RocketPy-Team · Gui-FernandesBR · Jul 4, 2026 · Jul 4, 2026 · Jul 4, 2026
@@ -32,27 +32,25 @@ Attention: The newest changes should be on top -->
 
 ### Added
 
-- ENH: MNT: refactor parachute implementation [#958](https://github.com/RocketPy-Team/RocketPy/pull/958)
+- ENH: Individual Fins: add `Fin`, `TrapezoidalFin`, `EllipticalFin`, and `FreeFormFin` classes for modeling asymmetric or individually-positioned fins [#818](https://github.com/RocketPy-Team/RocketPy/pull/818)
+- ENH: Add AIGFS and HRRR forecast models to the Environment class [#951](https://github.com/RocketPy-Team/RocketPy/pull/951)
+- ENH: Add RingClusterMotor for annular clustered motor modeling [#924](https://github.com/RocketPy-Team/RocketPy/pull/924)
+- ENH: Discrete and Continuous Controllers [#946](https://github.com/RocketPy-Team/RocketPy/pull/946)
 - ENH: Add custom exceptions and unstable rocket warning [#970](https://github.com/RocketPy-Team/RocketPy/pull/970)
-- ENH: MNT: Remove redundant wind_heading/wind_direction functions from EnvironmentAnalysis [#1041](https://github.com/RocketPy-Team/RocketPy/pull/1041)
+- ENH: Adopt built-in Python logging instead of print() calls (closes [#450](https://github.com/RocketPy-Team/RocketPy/issues/450)) [#973](https://github.com/RocketPy-Team/RocketPy/pull/973)
 - ENH: Pass acceleration (`u_dot`) data to parachute trigger functions [#911](https://github.com/RocketPy-Team/RocketPy/pull/911)
 - ENH: Add 3D flight trajectory and attitude animations in Flight plots layer [#909](https://github.com/RocketPy-Team/RocketPy/pull/909)
-- ENH: DOC: Configure AI instructions and update developer docs [#975](https://github.com/RocketPy-Team/RocketPy/pull/975)
-- ENH: BUG: fix wind heading and direction wraparound interpolation [#974](https://github.com/RocketPy-Team/RocketPy/pull/974)
-- ENH: MNT: Sync develop's Renovate config with master (#1039) [#1040](https://github.com/RocketPy-Team/RocketPy/pull/1040)
-- ENH: MNT: Configure Renovate Bot targeting develop branch [#972](https://github.com/RocketPy-Team/RocketPy/pull/972)
-- MNT: Refactor parachute implementation with abstract base and hemispherical model split [#958](https://github.com/RocketPy-Team/RocketPy/pull/958)
 - ENH: Monte Carlo Formatting Options [#947](https://github.com/RocketPy-Team/RocketPy/pull/947)
-- ENH: ENH: Auto-Detection of Pressure Conversion Factor [#966](https://github.com/RocketPy-Team/RocketPy/pull/966)
+- ENH: Adaptive Monte Carlo via Convergence Criteria [#922](https://github.com/RocketPy-Team/RocketPy/pull/922)
 - ENH: Auto-Detection of Pressure Conversion Factor [#966](https://github.com/RocketPy-Team/RocketPy/pull/966)
-- ENH: Discrete and Continuous Controllers [#946](https://github.com/RocketPy-Team/RocketPy/pull/946)
+- ENH: Introduce pressure unit conversion when using forecast/reanalysis/ensemble data [#955](https://github.com/RocketPy-Team/RocketPy/pull/955)
+- MNT: Refactor parachute implementation with abstract base and hemispherical model split [#958](https://github.com/RocketPy-Team/RocketPy/pull/958)
 - DOC: Add aerodynamic surfaces user guide [#1043](https://github.com/RocketPy-Team/RocketPy/pull/1043)
-- ENH: Add RingClusterMotor for annular clustered motor modeling [#924](https://github.com/RocketPy-Team/RocketPy/pull/924)
-- ENH: MNT: introduce pressure unit conversion when using forecast/reanalysis/ensemble data [#955](https://github.com/RocketPy-Team/RocketPy/pull/955)
+- DOC: Add Valkyrie flight example (Bisky Team) [#967](https://github.com/RocketPy-Team/RocketPy/pull/967)
+- DOC: Configure AI instructions and update developer docs [#975](https://github.com/RocketPy-Team/RocketPy/pull/975)
 - ENH: Auto Populate Changelog [#919](https://github.com/RocketPy-Team/RocketPy/pull/919)
-- ENH: Adaptive Monte Carlo via Convergence Criteria [#922](https://github.com/RocketPy-Team/RocketPy/pull/922)
-- TST: Add acceptance tests for 3DOF flight simulation based on Bella Lui rocket [#914](https://github.com/RocketPy-Team/RocketPy/pull/914)
-- ENH: adopt built-in Python logging instead of print() calls [#450](https://github.com/RocketPy-Team/RocketPy/issues/450)
+- MNT: Sync develop's Renovate config with master (#1039) [#1040](https://github.com/RocketPy-Team/RocketPy/pull/1040)
+- MNT: Configure Renovate Bot targeting develop branch [#972](https://github.com/RocketPy-Team/RocketPy/pull/972)
 
