Basilisk v2.8.0

• Marked the use of python 3.8 as deprecated

• Support for opNavMode flag within vizSupport was removed, as its deprecation period ended

• Demo video was added to scenarioQuadMaps documentation

• Pinned python dependencies to avoid issues with new package versions.

• Updated vscmgStateEffector documentation.

• Added a new vscmgGimbalRateServo module that computes the VSCMG wheel motor torque and gimbal motor torque.

• Added a new vscmgVelocitySteering module that computes the desired VSCMG wheel accelerations and gimbal rates.

• Added a new github workflow job canary to routinely check the compatibility of latest python dependencies with python 3.13 on the latest mac-os.

• Deprecated SpacecraftSystem. It was never completed and we have other ways to connect spacecraft components

• Allow event conditions and effects to be defined by functions. This is preferred over the old string-based method, as it
  enables the use of arbitrary packages and objects in events and allows for event code to be parsed by IDE tools.

• Add a sun message input and theta_solar threshold to SpacecraftLocation.

• Fixed an issue where DynamicObject classes computed time steps by differencing double values rather
  than uint64_t values in nanoseconds. This could cause micro drifts in the integration process. See
  Issue 993 <https://github.com/AVSLab/basilisk/issues/993>_ for more info on this issue. Now the time step is computed
  using uint64_t time values and then converted to a double.

• Enhance how uint64_t values are converted to doubles. BSK now warns if the time value is large enough such
  that the conversion method has a loss of precision in this process.

• Support including an eclipse message in SpacecraftLocation to more accurately determine illumination.

• Fixed an issue where the spaceToGroundTransmitter would check for the amount of data remaining in a different partition than the one being downlinked.

• Fixed an issue where a high baud rate prevented the spaceToGroundTransmitter from downlinking data from the simpleStorageUnit or partitionedStorageUnit.

• Updated default Windows compiler to be Visual Studio 17 2022. The CI test build now occurs on Windows 11.

  .. warning::

  If you still want to use Visual Studio 16, then be sure to set the generator
  using python conanfile.py --generator "Visual Studio 16 2019

• Improve reading speed of recorded messages by about 75%.

• Added support for Vizard 2.3.0

• Adds support for updating noise parameters in simpleNav during simulation

• Redirected MuJoCo errors and warnings to bskLogging instead of printing to file.

• Update vizSupport for the saveFile argument to take an explicit
  file path and file name and not auto-generate the _VizFiles sub-folder. This provides the
  user more direct control where and how the simulation data is saved.

• Support calling unsubscribe on input messages.

• Fixed an issue where the forceTorqueThrForceMapping module's Reset() function did not zero all thruster settings correctly.

• Updated canary workflow to run on all pull requests to the develop branch, providing feedback on compatibility with latest dependencies.

• Added links to published paper in oneAxisSolarArrayPoint documentation.

• Converted RW data structures in reactionWheelStateEffector to shared pointers instead of raw pointers.

• The BSKLogger now raises a BasiliskError (Basilisk.architecture.bskLogging.BasiliskError)
  if something is logged at BSK_ERROR level. Certain errors are reduced to BSK_WARNING to reflect
  the new behavior.

• Improve reading speed of recorded messages by 1-4 orders of magnitude.

  .. warning::

  This is a breaking change, see list of known issues for details. Please report any issues
  (at buildtime or runtime) with recorders for custom payloads.

• Support initialization of fields in the constructor of message payloads (in Python).

• Improve string representation of message payloads (in Python).

• Add support for pretty-printing message payloads (in Python).

• Updated documentation and all scenarios to use new payload constructor format.

• Add scenarioBranchingPanels, which showcases a branching solar array configuration, staged deployment,
  and joint locking when panels are stowed or fully deployed.

• Bugfix: joint velocity not being reported correctly in MJScalarJoint.

• Add addJointSingleActuator to MJScene. This can be used to add actuators acting on joints
  to a MuJoCo-based simulation (e.g. motors that produce torque).

• Add method to scalar joints class to get to the equality constraint object that can be used to constrain
  the joint to a specific value (MJScalarJoint::getConstrainedEquality).

• Add methods setSolref and setSolimp to MJEquality to enable control of the solver parameters
  that control how the equalities are enforced in MuJoCo.

