From 08d90224b7f0ff9d4fe51ec7a25d1c84e73e91c4 Mon Sep 17 00:00:00 2001 From: zuorenchen Date: Tue, 25 Aug 2026 23:48:47 +0100 Subject: [PATCH 1/2] Fix gravity term in accelerometer --- rocketpy/sensors/accelerometer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rocketpy/sensors/accelerometer.py b/rocketpy/sensors/accelerometer.py index b6a477c11..9722b2ecc 100644 --- a/rocketpy/sensors/accelerometer.py +++ b/rocketpy/sensors/accelerometer.py @@ -232,7 +232,7 @@ def measure(self, time, **kwargs): gravity = ( Vector([0, 0, -gravity]) if self.consider_gravity else Vector([0, 0, 0]) ) - inertial_acceleration = Vector(u_dot[3:6]) + gravity + inertial_acceleration = Vector(u_dot[3:6]) - gravity # Vector from rocket cdm to sensor in rocket frame r = relative_position From e5410ab0bfad80b0a00855f8e0b6c062e317d8a5 Mon Sep 17 00:00:00 2001 From: zuorenchen Date: Wed, 26 Aug 2026 00:32:22 +0100 Subject: [PATCH 2/2] Fix accelerometer gravity model in tests --- tests/unit/sensors/test_sensor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/unit/sensors/test_sensor.py b/tests/unit/sensors/test_sensor.py index 17a185586..1eabde5c1 100644 --- a/tests/unit/sensors/test_sensor.py +++ b/tests/unit/sensors/test_sensor.py @@ -272,7 +272,7 @@ def test_noisy_rotated_accelerometer(noisy_rotated_accelerometer, example_plain_ # calculate acceleration at sensor position in inertial frame relative_position = Vector([0.4, 0.4, 1]) - inertial_acceleration = Vector(U_DOT[3:6]) + Vector([0, 0, -GRAVITY]) + inertial_acceleration = Vector(U_DOT[3:6]) - Vector([0, 0, -GRAVITY]) omega = Vector(U[10:13]) omega_dot = Vector(U_DOT[10:13]) acceleration = (