 ### Changed
 
@@ -68,8 +66,9 @@ Attention: The newest changes should be on top -->
 
 ### Fixed
 
+- BUG: Remove duplicate controller process; controllers were being invoked twice per time node [#949](https://github.com/RocketPy-Team/RocketPy/pull/949)
 - BUG: fix wind heading and direction wraparound interpolation [#974](https://github.com/RocketPy-Team/RocketPy/pull/974)
-- BUG: fix NaN in ND linear interpolation outside convex hull [#926](https://github.com/RocketPy-Team/RocketPy/issues/926)
+- BUG: fix NaN in ND linear interpolation outside convex hull (closes [#926](https://github.com/RocketPy-Team/RocketPy/issues/926)) [#969](https://github.com/RocketPy-Team/RocketPy/pull/969)
 - BUG: Add wraparound logic for wind direction in environment plots [#939](https://github.com/RocketPy-Team/RocketPy/pull/939)
 
 ## [v1.12.1] - 2026-04-03
@@ -109,6 +108,9 @@ Attention: The newest changes should be on top -->
 ### Fixed
 
 - BUG: Fix hard-coded radius value for parachute added mass calculation [#889](https://github.com/RocketPy-Team/RocketPy/pull/889)
+- BUG: Fix incorrect Jacobian in `only_radial_burn` branch of `SolidMotor.evaluate_geometry` [#944](https://github.com/RocketPy-Team/RocketPy/pull/944)
+- ENH: Restore `power_off_drag`/`power_on_drag` as `Function` objects and preserve raw user input in `_input` attributes [#941](https://github.com/RocketPy-Team/RocketPy/pull/941)
+- ENH: Add explicit timeouts to ThrustCurve API requests [#940](https://github.com/RocketPy-Team/RocketPy/pull/940)
 - DOC: Fix documentation build [#908](https://github.com/RocketPy-Team/RocketPy/pull/908)
 - BUG: energy_data plot not working for 3 dof sims [[#906](https://github.com/RocketPy-Team/RocketPy/issues/906)]
 - BUG: Fix CSV column header spacing in FlightDataExporter [#864](https://github.com/RocketPy-Team/RocketPy/issues/864)

@@ -47,9 +47,10 @@
    "outputs": [],
    "source": [
     "import json\n",
+    "\n",
     "import matplotlib.pyplot as plt\n",
     "\n",
-    "from rocketpy import Environment, Flight, Rocket, SolidMotor, Function\n",
+    "from rocketpy import Environment, Flight, Function, Rocket, SolidMotor\n",
     "from rocketpy.simulation.flight_data_importer import FlightDataImporter\n",
     "\n",
     "plt.style.use(\"seaborn-v0_8-colorblind\")\n",

@@ -0,0 +1,14 @@
+Exceptions and Warnings
+=======================
+
+RocketPy raises a small hierarchy of custom exceptions and warnings so that
+error handling can be more specific than catching plain ``ValueError`` or
+``UserWarning``. All exceptions inherit from :class:`~rocketpy.exceptions.RocketPyError`,
+which makes it possible to catch any RocketPy-specific error with a single
+``except`` clause while still deriving from the relevant built-in type
+(e.g. :class:`~rocketpy.exceptions.InvalidParameterError` is also a
+``ValueError``).
+
+.. automodule:: rocketpy.exceptions
+   :members:
+   :show-inheritance:
@@ -18,9 +18,10 @@ This reference manual details functions, modules, methods and attributes include
    classes/Flight
    Utilities <classes/utils/index>
    classes/EnvironmentAnalysis
-   Monte Carlo Analysis <classes/monte_carlo/index> 
+   Monte Carlo Analysis <classes/monte_carlo/index>
    Sensitivity Analysis <classes/Sensitivity>
    Multivariate Rejection Sampler <classes/MultivariateRejectionSampler>
+   Exceptions and Warnings <classes/exceptions>
 
 .. toctree::
    :maxdepth: 2

@@ -95,9 +95,11 @@ To create an air brakes model, we essentially need to define the following:
   ``deployment_level`` attribute. Inside this function, any controller logic,
   filters, and apogee prediction can be implemented.
 
