test-kps3.jl 77/77, test-aqua.jl 9/9 · docs build clean · up to date with main · CI: pending on push
• Risk: none from this round; the standing one is the KiteViewers branch pin.

Commits

• 0784ddfb Allow other WinchModels
• 745cd3f1 Add CLAUDE.md
• 1db2d84f Don't load kaimon
• fe1e4c1b Bump version
• 65a3e534 Add license header
• 1d9bcce2 Add release script
• 183ee0b5 Update CHANGELOG.md
• 00708ad7 Create log file
• 32ae2ecd Plot log file
• 20fd454d Increase kite area in reelout example to 17.5 qm
• 4a91ffbe Bump actions/checkout from 6 to 7 (Bump actions/checkout from 6 to 7 #298)
• 69d5ea90 Update AtmosphericModels to 0.3.8 (Update AtmosphericModels to 0.3.8 #304)
• 1ccaafdb Add tests
• 914210af Update README.md
• 2cd0b01a Update Parameters requirement from 0.12 to 0.12, 0.13 (Update Parameters requirement from 0.12 to 0.12, 0.13 #294)
• 4527623a Bump codecov/codecov-action from 6 to 7 (Bump codecov/codecov-action from 6 to 7 #297)
• 4bec95d7 Update CLAUDE.md/CONTRIBUTING.md and add the vertical wind plan (Update CLAUDE.md/CONTRIBUTING.md and add the vertical wind plan #306)
• 51350ca6 Update default manifest
• 316b1116 Update default manifest
• 86b05011 Fix default manifest
• 78747f1b Add vertical wind (Add vertical wind #311)
• 29d30b15 Add default manifest
• 4df10575 Cleanup
• 00ee75e5 Cleanup
• 52631918 Update for Julia 1.13
• 3e495aa8 Downgrade package for Julia 1.13 to reduce system image size
• 70cb1b3a Update README.md
• 3306106c Update README.md
• 4879b68a Update README.md and index.md
• 52c96775 Build SysState with the KiteUtils 0.12 constructor and one-slot winch fields
• abe946b1 Drop BREAKING from the KiteUtils 0.12 changelog entry
• 54079228 Merge Build SysState with the KiteUtils 0.12 constructor and one-slot winch fields #321 (KiteUtils 0.12 SysState migration) into frame-unification
• a8a9d8a7 Drop Julia 1.11
• eb9d2761 Build on KiteUtils 0.13: fromKS2KA names, KiteViewers from Add abstract vehicle interface #56's branch
• 6bf76f94 Address review: stdlib compat for 1.13, trim calc_orient_quat docstring

Review just these changes

Opened by 1-Bort-1, an AI agent working for @1-Bart-1.
Task KiteModels.jl-312

[1-Bort-1]

Done in 6bf76f9; each finding answered where it was written.

[1-Bort-1]

PR body rewritten to match the branch at 6bf76f9.

[1-Bort-1]

Local full suite: FAIL (2 min, Julia 1.13.0, one cell of the matrix)

    init_springs!           |   34                    34     0.0s
    init_masses!            |   11                    11     0.0s
    calc_particle_forces!   |   11                    11     0.5s
    init                    |   11                    11     0.0s
    initial_residual        |    1              1      2     1.0s
    inner_loop!             |   11                    11     0.3s
    calc_aero_forces!       |   11                    11     0.4s
    test_loop               |   33                    33     0.4s
    test_residual!          |   30              9     39     1.1s
    test_getters            |    7              1      8     0.1s
    test_find_steady_state  |           1              1     1.7s
RNG of the outermost testset: Random.Xoshiro(0x40e8ebbf18bd9bef, 0xeb1e258ca6e65229, 0x7866a9fddbbbcd3b, 0x4e573826cfca85e3, 0x80a7376a06a53dc6)
ERROR: Package KiteModels errored during testing
Stacktrace:
  [1] pkgerror(msg::String)
    @ Pkg.Types ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/Types.jl:68
  [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool)
    @ Pkg.Operations ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/Operations.jl:3148
  [3] test
    @ ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/Operations.jl:3026 [inlined]
  [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}})
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:586
  [5] kwcall(::@NamedTuple{io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec})
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:562
  [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{})
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:172
  [7] test(pkgs::Vector{PackageSpec})
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:161
  [8] test(; name::Nothing, uuid::Nothing, version::Nothing, url::Nothing, rev::Nothing, path::Nothing, mode::PackageMode, subdir::Nothing, kwargs::@Kwargs{})
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:189
  [9] test()
    @ Pkg.API ~/.julia/juliaup/julia-1.13.0+0.x64.linux.gnu/share/julia/stdlib/v1.13/Pkg/src/API.jl:178
 [10] top-level scope
    @ none:1
 [11] eval(m::Module, e::Any)
    @ Core ./boot.jl:489
 [12] exec_options(opts::Base.JLOptions)
    @ Base ./client.jl:310
 [13] _start()
    @ Base ./client.jl:577

[1-Bort-1]

Not a bug in this PR: the one error is #314, which fails the same way on main. Only test_find_steady_state errors (the 392 m KPS4 case, where find_steady_state! stops converging on Julia 1.13); the 11 broken are main's own @test_broken, and every other testset passes. #314 records the same failure on main under 1.13.0, deterministic and at the same iteration count, while 1.12.7 is clean. GitHub CI is green on 6bf76f9 only because test/test-kps4.jl:603 turns this error into @test_broken when CI=true. main has no commits since this branch was synced, so nothing here changed, and I haven't pushed a commit for it. The fix belongs in #314, not in this PR.