• Add PID controller models for MJScene. Currently implemented JointPIDController, which can read the state
  of a joint and output a torque to act on said joint to achieve a desired angle and angular velocity.

Basilisk v2.7.0

• Updated Linux and Windows CI builds to use swig 4.2.1
• Updated CI scripts to run on latest macOS and no longer use Ubuntu 20.04
• Updated makeDraftModule to remove redundant comments and implementation of the destructor,
  using only a header-defaulted destructor with = default; syntax.
• Fixed issue where reaction wheels with unlimited torque (useMaxTorque=False) would end simulation prematurely
• Added safety mechanism to limit excessive wheel acceleration and provide warning messages
• Fixed a bug in the SpacecraftLocation module that prevented proper eclipse calculation in some cases.
• Added support for Vizard release 2.2.2, including transition from MultiSphere to MultiShape, and SWIG structure deprecation through aliasing.
• Fixed scenario name mismatch in scenarioRerunMonteCarlo that prevented rerunning example Monte Carlo simulation scenarios.
• Fixed bug in thrusterPlatformReference where a DCM had an incorrect transpose operation.
• Memory Leak for reactionWheelStateEffector fixed via destructor update, swig update,
  and removing .disown() in RW factory classes.
• Removed the use of .disown() in all BSK scripts. Python code is modified to ensure
  required message of class instance are retained in memory if needed. This removes
  a memory leak issue when running lots of instances of BSK in Monte Carlo runs.
• C++ wrapped sensor objects (CSS, thrusters, reaction wheels) must now be stored
  on the simulation object to prevent premature garbage collection. This change affects all scenarios
  using these components. See bskKnownIssues for detailed explanation and examples. Users
  upgrading from previous versions must update their scripts to store these objects on their
  simulation instance to prevent segmentation faults. Once again, this change replaces the previous use of
  .disown() with a more robust memory management approach.
• Added comprehensive unit tests for avsEigenSupport including tests for vector and matrix operations
  and conversions.
• Updated install requirements to not manually install cmake, but have it installed with pip by including it
  in requirements_dev.txt. A conan dependency requires Basilisk to use cmake<4.0 for now.
• Add support for python 3.13 by removing the use of eval() and most exec() methods,
  rewrote methodizeEvent() in SimulationBaseClass.py. If you use python 3.13+ the
  scope of the eval() method has changed (see https://peps.python.org/pep-0667/).
• Added lla2fixedframe() function in vizSupport which provides ability to define Locations on a parent body by providing latitude/longitude/altitude relative to reference ellipsoid.
• Fixed a bug in radiationPressure where parseAndLoadXML() would raise a ValueError when using VS Code's debugger.
  The error occurred in Python 3.10.12 because numpy arrays that reference other arrays cannot be resized
  without setting refcheck=False. This fix allows debugging scenarios that use the radiation pressure module.
• Enhanced FSW effector interface modules to zero output messages in their reset methods, ensuring safe management
  of effector states when algorithms are disabled. This prevents potential runaway operations by clearing stale
  control values.
• Updated scenarioDeployingSolarArrays to use the new P-frame designation for the prescribed motion body
• Deleted deprecated prescribedRot1DOF and prescribedTrans modules. They have been replaced a while ago
  with prescribedRotation1DOF and prescribedLinearTranslation.
• :beta:Mujoco Support: Added a new DynamicObject for multi-body dynamics that uses the MuJoCo <https://mujoco.org>_ library.
  Information about using mujoco is found in mujocoDynObject. This is a work in progress, and is not
  yet ready for general use. This system will be expanded to include more features and capabilities in future releases.
• Added support for showing QuadMap quadrilateral surface meshes in Vizard, with scenario scenarioQuadMaps detailing usage. Allows users to draw quads on celestial bodies and spacecraft.
• Added fixedframe2lla() function in vizSupport which is useful for computing QuadMap mesh interpolations
• Added QuadMap mesh support functions (quadMapSupport) for displaying camera FOV boxes as projected on the surface of a reference ellipsoid, and drawing rectangular latitude/longitude defined regions.
• Updated THRSimConfig to use a shared pointer to avoid duplication of configuration data across the simulation and to enable access and updates to the parameters during simulation. This change has been implemented in both the thrusterDynamicsEffector and thrusterStateEffector modules.
• :beta:Mujoco Support: Added StatefulSysModel for models in the dynamics task of MJScene that need to declare
  continuous-time states. Modified scenarioDeployPanels to illustrate the use of StatefulSysModel.

