Basilisk v2.4.0

• Added a new example scenario scenarioConstrainedDynamics demonstrating post-docked spacecraft dynamics

• Created a constraintDynamicEffector dynamics module to couple separate spacecraft motion using holonomic
  constraints

• Removed the depreciated manner of creating python modules

• Created a new example scenario scenarioTempMeasurementAttitude demonstrating the use of tempMeasurement module and generating random noise in the measurement.

• Uncaught exceptions raised in Python modules are now printed to stderr before the program is terminated.

• Updated Basilisk and Vizard logos and provided download links

• Updated News and Discussions menu tab to be External Links to Basilisk related web sites

• Added a new N-axis spinning effector spinningBodyNDOFStateEffector. This is an expansion of spinningBodyOneDOFStateEffector
  and spinningBodyTwoDOFStateEffector to any number of degrees of freedom.

• Update the Windows build to automatically include the Math library defines. This avoids having
  to include them in BSK source code files individually.

• Added support for arrays and 2D arrays of 16 and 64 bit integers in message definitions

• Fixed bug where 2D arrays of 32 bit integers would have elements of type float in python.

• Fixed the Identity() method in avsEigenMRP library.

• Fixed the SpiceInterface::initTimeData() method to write epoch strings with microsecond precision instead of 0.1 second precision
  to prevent SPICE errors when epochs ending with seconds higher than 59.95 seconds got rounded up to 60.0 seconds

• Update dynamicEffector and stateEffector classes to be able to pull the state engine names of the
  spacecraft hub object

• The fuel tank module is refactored to remove the limitation of a only being able to have a single instance of a
  specific tank model type.

• Update Basilisk documentation build system to use latest version of sphinx and sphinx_rtd_theme

• Added time tag to CSSArraySensorMsgPayload

• updated Eigen library to 3.4.0

• updated OpenCV library to 4.5.5

• Added support for Vizard 2.2.0

• Added documentation on using pre-commit formatters and clang formating

• Added two new scenarios that use the spinningBodyNDOFStateEffector module. scenarioRoboticArm simulates
  a robotic arm that changes orientation through the use of the prescribedRotation1DOF profiler module.
  scenarioFlexiblePanel simulates a flexible panel that has torsional and bending modes, which are approximated
  though a lumped-mass approach and discretized to as many subpanels as needed.

• Fixed protectAllClasses method in Basilisk.architecture.swig_common_model so that it actually protects the classes
  in the given module (prevents code from setting unknown attributes). This might impact user code that depended on adding
  additional attributes to python classes generated by SWIG.

• Updated install instructions to specify python version 3.8 to 3.11 are required. Python 3.12 does yet work.

• Updated bskPrinciples-6 to discuss how to log private C++ module variables that have a getter method

• Updated cppModuleTemplate to make user configurable variables private, accessed via setter and getter methods

• Updated makeDraftModule to make C++ modules with private module variables using setter/getter methods

• Updated cppModules-1 to discuss the new expectation that C++ modules are all private. This enables
  graceful module variable depreciation if needed.

• Added support for numpy 2.0.

• Fixed use of spherical coordinate system in magneticFieldWMM model.

• Added ability to run the GitHub pull_request.yml action on a select branch

• Fixed mass depletion rate bug in thrusterStateEffector previously fixed at 100%

• Enhanced solarArrayReference with a mode that can compute the reference for the solar arrays that maximizes SRP torque opposed to current RW net momentum.

• (Beta) Added PEP-517-compliant project specification, providing initial support for installation via pip install ..

  • NOTE: This is primarily intended to support pre-compiled releases in the future. All users are recommended to continue
    using python conanfile.py installation for now.

• The cmake command now downloads large Spice data files automatically from the JPL server.

• Updated Conan/CMake build system to avoid unnecessary recompilations and greatly speed up rebuilds.

