REL: bug fixes

.github/workflows/docs.yml

@@ -1,10 +1,13 @@
 name: Documentation
 
 on:
-  # Only PRs targeting master (base branch = master) and pushes to master.
+  # develop as well as master. Work lands on develop first, so a base of master
+  # alone meant the only run was the release pull request: a docstring that does
+  # not build sat on develop until then and failed the merge that was supposed
+  # to ship it, which is how the four warnings this fixes went unnoticed.
   pull_request:
     types: [opened, synchronize, reopened, ready_for_review]
-    branches: [master]
+    branches: [master, develop]
     paths:
       - "docs/**"
       - "rocketpy/**" # docstrings feed the autodoc API reference
@@ -13,7 +16,7 @@ on:
       - ".readthedocs.yaml"
       - ".github/workflows/docs.yml"
   push:
-    branches: [master]
+    branches: [master, develop]
     paths:
       - "docs/**"
       - "rocketpy/**"

.github/workflows/test_pytest.yaml

@@ -61,26 +61,41 @@ jobs:
         run: pytest tests/integration --cov=rocketpy --cov-append
 
       - name: Run Acceptance Tests
-        run: pytest tests/acceptance --cov=rocketpy --cov-append --cov-report=xml
+        run: pytest tests/acceptance --cov=rocketpy --cov-append --cov-report=xml:coverage-${{ matrix.os }}-${{ matrix.python-version }}.xml
 
       - name: Upload coverage to artifacts
         uses: actions/upload-artifact@main
         with:
-          name: coverage
-          path: coverage.xml
-          overwrite: true
+          # One name per leg. Six legs sharing a name with overwrite deleted each
+          # other's artifact rather than merging, so five reports were discarded
+          # and the surviving one was whichever leg happened to finish last.
+          name: coverage-${{ matrix.os }}-${{ matrix.python-version }}
+          path: coverage-${{ matrix.os }}-${{ matrix.python-version }}.xml
           if-no-files-found: error
 
   CodecovUpload:
     needs: Pytest
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@main
-      - name: Download latest coverage report
+      - name: Download every coverage report
         uses: actions/download-artifact@main
+        with:
+          pattern: coverage-*
+          merge-multiple: true
+          path: coverage-reports
+      - name: Refuse to upload nothing
+        # `ls` exits non-zero on no match. Without this the upload has nothing to
+        # send and still reports success, which is the failure being fixed here.
+        run: ls coverage-reports/*.xml
       - name: Upload to Codecov
         uses: codecov/codecov-action@main
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
-          files: |
-            coverage.xml
+          # A directory rather than a filename: there is one report per matrix
+          # leg now. The previous block literal passed "coverage.xml\n", which was
+          # not found, and only the fallback search made the upload work at all.
+          directory: coverage-reports
+          # Only fail when a token was there to use. Pull requests from forks get
+          # no secrets, and a contributor should not see red for that.
+          fail_ci_if_error: ${{ secrets.CODECOV_TOKEN != '' }}

docs/examples/index.rst

@@ -106,6 +106,7 @@ In the next sections you will find the simulations of the rockets listed above.
    prometheus_2022_flight_sim.ipynb
    erebus_flight_sim.ipynb
    halcyon_flight_sim.ipynb
+   halcyon_flight_sim_active_control.ipynb
    cavour_flight_sim.ipynb
    genesis_flight_sim.ipynb
    camoes_flight_sim.ipynb

rocketpy/rocket/rocket.py

@@ -2004,7 +2004,6 @@ def add_thrust_vector_control(
                 rocket. The most recent measurements of the sensors are provided
                 with the ``sensor.measurement`` attribute. The sensors are
                 listed in the same order as they are added to the rocket
-               ``interactive_objects``
 
             This function will be called during the simulation at the specified
             sampling rate. The function should evaluate and change the observed
@@ -2164,7 +2163,6 @@ def add_roll_control(
                 rocket. The most recent measurements of the sensors are provided
                 with the ``sensor.measurement`` attribute. The sensors are
                 listed in the same order as they are added to the rocket
-               `interactive_objects`
 
             This function will be called during the simulation at the specified
             sampling rate. The function should evaluate and change the observed
@@ -2300,7 +2298,6 @@ def add_throttle_control(
                 rocket. The most recent measurements of the sensors are provided
                 with the ``sensor.measurement`` attribute. The sensors are
                 listed in the same order as they are added to the rocket
-               ``interactive_objects``
 
             This function will be called during the simulation at the specified
             sampling rate. The function should evaluate and change the observed

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