Lift/drag validation of V3Kite against the AWETrim ROM

.JETLSConfig.toml.default

@@ -5,3 +5,7 @@ match_by = "code"
 match_type = "literal"
 severity = "off"
 path = "examples/**/*.jl"
+
+# No inferred-type inlay hints in the editor; the `end`-tag hints stay.
+[inlay_hint.types]
+enabled = false

bin/install_awetrim

@@ -2,8 +2,10 @@
 # Copyright (c) 2026 Uwe Fechner
 # SPDX-License-Identifier: MIT
 #
-# bash script to install the develop branch of https://github.com/awegroup/AWETrim
-# in the folder ../AWETrim
+# bash script to install the feat/server-aero-forces branch of
+# https://github.com/awegroup/AWETrim in the folder ../AWETrim. That branch is
+# develop plus the POST /aero_forces endpoint examples/validate_lift_drag.jl
+# needs; switch BRANCH back to develop once it is merged.
 #
 # AWETrim is a Python project, so it gets its own venv with the dev and server
 # extras installed in editable mode; bin/run_server (here and in AWETrim) expects
@@ -14,7 +16,9 @@
 #
 # Re-running the script is safe: an existing checkout is fetched and fast-forwarded
 # rather than re-cloned, and the venv is only created if it is missing. A checkout
-# with local modifications is left alone apart from the dependency install.
+# with local modifications is left alone apart from the dependency install. A
+# branch that exists only in the local checkout (not pushed yet) is checked out
+# as it is.
 #
 # At the end the optimizer's two caches in output/ are cleared (the failed-request
 # cache opt_failure_cache.yaml and the solution cache opt_chain_cache/): their keys
@@ -24,7 +28,7 @@
 set -euo pipefail
 
 REPO_URL="https://github.com/awegroup/AWETrim"
-BRANCH="develop"
+BRANCH="feat/server-aero-forces"
 TARGET="../AWETrim"
 
 if [[ $(basename "$(pwd)") == "bin" ]]; then
@@ -49,12 +53,23 @@ fi
 # --- clone or update ----------------------------------------------------------
 if [[ -d $TARGET/.git ]]; then
     echo "Found an existing checkout in $(cd "$TARGET" && pwd), updating it ..."
-    git -C "$TARGET" fetch origin "$BRANCH"
+    on_origin=false
+    if git -C "$TARGET" ls-remote --exit-code --heads origin "$BRANCH" >/dev/null 2>&1; then
+        on_origin=true
+        git -C "$TARGET" fetch origin "$BRANCH"
+    elif ! git -C "$TARGET" rev-parse --verify --quiet "refs/heads/$BRANCH" >/dev/null; then
+        echo "ERROR: branch $BRANCH is neither on origin nor in the local checkout." >&2
+        exit 1
+    fi
     if [[ -n $(git -C "$TARGET" status --porcelain) ]]; then
         echo "WARNING: the checkout has local modifications, skipping the branch update." >&2
     else
         git -C "$TARGET" checkout "$BRANCH"
-        git -C "$TARGET" merge --ff-only "origin/$BRANCH"
+        if $on_origin; then
+            git -C "$TARGET" merge --ff-only "origin/$BRANCH"
+        else
+            echo "Branch $BRANCH is not on origin; using the local branch as it is."
+        fi
     fi
 elif [[ -e $TARGET ]]; then
     echo "ERROR: $TARGET exists but is not a git repository." >&2
@@ -89,4 +104,5 @@ echo "Clearing the optimizer caches in $RKC_ROOT/output ..."
 rm -f "$RKC_ROOT/output/opt_failure_cache.yaml"
 rm -rf "$RKC_ROOT/output/opt_chain_cache"
 
-echo "Done. Start the AWETrim server with bin/run_server"
+echo "Done. Start the AWETrim server with bin/run_server start;"
+echo "a server that is already running keeps the old code until bin/run_server restart."