Basilisk v2.6.0

• Build ubuntu-latest wheels for Python 3.9, 3.10, and 3.11 on GitHub CI, allowing for
  other CI systems to use these wheels for testing with Basilisk as a dependency.
• updated README file. Links now point to local documentation instead of to the pages
  on the AVS lab web page that used to host the documentation.
• Updated scenarioBasicOrbitStream to add the ability to pause and resume the live BSK stream
• Added documenation on installing with pip via source code in pipInstall
• Updated scenarioOrbitManeuver to include a SPICE module that rotates the Earth
• Changed the way polyhedron gravity is computed to be more computationally efficient
• Updated vizInterface to flush the output buffer when saving binary files to avoid truncation
• Updated examples to better include folders of scenario tutorial scripts
• Updated documentation build to use latest version of sphinx and sphinx_rtd_theme.
  Updated the install documenation and optional package requirements.
• Updated MonteCarloExamples directory with a bokeh plotting feature robust to large Monte Carlo datasets
• Updated scenarioVisualizeMonteCarlo to autogenerate live bokeh plots in Sphinx documentation
• Updated scenarioMonteCarloAttRW to include the new useBokeh feature in the run() method
• Updated scenarioMonteCarloAttRW to use more pythonic OOP for Monte Carlo data retention
• Updated scenarioMonteCarloSpice to use more pythonic OOP for Monte Carlo data retention
• Decreased the Basilisk wheel size by keeping large data files out of the wheel.
• The wheel installs the local command tool bskLargeData to execute bskLargeData.
  The purpose is to install the large Basilisk data files into the local Basilisk
  python package.
• The wheel installs the local command tool bskExamples to execute bskExamples. This
  tool downloads the Basilisk repo examples folder into the local folder
• Removed the now deprecated datashader_utilities.py in favor of the new bokeh plotting features in AnalysisBaseClass.py
• Upgraded protoc compiler to v3.20.0, added protobuf to optional package install list
• Created unit tests for protobuffer packing and saving in vizInterface
• Added YouTube video links of Vizard illustrating the scenarioFlexiblePanel and
  scenarioRoboticArm scenarios.
• Fixed issue in which reading RWModel from RW message payloads when vizInterface was also
  imported would return a Swig Object instead of an enumerated integer.
• Refactored the GaussMarkov class to enforce walk bounds and remove the need for the 1.5x noise multiplier.
  Note: Existing code that used this multiplier will need to be updated to maintain the same behavior.
• Removed the deprecated 1.5x multiplier in magnetometer and coarsesunsensor when setting 'senNoiseStd'
• Updated starTracker unit tests to properly convert EP's to rotation vector now that random walk exists
• Added scenarioGaussMarkovRandomWalk to showcase GaussMarkov class functionality
• Added unit test coverage for GaussMarkov implementation in tempMeasurement,
  simpleNav and planetNav.
• Fixed SWIG array handling for message payloads on macOS, particularly addressing issues with uint8_t arrays and other
  array types in message payloads. This resolves compatibility issues between SWIG's array typemaps and builds.
• A bug was fixed in the facetSRPDynamicEffector module. A transpose was required to be added to a dcm
  in order to correctly express rotated facet normals in the spacecraft body frame.
• The facetSRPDynamicEffector module was refactored and setters and getters were added for the module
  variables numFacets and numArticulatedFacets. A deprecation warning is added to the module documentation
  stating that these variables will be moved to private module variables in Dec 2025. To access these variables
  the added setters and getters must be used.
• Fixed a bug in which the MtbEffector.py module was not being imported correctly in Python due to lack of swig_eigen.i
  include file in MtbEffector.i.
• Added the capability to simulate a fault in the simpleBattery module that reduces the actual storage capacity without directly altering the stated capacity.
• Cleaned up what python packages are required to build BSK (requirements_dev.txt),
  to run BSK (requirements.txt) and to build BSK documentation (requirements_doc.txt).
• The BSK install instructions are updated to ask users to install by first pip installing build
  required packages through requirements_dev.txt.
• Update the build process to use conan version 2.x

Warning: You have to upgrade your python conan package to be able to build Basilisk. Use python install --upgrade conan.

