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

Version 2.3 Release Notes
=========================

.. _bsk-release-2-3-0:

Version 2.3.0 (April 5, 2024)
-----------------------------

- Added optional facet articulation to the :ref:`facetSRPDynamicEffector` module.
- Fixed a bug where the legacy variable logging API would either, not log at all or log at a rate different to the
  requested rate.
- Fixed a python version checking bug that prevented Basilisk from compiling on Windows
- Created a new example scenario :ref:`scenarioHaloOrbit` demonstrating a near-Halo orbit simulation
- Updated versioning to better follow the `semantic versioning <https://semver.org>`_ standard, in the format
  ``MAJOR.MINOR.PATCH``. Releases will increment the minor version number, while pull requests into develop will
  automatically increment the patch number. This allows users to reference/require specific versions of Basilisk
  outside of the release cycle.
  Online documentation is only built for the ``MAJOR.MINOR.0`` releases
- updated plotting of ``opNav`` example scenarios to work again with latest version of ``matplotlib``
- fixed a slew of compiler warnings when compiling with Xcode 15
- Refactored the ``PrescribedTransMsgPayload`` message by renaming the message to
  :ref:`LinearTranslationRigidBodyMsgPayload` and renaming the message variables from ``scalarPos`` and ``scalarVel`` to
  ``rho`` and ``rhoDot``
- Deprecated the :ref:`prescribedMotionMsgPayload` message and replaced with two separate
  :ref:`prescribedTranslationMsgPayload` and :ref:`prescribedRotationMsgPayload` messages.
- added support for the new ``swig`` 4.2 version
- updated the Windows build to compile properly with ``opNav`` flag set to true.  A
  ``opencv`` related flag had to be updated.
- added supoport for Vizard 2.1.6
- Created a :ref:`prescribedLinearTranslation` dynamics module to profile prescribed linear translation for a
  secondary rigid body connected to the spacecraft hub. This new module deprecates the ``prescribedTrans`` module.
  To simulate the translation, this module must be connected to the :ref:`prescribedMotionStateEffector`
  dynamics module.
- Created a :ref:`prescribedRotation1DOF` dynamics module to profile a prescribed 1 DOF rotation for a secondary
  rigid body connected to the spacecraft hub. This new module deprecates the ``prescribedRot1DOF`` fsw module.
  To simulate the rotation, this module must be connected to the :ref:`prescribedMotionStateEffector` dynamics module.
- Created a new example scenario :ref:`scenarioDeployingSolarArrays` demonstrating how to simulate hub-relative
  multi-body prescribed motion.
- Added support for Vizard 2.1.6.1
- Updated :ref:`MtbEffector` to include missing swig interface file for a message definition and corrected
  message table in the module documentation.
- Added smoothed bang-bang and smoothed bang-coast-bang profiler options to the :ref:`prescribedLinearTranslation`
  simulation module. Note that the optional module variable ``coastOptionRampDuration`` has been renamed to
  ``coastOptionBangDuration``. The setter and getter methods for this variable are renamed to reflect this change as
  ``setCoastOptionBangDuration()`` and  ``getCoastOptionBangDuration()``, respectively. See the module documentation
  for the current usage of this parameter and these associated methods.
- Added a new commanded linear force array :ref:`LinearTranslationRigidBodyMsgPayload`.
- Added a new single-axis translating effector :ref:`linearTranslationOneDOFStateEffector`.
- Added smoothed bang-bang and smoothed bang-coast-bang profiler options to the :ref:`prescribedRotation1DOF`
  simulation module. Note that the optional module variable ``coastOptionRampDuration`` has been renamed to
  ``coastOptionBangDuration``. The setter and getter methods for this variable are renamed to reflect this change as
  ``setCoastOptionBangDuration()`` and  ``getCoastOptionBangDuration()``, respectively. See the module documentation
  for the current usage of this parameter and these associated methods.
- Updated messaging files so that non-swig messages can be subscribed to, and data read out from.  Supports pybind-based messages notably.