data/fc_settings_reelout.yaml

@@ -88,7 +88,8 @@ fc_settings:
   winch:  # compliance of the force-mode winch (its gains are in wc_settings.yaml) and force guards
     compliance:         0.0      # Fixed at POSITION mode; REEL_OUT needs the drum free [-]
     entry_f_min:        350.0    # Entry-guard (guard_lfc) force floor, phases 0-2; not wc's f_low [N]
-    first_lap_force_frac: 0.93   # f_high x this in lap 1 AND for the startup solve; 1.0 = no lap-1 de-rating [-]
+    first_lap_force_frac: 0.96   # f_high x this in lap 1 AND for the startup solve; 1.0 = no lap-1 de-rating;
+                                 # 0.93 until 2026-10-31, see docs/fig8_tuning_log.md [-]
 
   reelout:  # REEL_OUT winch and phase 5; kv/f_low/f_high/v_sat are in wc_settings.yaml
     reelout_l_max:      380.0    # Length at which reel-out stops; AWETrim's reopt ceiling is ~325 m [m]
@@ -123,6 +124,11 @@ fc_settings:
     low_wind_speeds:          [4.51, 5.15, 5.80, 6.40]   # Wind speed at low_wind_height, ascending [m/s]
     low_wind_l_tether:        [195.0, 195.0, 195.0, 150.0] # Tether length reel-out starts at; less guidance phase lag [m]
     low_wind_guess_el_center: [25.0, 27.0, 27.0, 29.0]   # Startup guess; 29° at 195 m lands in a 470 W optimum [deg]
+    # With the 12.62 kg wing the Maasvlakte 11 m/s (14.2 at 100 m) startup has no solution at 150 m
+    # and converges from 160 m up (2026-10-31); 10 m/s (12.9) flies at 150 m.
+    high_wind_speed:          14.0   # Wind speed at low_wind_height from which reel-out starts at the length below; 0 = off [m/s]
+    high_wind_l_tether:       170.0  # Tether length reel-out starts at from high_wind_speed on; 160 failed the curvature
+                                     # gate at Maasvlakte 11 m/s, 180 laps >= 2.5 at Cabauw 8 m/s (2026-10-31) [m]
 
   run:  # simulation conditions and pass criteria
     vsm_interval:       5        # Steps between VSM aero updates, 1 = tightest; at 10 the identification flights sink at depower 0.375 (2026-10-02) [-]
@@ -133,3 +139,7 @@ fc_settings:
     entry_time:         62.0     # Settle time after park_time before the metrics     [s]
     min_elevation:       6.5     # Floor criterion over the WHOLE run; also the reopt install gate [deg]
     min_span_frac:      0.7      # Pattern-SIZE criterion, fraction of f8_a / f8_b    [-]
+    min_laps:           2.5      # Laps criterion: figure-eight laps in the scored window [-]
+    min_laps_high:      2.0      # The same from min_laps_high_wind on: Cabauw 9 and 10 m/s fly 30-32 s laps from
+                                 # their shortest feasible starts, 170 and 180 m, i.e. 2.0 laps (2026-11-01) [-]
+    min_laps_high_wind: 16.5     # Wind speed at low_wind_height from which min_laps_high applies; 0 = off [m/s]

data/traj_opt.yaml

@@ -12,17 +12,27 @@ traj_opt:
     free_speed_reference_points: 6  # free_speed solves for the reference power AFTER the run; 0 = off [-]
 