• Added support for subclassing StateData and overloading certain methods. This enables support for custom state
  behavior, such as quaternions, which have size 4 but their derivative is size 3. This is done in preparation of
  a future MuJoCo integration. Note the warning below regarding SWIG files for dynamicEffector and stateEffector.

Warning: SWIG files for subclasses of dynamicEffector and stateEffector must now
%include "simulation/dynamics/_GeneralModuleFiles/dynParamManager.i" instead of
%include "simulation/dynamics/_GeneralModuleFiles/dynParamManager.h". See
src/simulation/dynamics/dragEffector/dragDynamicEffector.i for an example.

• Update CI Linux build with opNav to use Ubuntu 22.04, not latest (i.e. 24.02). The latter does not
  support directly Python 3.11, and Basilisk does not support Python 3.13 yet.
• simIncludeGravBody set the moon equatorial radius in km, not meters.
• fixed subMRP() routine in RigidBodyKinematics
• Updated solarArrayReference to correct the wrong assumption of reflective solar arrays for momentum management pointing mode.
• Updated the CI build that includes the documentation to fail if a doxygen warning happens
• Removed deprecated swig code that allowed still importing sys_model.h instead of sys_model.i
• Updated groundMapping to correct behavior if maximumRange == -1
• Updated scripts to work with matplotlib version 3.10.x without errors or warnings
• Add support for Python 3.12
• Resolved inconstencies in sensor noise handling for the imuSensor, coarseSunsensor,
  magnetometer, starTracker, and simpleVoltEstimator modules.
• Added setter and getter methods for the propagation matrices in the simpleVoltEstimator
  and starTracker modules as their Amatrix attributes were private.
• Name change warning added to module documentation for the imuSensor walkBounds attribute to errorBounds
  and a note on specifying sensor properties in scenarioGaussMarkovRandomWalk.
• Update makingModules-2 on how to make messages available to Basilisk modules
• Support for Vizard release 2.2.1, including rotating frame settings and documentation for support of .glb shape files
• vizProtobuffer upgraded to use latest C++ compiler, protobuf Python/C++ library upgraded
• Updated installLinux to discuss installing BSK on Fedora Linux systems.
• Updated CI scripts to catch cases where tests are skipped that should be. Windows now builds properly with conan2.
• Download cspice using conan instead of providing custom libraries. This ensures all platforms are using
  the same version of cspice.
• Ensured that the ability to designate an external BSK folder still works with conan2