-- The **sampling rate** of the controller function, in seconds. This is the time
-  between each call of the controller function, in simulation time. Must be
-  given in Hertz.
+- The **sampling rate** of the controller function, in Hertz. This is how often
+  the controller function is called in simulation time (a **discrete**
+  controller). It can also be set to ``None`` to create a **continuous**
+  controller that is called at every solver step (see
+  :ref:`discrete-vs-continuous-controllers` below).
 
 Defining the Controller Function
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -108,8 +110,9 @@ The ``controller_function`` must take in the following arguments, in this
 order:
 
 1. ``time`` (float): The current simulation time in seconds.
-2. ``sampling_rate`` (float): The rate at which the controller
-   function is called, measured in Hertz (Hz).
+2. ``sampling_rate`` (float or ``None``): The rate at which the controller
+   function is called, measured in Hertz (Hz). It is ``None`` for continuous
+   controllers, so guard any ``1 / sampling_rate`` computation against ``None``.
 3. ``state`` (list): The state vector of the simulation. The state
    is a list containing the following values, in this order:
 
@@ -372,6 +375,41 @@ controller function. If you want to disable this feature, set ``clamp`` to
     For more information on the :class:`rocketpy.AirBrakes` class
     initialization, see  :class:`rocketpy.AirBrakes.__init__` section.
 
+.. _discrete-vs-continuous-controllers:
+
+Discrete vs. Continuous Controllers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The ``sampling_rate`` argument determines *when* the controller function is
+called during the flight simulation:
+
+- **Discrete controller** (``sampling_rate`` set to a number, e.g. ``10``):
+  the controller function is called at fixed intervals of ``1 / sampling_rate``
+  seconds. This mirrors a real flight computer that reads its sensors and
+  updates its actuators at a fixed frequency, and is the recommended choice
+  when you want the simulation to reflect the actual control-loop rate of your
+  hardware.
+- **Continuous controller** (``sampling_rate=None``): the controller function
+  is called at *every* solver step of the numerical integrator. Use this when
+  you want the control law to act as a continuous function of the state rather
+  than a sampled one (for example, when validating a control model
+  analytically).
+
+.. warning::
+
+    For continuous controllers, ``sampling_rate`` is passed to your controller
+    function as ``None``. Any computation such as ``1 / sampling_rate`` (a
+    common pattern for rate-limiting deployment, as shown above) must guard
+    against ``None`` to avoid a ``TypeError``.
+
+.. note::
+
+    Discrete controllers add their sampling instants as time nodes to the
+    simulation, so remember to set ``time_overshoot=False`` in the ``Flight``
+    (see below) to make the integrator stop exactly at those instants.
+    Continuous controllers do not add time nodes; they are evaluated on the
+    integrator's own steps.
+
 Simulating a Flight
 -------------------
 

@@ -173,14 +173,14 @@ hourly updates. It is generally best for day-of-launch weather assessment and
 rapidly changing local conditions.
 
 RocketPy supports HRRR through a dedicated THREDDS shortcut.
-Like NAM and RAP, HRRR is a regional model over North America.
+Like NAM and RAP, HRRR is a regional model over North America, so you need to
+specify latitude and longitude points within its coverage area. The same
+SpacePort America coordinates used above will be reused here.
 
-If you have a HIRESW-compatible dataset from another provider (or a local copy),
-you can still load it explicitly by passing the path/URL in ``file`` and an
-appropriate mapping in ``dictionary``.
+.. code-block:: python
 
     env_hrrr = Environment(
-        date=now_plus_twelve,
+        date=tomorrow,
         latitude=32.988528,
         longitude=-106.975056,
     )

@@ -104,7 +104,13 @@ The predefined ``CylindricalTank`` class is easy to use and is defined as such:
 
 .. jupyter-execute::
 
-  cylindrical_geometry = CylindricalTank(radius=0.1, height=2.0, spherical_caps=False)
+  cylindrical_geometry = CylindricalTank(radius_function=0.1, height=2.0, spherical_caps=False)
+
+.. deprecated:: 1.13.0
+  The ``radius`` keyword argument of ``CylindricalTank`` and ``SphericalTank``
+  has been renamed to ``radius_function``. Passing ``radius=`` still works but
+  now raises a ``DeprecationWarning`` and will be removed in v2.0.0. Use
+  ``radius_function=`` instead (it accepts the same constant radius value).
 