   guess:  # initial guess; seeds a multi-modal solve: changes the answer, not the run time
-    guess_a:          30.0   # width of the guess; azimuth spans ±guess_a    [deg]
-    guess_b:          12.0   # height of the guess, peak to peak             [deg]
+    guess_a:          32.0   # width of the guess; azimuth spans ±guess_a    [deg]
+    guess_b:          14.0   # height of the guess, peak to peak             [deg]
     guess_el_center:  29.0   # centre elevation of the guess; first knob to move on a 422 [deg]
     guess_el_center_high:      30.0   # centre elevation at/above the ref wind (a step, not a ramp) [deg]
     guess_el_center_wind_ref:   8.0   # wind at/above which guess_el_center_high applies [m/s]
     startup_retry_el_offsets: [-1.0, 2.0, -2.0]   # seeds tried in order on a startup 422; [] never retries [deg]
+    # Guess sizes [guess_a, guess_b] tried at the base centre on a startup 422, before the offsets.
+    # rom_config_aerostructural2 (2026-10-28): 32x14 converges at 5, 6, 8, 8.25 m/s, 30x13 at 7, 8,
+    # 8.25 and 34x15 at 5, 6, 7, 8.25 m/s; no single size covers all; 26x11 at 5 m/s with the
+    # 12.62 kg wing (bridle 1.62 kg, 2026-10-30) where all the others fail [deg]
+    startup_retry_guess_sizes: [[30.0, 13.0], [34.0, 15.0], [26.0, 11.0]]
+    # Added to the starting tether when every seed above fails, and the model set up again there.
+    # Cabauw 4 m/s (2026-10-31) has no startup solution at 150, 155 or 160 m and converges at 165-175 m;
+    # Cabauw 10 m/s none at 160, 170 or 175 m and one at 180 m [m]
+    startup_retry_length_steps: [10.0, 20.0]
 
   seed:  # depower seed of the solve, ramped with the wind
-    input_depower:     1.6   # depower SEED in metres of tape (server bounds 1.1-2.3), not depower_setpoint [m]
+    input_depower:     1.5   # depower SEED in metres of tape (server bounds 1.1-2.3), not depower_setpoint [m]
     input_depower_wind_ref:  7.0   # wind at which input_depower IS the seed  [m/s]
-    input_depower_per_wind:  0.25  # tape added per m/s above that; one-sided [m/(m/s)]
+    input_depower_per_wind:  0.0   # tape added per m/s above that; one-sided; 0.25 seeded 8 m/s at 1.75 m, which
+                                   # fails on rom_config_aerostructural2 where 1.5 m converges [m/(m/s)]
     input_depower_seed_max:  1.85  # ramp ceiling, below the server's 2.3 m  [m]
     # Estimate of the tape length the startup reply is FLOWN at, which sizes the turn-radius
     # request; 0 takes the seed above. Fitted 2026-10-05 to the startup replies of the base
@@ -39,17 +49,21 @@ traj_opt:
     depower_offset:          0.0   # [-]
 