Basilisk v2.5.0

• Added swirl torque information to THRConfigMsgPayload, thrustCMEstimation, and thrusterPlatformState
• Updated required version of setuptools to avoid installation error ("invalid command bdist_wheel") on
  some environments.
• Made the initial Basilisk build more robust in case de430.bsp download was interrupted
• Enhanced thrusterDynamicEffector to allow automatic scaling down of thrust and Isp as fuel mass depletes.
• Fixed issue with vizInterface not being able to save to file
• Fixed issue with vizInterface not saving off Vizard protobuffer message on first time step
• Created an input device status message to toggle the constraintDynamicEffector dynamics module on/off.
• Created an output message to record constraint forces and torques acting on separate spacecraft connected using a constraintDynamicEffector dynamics module.
• Added in a low-pass filter to filter the output forces and torques of the constraintDynamicEffector dynamics module.
• Removed deprecated way to log Basilisk module variables
• Removed deprecated way to create C-wrapped Basilisk modules
• Corrected Equations (11) and (12) in the celestialTwoBodyPoint PDF documentation
• Expanded the GitHub CI tests to run scenario script tests
• Untangled ClassicElementsMsgPayload which was used both as a message payload definition
  and as a data structure inside modules. The use of classicElements() is now depreciated
  for the use of ClassicElements() defined in orbitalMotionutilities.
• Added packaging>=22 dependency for installing Basilisk to solve an incompatibility issue with setuptools.
• Added support for macOS to the CI test builds, including opNav for all three platforms
• Added CI support to test Linux on latest Ubuntu with opNav
• Added CI support to build and test Basilisk documentation on the GitHub macOS platform
• Added new scenario scenarioOrbitManeuverTH to do Hohmann transfer using thrusters
• Made sure that astroFunctions and simIncludeGravBody now all pull from the same set of
  astronautical data in astroConstants. These tools now all use a consisten set of planet data
  referenced from NASA sources.
• Updated simIncludeRW to allow values of fCoulomb, fStatic and cViscous to be
  specified even if a prebuilt RW data set is used.
• If messaging was not imported then the msg recorder() modules couldn't be setup. Now
  messaging is imported as part of the Basilisk package so the recorder() modules always work.
• Added the ability for GitHub to rebuild the BSK documentation each time a branch is merged back into develop.
  This way the online documentation for develop is up to date for each contribution, not just for the hand-built
  documentation we did with major tagged releases. The new Basilisk online documentation list is now
  <https://avslab.github.io/basilisk>__.
• Small updates to the Cmake build process to remove unneeded policies and python 3 swig overwriting scripts
• Added a Lambert's problem based FSW package to compute the DV maneuver required to get to a desired location at a
  desired time. At that location, another maneuver may be performed to match the surface velocity of a celestial body.
  This FSW package consists of the modules lambertSolver to solve Lambert's problem, lambertPlanner to
  set up and define the Lambert problem, lambertValidator to check if the solution from the lambertSolver
  module violates any constraints before a Delta-V is commanded, lambertSurfaceRelativeVelocity to compute the
  inertial velocity required to match the surface velocity of the central body, and lambertSecondDV to compute
  the DV maneuver required to match the surface velocity.
• Added scenarioLambertSolver scenario to illustrate the Lambert's problem FSW module package
• Added scenario_LambertGuidance BSK-Sim scenario to illustrate the Lambert modules in different flight modes
• Added new scenario scenarioSweepingSpacecraft to perform sweeping maneuvers.
• Added a new :math:N-axis translating effector linearTranslationNDOFStateEffector and a corresponding scenario
  scenarioExtendingBoom.

Basilisk v2.4.0

• Added a new example scenario scenarioConstrainedDynamics demonstrating post-docked spacecraft dynamics

• Created a constraintDynamicEffector dynamics module to couple separate spacecraft motion using holonomic
  constraints

• Removed the depreciated manner of creating python modules

• Created a new example scenario scenarioTempMeasurementAttitude demonstrating the use of tempMeasurement module and generating random noise in the measurement.

• Uncaught exceptions raised in Python modules are now printed to stderr before the program is terminated.

• Updated Basilisk and Vizard logos and provided download links

• Updated News and Discussions menu tab to be External Links to Basilisk related web sites

• Added a new N-axis spinning effector spinningBodyNDOFStateEffector. This is an expansion of spinningBodyOneDOFStateEffector
  and spinningBodyTwoDOFStateEffector to any number of degrees of freedom.

• Update the Windows build to automatically include the Math library defines. This avoids having
  to include them in BSK source code files individually.

• Added support for arrays and 2D arrays of 16 and 64 bit integers in message definitions

• Fixed bug where 2D arrays of 32 bit integers would have elements of type float in python.

• Fixed the Identity() method in avsEigenMRP library.

• Fixed the SpiceInterface::initTimeData() method to write epoch strings with microsecond precision instead of 0.1 second precision
  to prevent SPICE errors when epochs ending with seconds higher than 59.95 seconds got rounded up to 60.0 seconds

• Update dynamicEffector and stateEffector classes to be able to pull the state engine names of the
  spacecraft hub object

• The fuel tank module is refactored to remove the limitation of a only being able to have a single instance of a
  specific tank model type.

• Update Basilisk documentation build system to use latest version of sphinx and sphinx_rtd_theme

• Added time tag to CSSArraySensorMsgPayload

• updated Eigen library to 3.4.0

• updated OpenCV library to 4.5.5

• Added support for Vizard 2.2.0

• Added documentation on using pre-commit formatters and clang formating

• Added two new scenarios that use the spinningBodyNDOFStateEffector module. scenarioRoboticArm simulates
  a robotic arm that changes orientation through the use of the prescribedRotation1DOF profiler module.
  scenarioFlexiblePanel simulates a flexible panel that has torsional and bending modes, which are approximated
  though a lumped-mass approach and discretized to as many subpanels as needed.

