- _ControllerPrints read the removed 'interactive_objects' attribute, so
  controller.info()/all_info() raised AttributeError; renamed to
  controlled_objects() reading controller.controlled_objects.
- Event docstring and event_usage.rst claimed context keys are unpacked
  into the callback kwargs, but Event.__call__ never does that; access is
  via kwargs['event'].context.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

… tracking

A Controller is now a public Event subclass (periodic, trigger-less,
changes_dynamics, priority 3) instead of a private wrapper around one.
This removes the mirrored enabled/log/context state and fixes the
context-lifecycle bug where the dict mutated by the controller function
diverged from the event context reset between flights.

- After every execution the controller snapshots the control_state of
  each controlled object into control_history; recorded_schedule exposes
  it as Functions of time for prints/plots and open-loop replay.
- New ControlledObject protocol (control_state/set_control/_reset), not
  surface-specific so future TVC actuators can conform.
- ControllableGenericSurface gains initial_control_state and _reset();
  AirBrakes inherits them. Controller.reset() restores every tracked
  object, generalizing the airbrakes-only reset previously in Flight.
- Positional controller_function signatures are now rejected with a
  migration error; the add_air_brakes legacy shim is the only remaining
  compatibility path (DeprecationWarning).
- _Controller removed from the public API; new Flight.controllers
  property; new _ControllerPlots.control_history plot and richer
  controller prints.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

Covers Event integration, callback kwargs injection, positional-signature
rejection, automatic control-state history and recorded_schedule
interpolation, context/history/object reset semantics, controlled-object
rebinding, and to_dict/from_dict round trips.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

…llable_surface

- SurfaceController(Controller) validates its controlled objects are
  ControllableGenericSurface instances and exposes .surfaces; tracking
  and reset stay in the base so future non-surface controllers (TVC)
  need no changes here.
- AirBrakesController(SurfaceController) pins the 'air_brakes' friendly
  name, exposes .air_brakes and .deployment_level_history (Function of
  time), and ships deployment-focused prints/plots.
- Rocket.add_air_brakes now builds an AirBrakesController; pure **kwargs
  controller functions are passed through unwrapped, hybrid and legacy
  positional signatures keep the (deprecation-warned) wrapper.
- New Rocket.add_controllable_surface wires surface(s) into
  aerodynamic_surfaces and registers a SurfaceController, resolving the
  previously dangling docstring references.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

Air brakes now join rocket.aerodynamic_surfaces and are summed in the
standard generic-surface loop of all u_dot variants, instead of the
dedicated drag-only branch in _aerodynamic_drag_force.

- add_air_brakes gains a position parameter. Without it, the force
  application point is pinned to the center of dry mass (zero moment
  arm), matching historical results; the pin survives add_motor because
  __evaluate_single_surface_cp_to_cdm short-circuits on the sentinel.
  With an explicit position, deployed brakes produce proper moments at
  angle of attack.
- The airbrake cD is now 0 at deployment level 0 unconditionally;
  override_rocket_drag became a body-drag suppression branch (body drag
  applies while brakes are retracted, is replaced by the surface-loop
  airbrake drag while deployed).
- Result note: drag is now decomposed along the freestream like every
  other surface, adding small lateral components at nonzero incidence
  (previously pure axial).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

- AirBrakes surface: deployment-0 => cD 0 (incl. override mode), curve
  passthrough, incidence/rate independence, clamp on/off parity with the
  integration tests, reset protocol, serialization round trip.
- Rocket wiring: surface-loop membership, cp pinned to CDM surviving
  add_motor, explicit-position path, static-margin invariance, legacy
  signature deprecations, add_controllable_surface wiring (with surface
  validation moved before add_surfaces for a clear error).
- Derivatives without Flight: body-drag suppression semantics and force
  equivalence of the surface-loop path with the legacy drag formula.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

- New ScheduledController replays a control schedule open-loop via
  set_control (clamping applies); ScheduledController.from_controller
  rebuilds a flight's control inputs from a recorded control_history.
- Controller.to_dict now records needs and the controlled objects' names
  (controlled_objects_ref), plus the control_history under
  include_outputs; from_dict restores them, and falls back to a
  ScheduledController (with a warning) when the pickled controller
  function cannot be decoded but a history is available.
- Rocket.from_dict rewires controllers to the decoded surfaces by name,
  replacing the dead _interactive_objects_hash path that raised
  AttributeError on every load of a rocket with controllers.
- Air brakes are serialized once, inside aerodynamic_surfaces (the
  air_brakes key is dropped from Rocket.to_dict and rebuilt on load,
  preserving instance identity with the controller); legacy files with
  only the air_brakes key still load, pinned to the CDM. The pin flag
  round-trips via AirBrakes.to_dict.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

…texts

- Per-sample controllers are rebuilt as AirBrakesController with a deep
  copy of the base context, so nested mutables (observed-variable lists)
  are no longer shared across Monte Carlo samples.
- Sampled air brakes are wired through Rocket._attach_air_brakes so they
  join the aerodynamic surface loop (a plain list append would leave
  them with zero drag under the unified force path); add_air_brakes
  accepts an optional position forwarded to each sample.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

- airbrakes.rst: kwargs controller contract, deprecation of positional
  signatures and initial_observed_variables, position parameter,
  automatic deployment tracking and plots, replay section.
- event_usage.rst: note that controllers are Event subclasses.
- Reference stubs for Controller, SurfaceController,
  AirBrakesController and ScheduledController.
- CHANGELOG entries for the controller refactor (also includes the
  pre-existing uncommitted entries for the reduced-rates change and the
  center_of_pressure removal from earlier branch work).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

Resolve ScheduledController dynamically in the from_dict fallback so the
module graph stays acyclic (scheduled_controller already imports
controller at top level).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

Introduce Effector/GenericEffector and Rocket.add_effector: a non-aerodynamic
control path that injects a body-frame force and/or moment directly into the
equations of motion, driven by the existing Controller.

- New rocketpy/rocket/effector package (Effector base implementing the
  ControlledObject protocol + GenericEffector with user force/moment callables).
- Rocket gains an effectors registry, effectors_cp_to_cdm moment arms,
  add_effector(...) (optionally wiring a Controller), and save/load support;
  effectors are excluded from the aerodynamic-surface / stability-margin math.
- flight_derivatives sums effector force+moment in u_dot and u_dot_generalized
  (force only in 3-DOF); guarded so effector-free flights are unchanged.
- Exports plus unit tests and a slow roll-damper integration test.

Also fix compute_needs_union so a controller/event that self-enables via
enable_on while declaring needs gets its expensive kwargs on the enabling node.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>