Basilisk v2.3.0

• Added optional facet articulation to the facetSRPDynamicEffector module.
• Fixed a bug where the legacy variable logging API would either, not log at all or log at a rate different to the
  requested rate.
• Fixed a python version checking bug that prevented Basilisk from compiling on Windows
• Created a new example scenario scenarioHaloOrbit demonstrating a near-Halo orbit simulation
• Updated versioning to better follow the semantic versioning <https://semver.org>_ standard, in the format
  MAJOR.MINOR.PATCH. Releases will increment the minor version number, while pull requests into develop will
  automatically increment the patch number. This allows users to reference/require specific versions of Basilisk
  outside of the release cycle.
  Online documentation is only built for the MAJOR.MINOR.0 releases
• updated plotting of opNav example scenarios to work again with latest version of matplotlib
• fixed a slew of compiler warnings when compiling with Xcode 15
• Refactored the PrescribedTransMsgPayload message by renaming the message to
  LinearTranslationRigidBodyMsgPayload and renaming the message variables from scalarPos and scalarVel to
  rho and rhoDot
• Deprecated the prescribedMotionMsgPayload message and replaced with two separate
  prescribedTranslationMsgPayload and prescribedRotationMsgPayload messages.
• added support for the new swig 4.2 version
• updated the Windows build to compile properly with opNav flag set to true. A
  opencv related flag had to be updated.
• added supoport for Vizard 2.1.6
• Created a prescribedLinearTranslation dynamics module to profile prescribed linear translation for a
  secondary rigid body connected to the spacecraft hub. This new module deprecates the prescribedTrans module.
  To simulate the translation, this module must be connected to the prescribedMotionStateEffector
  dynamics module.
• Created a prescribedRotation1DOF dynamics module to profile a prescribed 1 DOF rotation for a secondary
  rigid body connected to the spacecraft hub. This new module deprecates the prescribedRot1DOF fsw module.
  To simulate the rotation, this module must be connected to the prescribedMotionStateEffector dynamics module.
• Created a new example scenario scenarioDeployingSolarArrays demonstrating how to simulate hub-relative
  multi-body prescribed motion.
• Added support for Vizard 2.1.6.1
• Updated MtbEffector to include missing swig interface file for a message definition and corrected
  message table in the module documentation.
• Added smoothed bang-bang and smoothed bang-coast-bang profiler options to the prescribedLinearTranslation
  simulation module. Note that the optional module variable coastOptionRampDuration has been renamed to
  coastOptionBangDuration. The setter and getter methods for this variable are renamed to reflect this change as
  setCoastOptionBangDuration() and getCoastOptionBangDuration(), respectively. See the module documentation
  for the current usage of this parameter and these associated methods.
• Added a new commanded linear force array LinearTranslationRigidBodyMsgPayload.
• Added a new single-axis translating effector linearTranslationOneDOFStateEffector.
• Added smoothed bang-bang and smoothed bang-coast-bang profiler options to the prescribedRotation1DOF
  simulation module. Note that the optional module variable coastOptionRampDuration has been renamed to
  coastOptionBangDuration. The setter and getter methods for this variable are renamed to reflect this change as
  setCoastOptionBangDuration() and getCoastOptionBangDuration(), respectively. See the module documentation
  for the current usage of this parameter and these associated methods.