• Fixed protectAllClasses method in Basilisk.architecture.swig_common_model so that it actually protects the classes
  in the given module (prevents code from setting unknown attributes). This might impact user code that depended on adding
  additional attributes to python classes generated by SWIG.

• Updated install instructions to specify python version 3.8 to 3.11 are required. Python 3.12 does yet work.

• Updated bskPrinciples-6 to discuss how to log private C++ module variables that have a getter method

• Updated cppModuleTemplate to make user configurable variables private, accessed via setter and getter methods

• Updated makeDraftModule to make C++ modules with private module variables using setter/getter methods

• Updated cppModules-1 to discuss the new expectation that C++ modules are all private. This enables
  graceful module variable depreciation if needed.

• Added support for numpy 2.0.

• Fixed use of spherical coordinate system in magneticFieldWMM model.

• Added ability to run the GitHub pull_request.yml action on a select branch

• Fixed mass depletion rate bug in thrusterStateEffector previously fixed at 100%

• Enhanced solarArrayReference with a mode that can compute the reference for the solar arrays that maximizes SRP torque opposed to current RW net momentum.

• (Beta) Added PEP-517-compliant project specification, providing initial support for installation via pip install ..

  • NOTE: This is primarily intended to support pre-compiled releases in the future. All users are recommended to continue
    using python conanfile.py installation for now.

• The cmake command now downloads large Spice data files automatically from the JPL server.

• Updated Conan/CMake build system to avoid unnecessary recompilations and greatly speed up rebuilds.

Basilisk v2.3.0

• Added optional facet articulation to the 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 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
  LinearTranslationRigidBodyMsgPayload and renaming the message variables from scalarPos and scalarVel to
  rho and rhoDot
• Deprecated the prescribedMotionMsgPayload message and replaced with two separate
  prescribedTranslationMsgPayload and 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 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 prescribedMotionStateEffector
  dynamics module.
• Created a 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 prescribedMotionStateEffector dynamics module.
• Created a new example scenario scenarioDeployingSolarArrays demonstrating how to simulate hub-relative
  multi-body prescribed motion.
• Added support for Vizard 2.1.6.1
• Updated 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 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 LinearTranslationRigidBodyMsgPayload.
• Added a new single-axis translating effector linearTranslationOneDOFStateEffector.
• Added smoothed bang-bang and smoothed bang-coast-bang profiler options to the 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.

Basilisk version 2.2.1

• Created a new example scenario scenarioSatelliteConstellation demonstrating setup of a Walker-Delta constellation
• Created a new 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 scenarioSmallBodyLandmarks demonstrates the use of the pinhole camera module
• Created a new example scenario scenarioSpinningBodiesTwoDOF that showcases the different capabilities of the
  spinningBodyTwoDOFStateEffector module.
• Corrected an error with 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 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 bskPrinciples-2 for the simple new
  syntaxt to add C-modules.
• Modified 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 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 SCStatesMsgPayload that saves the total accumulated velocity of the
  spacecraft's center of mass in the inertial frame.
• Added prescribed angle and angle rates to spinningBodyOneDOFStateEffector and spinningBodyTwoDOFStateEffector
  modules.
• Created a scanningInstrumentController, similar to 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 simpleInstrument.
• Added a new scenario 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 thrusterPlatformState to map the thruster configuration information to body frame given the time-varying platform states.
• Updated 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 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 simpleStorageUnit and 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 thrustCMEstimation to avoid measurement updates when input attGuidInMsg has not been written.
• Added scenarioSepMomentumManagement to show how to use a dual-gimbaled electric thruster to perform continuous
  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.