   box:  # pattern box the optimizer solves UNDER; 0.0 keeps the server default (|az| <= 45.8, 0.6 <= el <= 51.6)
-    pattern_azimuth_max: 28.0        # closes the wide basin seen at 5.5 m/s; good runs fly ±18-25 [deg]
-    pattern_azimuth_max_high: 34.0   # cap at/above pattern_elevation_amplitude_max_wind_ref: under the 45° climb
+    pattern_azimuth_max: 36.0        # 28 until 2026-10-28; rom_config_aerostructural2 turns ~43 % less and needs a
+                                     # wider and taller box: no startup solve at 5-8.25 m/s under 28 x 8.5 [deg]
+    pattern_azimuth_max_high: 45.0   # cap at/above pattern_elevation_amplitude_max_wind_ref; 36 until 2026-10-31:
+                                     # Cabauw 9 m/s (17.4 there) converges at 170 m and 10 m/s (19.3) at 180 m only
+                                     # with 45 and a 20° half-span cap. Older: under the 45° climb
                                      # limit Cabauw 10 needs ±28.4-28.8° at 150 m and IPOPT 2-3° of room: 422 under
                                      # 28 and 29 at r_min 22.8 m, under 30 at 23.5 m (quadratic depower
                                      # conversion); converges under 31 and 32 (2026-10-03). 36 -> 34 (2026-10-05):
                                      # at 36 the re-optimizations at Cabauw 10 grew to ±32° x 21°, RMS d 1.61°;
                                      # at 34 ±22° x 16°, RMS d 1.44°, 22.7 instead of 20.4 kW [deg]
-    pattern_elevation_amplitude_max: 8.5   # largest elevation HALF-SPAN of the figure; 0.0 = off [deg];
+    pattern_elevation_amplitude_max: 15.0  # largest elevation HALF-SPAN of the figure; 0.0 = off; 8.5 until 2026-10-28 [deg];
                                            # 8.0 left Maasvlakte 3.5 m/s infeasible at 8.12° (2026-09-24)
-    pattern_elevation_amplitude_max_high:     13.0  # cap at/above the ref wind (a step, not a ramp) [deg]
-    pattern_elevation_amplitude_max_wind_ref: 13.2  # wind AT the height below at/above which the high cap
+    pattern_elevation_amplitude_max_high:     20.0  # cap at/above the ref wind (a step, not a ramp); 15 until 2026-10-31 [deg]
+    pattern_elevation_amplitude_max_wind_ref: 16.5  # 13.2 until 2026-10-31, when the high caps equalled the base ones.
+                                                    # Older: wind AT the height below at/above which the high cap
                                                     # applies: Maasvlakte 10 m/s is 12.9 there and flies under
                                                     # 8°, Maasvlakte 11 (14.2) and Cabauw 7-10 (13.5-19.3) need
                                                     # 10° or the startup solve loses its basin (2026-09-21);
@@ -59,6 +73,13 @@ traj_opt:
     pattern_symmetric: true       # mirror-symmetric figure about azimuth 0; the solve is multi-modal and
                                   # otherwise lands lopsided (Cabauw 2026-09-25: centre -2.3°, lobes 214/147 points)
     pattern_climb_angle_max: 45.0 # steepest climb of the path in the az/el plane; descending is free; 0 is off [°]
+    pattern_shape_wind_ref: 12.5  # wind at pattern_elevation_amplitude_max_wind_height at/above which the two
+                                  # _shape_high values below apply; 0 = off. With the 12.62 kg wing Maasvlakte
+                                  # 10 m/s (12.9 there) converges only without both (2026-10-31); 9 m/s is 11.6 [m/s]
+    pattern_symmetric_shape_high: false     # pattern_symmetric at/above pattern_shape_wind_ref
+    pattern_climb_angle_max_shape_high: 0.0 # pattern_climb_angle_max at/above pattern_shape_wind_ref; 0 is off [°]
+    angle_of_attack_min: -7.0  # lowest trim angle of attack, the ROM's validity; .nan = the server's 0°, under which
+                               # Cabauw 9 m/s (trims at -0.5 to +0.4°) has no solution (2026-10-31) [°]
 
   gates:  # every returned path, at startup and after a re-optimization
     min_feasibility_margin: 0.82  # curvature gate AND request (as min_turn_radius); 0.0 = off; an 8 m/s number [-]

data/wc_settings.yaml

@@ -73,9 +73,9 @@ wc_settings:
   max_acc:       8.0       # rate limit of v_set; the reel-out's acceleration_limit [m/s^2]
   damage_factor: 0.2       # winch damage weighting (unused here)               [-]
   jerk_factor:   0.9       # jerk weighting in the damage calculation (unused here) [-]
-  # kv: `v_set = kv * sqrt(force)`, one value at every wind speed. It used to be
-  # a column of winch_kv_table.yaml (now winch_table.yaml), flat at 0.0408 from 3 to 12 m/s, and was
-  # removed from there 2026-10-02. The 10 m/s row was 0.039, identified
+  # kv: `v_set = kv * sqrt(force)`. Since 2026-10-30 the kv column of winch_table.yaml
+  # overrides this value (0.030 at 3-4 m/s, see there); before, it was flat at 0.0408 from
+  # 3 to 12 m/s and was no column from 2026-10-02. The 10 m/s row was 0.039, identified
   # 2026-08-27 (sweep below), and went back to the sweep's other passing value
   # 2026-09-22 — see the note under the sweep. 11 and 12 m/s fly 0.0408
   # UNTESTED at the current tether and winch controller: the 2026-08-26 notes
@@ -122,7 +122,7 @@ wc_settings:
   # 3.42 m/s mean, on the limit, so kv cannot lower its force: 0.043 made the
   # startup solve infeasible (2026-09-23). There the lever is f_high, see
   # docs/fig8_tuning_log.md.
-  kv:            0.0408    # v_set = kv * sqrt(force); same at every wind speed, see above [-]
+  kv:            0.0408    # v_set = kv * sqrt(force); the kv column of winch_table.yaml overrides it [-]
 
