.. Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder

Version 2.2 Release Notes
=========================

.. _bsk-release-2-2-1:

Version 2.2.1 (Dec. 22, 2023)
-----------------------------

- Created a new example scenario :ref:`scenarioSatelliteConstellation` demonstrating setup of a Walker-Delta constellation
- Created a new :ref:`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 :ref:`scenarioSmallBodyLandmarks` demonstrates the use of the pinhole camera module
- Created a new example scenario :ref:`scenarioSpinningBodiesTwoDOF` that showcases the different capabilities of the
  :ref:`spinningBodyTwoDOFStateEffector` module.
- Corrected an error with :ref:`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 :ref:`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- Removed fswAuto and associated documentation, as the tool was outdated.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 :ref:`bskPrinciples-2` for the simple new
  syntaxt to add C-modules.
- Modified :ref:`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 :ref:`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 :ref:`SCStatesMsgPayload` that saves the total accumulated velocity of the
  spacecraft's center of mass in the inertial frame.

.. warning::

    SWIG files (``.i``) for modules should include ``%include "sys_model.i"`` instead of ``%include "sys_model.h"``
    to take advantage of the new module variable logging feature.

- Added prescribed angle and angle rates to :ref:`spinningBodyOneDOFStateEffector` and :ref:`spinningBodyTwoDOFStateEffector`
  modules.
- Created a :ref:`scanningInstrumentController`, similar to :ref:`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 :ref:`simpleInstrument`.
- Added a new scenario :ref:`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 :ref:`thrusterPlatformState` to map the thruster configuration information to body frame given the time-varying platform states.
- Updated :ref:`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 :ref:`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 :ref:`simpleStorageUnit` and :ref:`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 :ref:`thrustCMEstimation` to avoid measurement updates when input ``attGuidInMsg`` has not been written.
- Added :ref:`scenarioSepMomentumManagement` to show how to use a dual-gimbaled electric thruster to perform contunuous
  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.

.. _bsk-release-2-2-0:

Version 2.2.0 (June 28, 2023)
-----------------------------

- 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`