Basilisk version 2.2.0

• 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

BSK v2.1.7

• Fixed CMake/conan case sensitivty issue when compiling Basilisk with opNav flag set to True on Linux platforms
• Created fsw :ref:hingedRigidBodyPIDMotor to compute the commanded torque to :ref:spinningBodyOneDOFStateEffector using a proportional-integral-derivative controller.
• Added :ref:torqueScheduler to combine two :ref:ArrayMotorTorqueMsgPayload into one and implement effector locking logic.
• Refactored how Custom.cmake files are included and how they are to be constructed. Custom.cmake files
  should no longer include an include guard (e.g. if(BUILD_OPNAV) ... endif(BUILD_OPNAV) ). Rather, to add
  optionally compile a module, its directory name should be added to a list in
  src/cmake/bskTargetExcludeBuildOptions.cmake. Most importantly, the build target is now accessible within the
  a Custom.cmake file as ${TARGET_NAME}. This enables appropriate modularization of build target specific
  includes, dependencies, and compiler flags. For an example of the implications of this refactor review the before
  and after of the src/cmake/usingOpenCV.cmake file.
• updated :ref:unitTestSupport to create the file path in a platform agnostic manner
• Created a :ref:sensorThermal module to model the temperature of a sensor using radiative heat transfer
• Created a :ref:tempMeasurement module to add sensor noise/bias and fault capabilities to temperature readings
• Added a terminal flag to the event handlers that cause the simulation to terminate when triggered; demonstrated
  use of flag in update to :ref:scenarioDragDeorbit.
• Created a :ref:prescribedMotionStateEffector dynamics module for appending rigid bodies with prescribed motion
  to the spacecraft hub.
• Added :ref:solarArrayReference to compute the reference angle and angle rate for a rotating solar array.
• Update python dependency documentation and check to not use conan version 2.0.0 for now
• Changed the SpinningBodyStateEffector module name to :ref:spinningBodyOneDOFStateEffector.
• Added the ability to lock the axis on the :ref:spinningBodyOneDOFStateEffector module.
• Added two new unit tests to :ref:spinningBodyOneDOFStateEffector.
• Updated :ref:magneticFieldWMM to use the latest WMM coefficient file and evaluation software
• Added a :ref:spinningBodyTwoDOFStateEffector module that simulates a two-axis rotating rigid component.
• Created :ref:oneAxisSolarArrayPoint to generate the reference attitude for a spacecraft that needs to point a body-fixed
  axis along an inertial direction while ensuring maximum power generation on the solar arrays
• Added a maximum power parameter maxPower to :ref:reactionWheelStateEffector for limiting supplied
  power, independent of the modules in simulation/power.
• Added :ref:thrusterPlatformReference to align the dual-gimballed thruster with the system's center of mass, or at an offset thereof to perform momentum dumping.
• Improved reliability of opNav scenario communication between :ref:vizInterface and Vizard
• provide support or Vizard 2.1.4 features

Basilisk v2.1.6

• Refactored :ref:keplerianOrbit to not depend on the gravityEffector class
• Updated Basilisk install documentation to discuss accessing source code from GitHub.com
• Fixed an issue where attaching a thruster to a body different than the hub when using zeroBase would yield very large offsets.
• Added documentation in :ref:bskPrinciples-4 on how to read the current message values
• Highlighted the challege of setting up a recorder on a re-directed message in :ref:bskPrinciples-7
• added the ability to add a recorder() to a C-wrapped module input message
• Fix an issue in in :ref:magneticFieldWMM where a fixed width array holding a file path would result in a cutoff
  path when basilisk is located in a directory path of greater than 100 characters.
• Updated the build system to use newer versions of eigen, protobuf, cppzmq
  and opencv. This corrects some build issues with new compilers.
• The linearAlgebra, rigidBodyKinematics, orbitalMotion were mistakenly exposed as part of the
  :ref:sim_model module's API. They have been removed and the functions they provided are still found in
  Basilisk.utilities.orbitalMotion, Basilisk.architecture.linearAlgebra, and
  Basilisk.architecture.rigidBodyKinematics.
• Fixed an issued recording the timeWritten information of a C-wrapped message
  with a recorder() module.
• Updated :ref:pullCloneBSK to ask the user to first install lfs before pulling a copy
  of the Basilisk repo due to some large files being stored in the GitHub large file storage
  system.
• Updated :ref:scenarioGroundLocationImaging to properly save off the ground location
  information for Vizard
• Added a new helper function to convert C arrays to Eigen::MRPd and vice-versa inside avsEigenSupport.
• Updated :ref:spinningBodyStateEffector to use the :ref:HingedRigidBodyMsgPayload output message type for compatibility with other modules
• Added the ability to set an inertial heading in the :ref:boreAngCalc module. Changed the internal module logic to use Eigen library variables and functions instead of C-style arrays and methods.
• Added support for Vizard v2.1.3
• Updated :ref:simpleInstrumentController to provide the option to consider the angular velocity tracking error norm
  when considering to take an image.