Basilisk version 2.2.1

• Created a new example scenario scenarioSatelliteConstellation demonstrating setup of a Walker-Delta constellation
• Created a new pinholeCamera module to support generation of landmarks-based measurements around a
  small body.
• Corrected a memory leak in the swig access to standard vectors inside messages.
• A new integrated example script scenarioSmallBodyLandmarks demonstrates the use of the pinhole camera module
• Created a new example scenario scenarioSpinningBodiesTwoDOF that showcases the different capabilities of the
  spinningBodyTwoDOFStateEffector module.
• Corrected an error with thrusterStateEffector where if there are multiple instances of the
  thruster state effector then the last effector will over-write all the state of the earlier thrusters.
• Corrected an error with magnetometer where the RNG seed was passed to the Gauss-Markov noise model within the
  constructor and could therefore not be modified after creating the object. Furthermore, the noise model is now only
  used if all three components of the standard deviation parameter are initialized to a positive value.
• Removed fswAuto and associated documentation, as the tool was outdated.
• Changed how C modules are wrapped as C++ classes. This makes handling C modules the same as C++ modules,
  removing the need for "Config" and "Wrap" objects. Updated all scenarios and test files for this new syntax.
  To convert prior script to use the new syntax, see bskPrinciples-2 for the simple new
  syntaxt to add C-modules.
• Modified mrpFeedback to enable the use of a modified control law, and added the integral control torque
  feedback output message.
• Resolved a crash, induced by uninitialized memory, in the Camera module. The crash was first seen on Ubuntu 22 with
  gcc 9.5
• Implemented new syntax for variable logging. See bskPrinciples-6.
• Basilisk minimum Python version is now formally 3.8.x (checked by build files). Previously, it was indicated to be
  3.7.x yet in practice it was 3.8.x.
• Added a TotalAccumDV_CN_N field in SCStatesMsgPayload that saves the total accumulated velocity of the
  spacecraft's center of mass in the inertial frame.
• Added prescribed angle and angle rates to spinningBodyOneDOFStateEffector and spinningBodyTwoDOFStateEffector
  modules.
• Created a scanningInstrumentController, similar to simpleInstrumentController, but which constantly checks if the attitude error
  and angular rate (optional) are within the requirement limits and sends an imaging command to a simpleInstrument.
• Added a new scenario scenarioHohmann that performs a Hohmann transfer with attitude mode changes.
  The basic attitude flight modes are implemented using the Basilisk event system.
• updated conan support to latest 1.xx version to provide support for macOS Sonoma
• updated macOS cspice library to be compiled with Xcode 15. This addresses some errors that appeared
  when calling the prior pre-built cspice library. The new library is backwards compatible with
  prior versions of Xcode.
• Fixed a bug in the conanfile where the stderr output from a subprocess.Popen call was being interpreted as an
  error. Rather, the process return code (0 for success, and anything else for failure) indicates the success.
• The MAX_N_CSS_MEAS define is increased to 32 matching the maximum number of coarse sun sensors.
• mixed bug in time to nano-seconds conversions in macros.py support file
• Created thrusterPlatformState to map the thruster configuration information to body frame given the time-varying platform states.
• Updated thrusterPlatformReference to add an input and output thruster config msg, and integral feedback term
  which dumps steady-state momentum in case of uncertainties on the CM location.
• Created thrustCMEstimation to perform online estimation of the CM using gimbaled thruster torque measurements.
• Refactored GravityEffector. Adding custom gravity models can now be done by subclassing GravityModel. The
  utility method useSphericalHarmonicsGravityModel has been added to planetary body objects, which makes the body
  use spherical harmonics and loads them from a file with a single command. Similarly, the methods usePolyhedralGravityModel
  and usePointMassGravityModel have been added.
• Fixed examples and tests to run even when Basilisk is built with --vizInterface False.
• Added a new method setDataBuffer() to simpleStorageUnit and partitionedStorageUnit to add or remove data from specified partitions.
• Refactored simIncludeGravBody. The most notable change for users is that the commonly used line
  scObject.gravField.gravBodies = spacecraft.GravBodyVector(list(gravFactory.gravBodies.values()))
  can be replaced by gravFactory.addBodiesTo(scObject) (where scObject is a spacecraft.Spacecraft
  or spacecraftSystem.SpacecraftSystem, and gravFactory is a simIncludeGravBody.gravBodyFactory)
• Added condition in thrustCMEstimation to avoid measurement updates when input attGuidInMsg has not been written.
• Added scenarioSepMomentumManagement to show how to use a dual-gimbaled electric thruster to perform continuous
  momentum management.
• Clarified documentation of the input variable FirstStart of the method CreateNewTask().
• Marked the method CreateNewTask() input variable InputDelay as depreciated. This variable
  was never implemented and did nothing.
• Fixed terminal events to terminate at the time they are triggered instead of one timestep after.