   # --- SPEED: how the force limits are enforced (PlanWinchSpeed.md, stage 4) --
   force_limit:      "soft" # "soft" (optimizer's tension curve) | "hard" (two limiters); winch_table.yaml overrides
@@ -131,6 +131,6 @@ wc_settings:
   v_sat_beta:       10.0   # corner sharpness of the v_sat clamp; .inf = hard clamp [s/m]
   soft_lfc:         true   # also replace the LowerForceController with a reel-in line
   v_reel_in:        -2.0   # reel-in speed at zero force [m/s]
-  reel_in_beta:     20.0   # sharpness of the line/curve handover; needs * kv * sqrt(f_low) >= 8 everywhere [s/m]
+  reel_in_beta:     22.0   # sharpness of the line/curve handover; needs * kv * sqrt(f_low) >= 8 everywhere [s/m]
   use_awe_trim:     0.0    # blend of the LOCAL law towards AWETrim's curve, in [0, 1]; the server gets opt_awe_trim [-]
   force_limit_tau:  1.0   # low-pass on the force before inverting; 0 = off [s]

data/winch_table.yaml

@@ -1,11 +1,19 @@
 # Wind-dependent winch-law parameters, interpolated linearly between rows and
 # CLAMPED outside the identified range rather than extrapolated. Read by
 # `winch_f_low(v_wind)` and `winch_force_limit(v_wind)`; each overrides the flat
-# value of the same name in data/wc_settings.yaml. `kv` is no longer a column:
-# it was 0.0408 at every wind speed, so the flat `kv` of data/wc_settings.yaml
-# is used as is (its tuning notes moved there). Add a row and re-identify the curve
+# value of the same name in data/wc_settings.yaml. Add a row and re-identify the curve
 # here, not a new key elsewhere, when another wind speed is tuned.
 #
+# kv     — gain of the reel-out law v_set = kv*sqrt(force), read by `winch_kv(v_wind)`
+#          (its tuning notes are at `kv` in data/wc_settings.yaml). It was flat at
+#          0.0408 and no column from 2026-10-02 until 2026-10-30, when the kite got
+#          its 1.62 kg bridle (12.62 kg wing): the 4 m/s startup request then has no
+#          solution under the pattern box at 0.0408 or 0.050, and converges at 0.030
+#          (2967 W) and 0.025 (3074 W), so 0.030 at 4 m/s, the measured value closest
+#          to the old one. 3.5 m/s fails at 0.030, 0.025, 0.018 and 0.023 and converges
+#          from 0.019 to 0.022 (1.73-1.67 kW), so 0.020 at 3.5 and, untested, at 3 m/s.
+#          The 5 m/s row holds 0.0408 so that 5 m/s and up fly as before.
+#
 # f_low  — force floor [N] below which the LowerForceController reels in. It has
 #          to move with the wind because the winch's rating does not and the
 #          kite's force does (with the square of the wind speed), so one value
@@ -51,23 +59,38 @@ entries:
   - v_wind: 3.0
     f_low: 350.0
     force_limit: "soft"
+    kv: 0.020
+  - v_wind: 3.5
+    f_low: 525.0
+    force_limit: "soft"
+    kv: 0.020
   - v_wind: 4.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.030
+  - v_wind: 5.0
+    f_low: 700.0
+    force_limit: "soft"
+    kv: 0.0408
   # Neutral for f_low (already flat from 4 to 9); force_limit is
   # "soft" throughout the table now, so this row no longer marks a step.
   - v_wind: 6.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.0408
   - v_wind: 9.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.0408
   - v_wind: 10.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.0408
   - v_wind: 11.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.0408
   - v_wind: 12.0
     f_low: 700.0
     force_limit: "soft"
+    kv: 0.0408