Basilisk version 2.2.0

• Created new way to define Python modules by inheriting from Basilisk.architecture.sysModel.SysModel.
  See :ref:pyModules for details.
• Added the ability to integrate the ODE's of two or more Basilisk modules that are DynamicObject class
  member at the same time. See :ref:bskPrinciples-9
• updated ZMQ version to 4.5.0. For 2-way communication with opNav modules talking to Vizard
  then Vizard 2.1.5 or newer should be used. This also removes the need for the legacy bincrafters code repo.
  Delete ~/.conan folder if you run into conan issues.
• The Basilisk project C++ version is advanced from C++11 to C++17
• Disabled the following build options in the conan included OpenCV dependency; with_ffmpeg video frame encoding lib,
  with_ade graph manipulations framework, with_tiff generate image in TIFF format, with_openexr generate image in EXR
  format, with_quirc QR code lib. Users that have Basilisk control the build of these modules through the External
  Modules CMake integration will need to manual toggle these OpenCV build options.
• Updated :ref:SmallBodyNavEKF with several bug fixes. Removed spacecraft attitude estimation component.
• Bug fix made to :ref:eclipse: Saturn, Jupiter, Uranus, and Neptune radii were incorrectly being assigned the
  radius of Mars.
• Added custom planet name to :ref:eclipse in case the user wants to use a body not contained within the module.
• Removed all instances of using unitTestSupport.np2EigenVectorXd(), as this function is now unneeded.
• Created a :ref:facetSRPDynamicEffector dynamics module to calculate the B frame SRP force and torque acting on a
  static spacecraft.
• fixed PCI2PCPF() and PCPF2PCI methods in :ref:geodeticConversion to use the correct DCM
• updated :ref:geodeticConversion to be able to account for planet ellipsoidal shape if polar radius is provided
• Google Test C/C++ testing framework added
• Created a :ref:prescribedRot2DOF fsw module to profile a prescribed 2 DOF rotational maneuver for a secondary rigid
  body connected to the spacecraft hub. To simulate the maneuver, this module must be connected to the
  :ref:prescribedMotionStateEffector dynamics module.
• Corrected default value of accuracyNanos in :ref:simSynch to be 0.01 seconds.
• Added a deprecation system for Basilisk. For developers, see :ref:deprecatingCode.
• Changed the units of plasma flux in :ref:dentonFluxModel and :ref:PlasmaFluxMsgPayload from
  [cm^-2 s^-1 sr^-2 eV^-1] to [m^-2 s^-1 sr^-2 eV^-1], because m^-2 is used more frequently in computations
• Fixed a bug in eclipse that caused potentially occluding bodies to be skipped if a prior body was closer to the sun
  than the spacecraft
• fixed the time evaluation in :ref:msisAtmosphere
• Added an optional controllerStatus variable and deviceStatusInMsg message to the
  :ref:simpleInstrumentController to match the functionality of the corresponding data and power modules
• Corrected tasks priorities in several scenarios and added checks in two modules to ensure that C MSG read errors are
  not thrown
• Fixed bug where message struct members of bool python types are returned as empty dicts instead of array of boolsgit
• Refactored the :ref:prescribedMotionStateEffector dynamics module to vary the prescribed states across the dynamics
  integration time step.
• The encryption build option for the project's conan zmq dependency is disabled because it is uneeded.
• Added an optional controllerStatus variable and deviceStatusInMsg message to the :ref:simpleInstrumentController to
  match the functionality of the corresponding data and power modules
• Corrected tasks priorities in several scenarios and added checks in two modules to ensure that C MSG read errors are not thrown
• Reworked how integrators are implemented. New Runge-Kutta integrators may
  now be added simply by specifying the relevant coefficients.
• Added a scenario that showcases differences between integrators. See :ref:scenarioIntegratorsComparison

BSK v2.1.7

• Fixed CMake/conan case sensitivty issue when compiling Basilisk with opNav flag set to True on Linux platforms
• Created fsw :ref:hingedRigidBodyPIDMotor to compute the commanded torque to :ref:spinningBodyOneDOFStateEffector using a proportional-integral-derivative controller.
• Added :ref:torqueScheduler to combine two :ref:ArrayMotorTorqueMsgPayload into one and implement effector locking logic.
• Refactored how Custom.cmake files are included and how they are to be constructed. Custom.cmake files
  should no longer include an include guard (e.g. if(BUILD_OPNAV) ... endif(BUILD_OPNAV) ). Rather, to add
  optionally compile a module, its directory name should be added to a list in
  src/cmake/bskTargetExcludeBuildOptions.cmake. Most importantly, the build target is now accessible within the
  a Custom.cmake file as ${TARGET_NAME}. This enables appropriate modularization of build target specific
  includes, dependencies, and compiler flags. For an example of the implications of this refactor review the before
  and after of the src/cmake/usingOpenCV.cmake file.
• updated :ref:unitTestSupport to create the file path in a platform agnostic manner
• Created a :ref:sensorThermal module to model the temperature of a sensor using radiative heat transfer
• Created a :ref:tempMeasurement module to add sensor noise/bias and fault capabilities to temperature readings
• Added a terminal flag to the event handlers that cause the simulation to terminate when triggered; demonstrated
  use of flag in update to :ref:scenarioDragDeorbit.
• Created a :ref:prescribedMotionStateEffector dynamics module for appending rigid bodies with prescribed motion
  to the spacecraft hub.
• Added :ref:solarArrayReference to compute the reference angle and angle rate for a rotating solar array.
• Update python dependency documentation and check to not use conan version 2.0.0 for now
• Changed the SpinningBodyStateEffector module name to :ref:spinningBodyOneDOFStateEffector.
• Added the ability to lock the axis on the :ref:spinningBodyOneDOFStateEffector module.
• Added two new unit tests to :ref:spinningBodyOneDOFStateEffector.
• Updated :ref:magneticFieldWMM to use the latest WMM coefficient file and evaluation software
• Added a :ref:spinningBodyTwoDOFStateEffector module that simulates a two-axis rotating rigid component.
• Created :ref:oneAxisSolarArrayPoint to generate the reference attitude for a spacecraft that needs to point a body-fixed
  axis along an inertial direction while ensuring maximum power generation on the solar arrays
• Added a maximum power parameter maxPower to :ref:reactionWheelStateEffector for limiting supplied
  power, independent of the modules in simulation/power.
• Added :ref:thrusterPlatformReference to align the dual-gimballed thruster with the system's center of mass, or at an offset thereof to perform momentum dumping.
• Improved reliability of opNav scenario communication between :ref:vizInterface and Vizard
• provide support or Vizard 2.1.4 features

Basilisk v2.1.6

• Refactored :ref:keplerianOrbit to not depend on the gravityEffector class
• Updated Basilisk install documentation to discuss accessing source code from GitHub.com
• Fixed an issue where attaching a thruster to a body different than the hub when using zeroBase would yield very large offsets.
• Added documentation in :ref:bskPrinciples-4 on how to read the current message values
• Highlighted the challege of setting up a recorder on a re-directed message in :ref:bskPrinciples-7
• added the ability to add a recorder() to a C-wrapped module input message
• Fix an issue in in :ref:magneticFieldWMM where a fixed width array holding a file path would result in a cutoff
  path when basilisk is located in a directory path of greater than 100 characters.
• Updated the build system to use newer versions of eigen, protobuf, cppzmq
  and opencv. This corrects some build issues with new compilers.
• The linearAlgebra, rigidBodyKinematics, orbitalMotion were mistakenly exposed as part of the
  :ref:sim_model module's API. They have been removed and the functions they provided are still found in
  Basilisk.utilities.orbitalMotion, Basilisk.architecture.linearAlgebra, and
  Basilisk.architecture.rigidBodyKinematics.
• Fixed an issued recording the timeWritten information of a C-wrapped message
  with a recorder() module.
• Updated :ref:pullCloneBSK to ask the user to first install lfs before pulling a copy
  of the Basilisk repo due to some large files being stored in the GitHub large file storage
  system.
• Updated :ref:scenarioGroundLocationImaging to properly save off the ground location
  information for Vizard
• Added a new helper function to convert C arrays to Eigen::MRPd and vice-versa inside avsEigenSupport.
• Updated :ref:spinningBodyStateEffector to use the :ref:HingedRigidBodyMsgPayload output message type for compatibility with other modules
• Added the ability to set an inertial heading in the :ref:boreAngCalc module. Changed the internal module logic to use Eigen library variables and functions instead of C-style arrays and methods.
• Added support for Vizard v2.1.3
• Updated :ref:simpleInstrumentController to provide the option to consider the angular velocity tracking error norm
  when considering to take an image.