 .. note::
   The ``spherical_caps`` parameter is optional and defaults to ``False``. If set
@@ -116,7 +122,7 @@ The predefined ``SphericalTank`` is defined with:
 
 .. jupyter-execute::
 
-    spherical_geometry = SphericalTank(radius=0.1)
+    spherical_geometry = SphericalTank(radius_function=0.1)
 
 .. seealso::
   :class:`rocketpy.CylindricalTank` and :class:`rocketpy.SphericalTank`

@@ -290,6 +290,17 @@ Optionally, we can also define:
 - The parachute trigger system lag ``lag``.
 - The parachute trigger system noise ``noise``.
 
+.. note::
+
+    Since v1.13.0, :class:`~rocketpy.Parachute` is an **abstract base class**
+    and can no longer be instantiated directly. Instead, instantiate a concrete
+    parachute model such as :class:`~rocketpy.HemisphericalParachute` (used
+    below), which derives its geometry-dependent quantities (e.g. the added
+    mass during descent) from the parachute ``radius`` and ``height``. As a
+    convenience shortcut, ``Rocket.add_parachute(...)`` can still be called with
+    keyword arguments (``name``, ``cd_s``, ``trigger``, ...) and will build a
+    hemispherical parachute for you.
+
 Lets add two parachutes to the rocket, one that will be deployed at
 apogee and another that will be deployed at 800 meters above ground level:
 
@@ -435,6 +446,18 @@ First, lets guarantee that the rocket is stable, by plotting the static margin:
     If it is unreasonably **high**, your rocket is **super stable** and the
     simulation will most likely **fail**.
 
+.. note::
+
+    RocketPy helps you catch this automatically: if the static margin is
+    **negative at motor ignition**, an
+    :class:`~rocketpy.exceptions.UnstableRocketWarning` is issued when the
+    rocket is used in a simulation. The check is skipped when the rocket has
+    any ``GenericSurface`` aerodynamic surfaces, since their lift coefficient
+    derivative is not accounted for in the center of pressure calculation,
+    which makes the static margin unreliable in that case. See
+    :doc:`/reference/classes/exceptions` for the full list of RocketPy
+    exceptions and warnings.
+
 The lets check all the information available about the rocket:
 
 .. jupyter-execute::

@@ -1,5 +1,6 @@
 import logging
 
+from . import utils
 from .control import _Controller
 from .environment import Environment, EnvironmentAnalysis
 from .exceptions import (
@@ -56,7 +57,6 @@
     TrapezoidalFins,
 )
 from .sensitivity import SensitivityModel
-from . import utils
 from .sensors import Accelerometer, Barometer, GnssReceiver, Gyroscope
 from .simulation import Flight, MonteCarlo, MultivariateRejectionSampler
 from .stochastic import (

@@ -4,7 +4,6 @@
 import logging
 import re
 import warnings
-
 from collections import namedtuple
 from datetime import datetime
 

@@ -4,7 +4,6 @@
 import json
 import logging
 import warnings
-
 from collections import defaultdict
 from functools import cached_property
 

@@ -7,7 +7,6 @@
 
 import logging
 import math
-
 import warnings
 
 import netCDF4

@@ -8,7 +8,6 @@
 import logging
 import operator
 import warnings
-
 from bisect import bisect_left
 from collections.abc import Iterable
 from copy import deepcopy

@@ -3,7 +3,6 @@
 from abc import ABC, abstractmethod
 
 import matplotlib.pyplot as plt
-
 import numpy as np
 from matplotlib.patches import Ellipse
 

@@ -6,7 +6,6 @@
 import numpy as np
 
 from ..plot_helpers import show_or_save_fig, show_or_save_plot
-
 from .compare import Compare
 
 logger = logging.getLogger(__name__)

@@ -5,7 +5,6 @@
 from importlib import resources
 
 import matplotlib.pyplot as plt
-
 import numpy as np
 
 from ..mathutils import Function

@@ -3,7 +3,6 @@
 from pathlib import Path
 
 import matplotlib.pyplot as plt
-
 import numpy as np
 from matplotlib.transforms import offset_copy
 from PIL import UnidentifiedImageError

@@ -2,7 +2,6 @@
 import numpy as np
 
 from rocketpy.mathutils.vector_matrix import Vector
-
 from rocketpy.motors import HybridMotor, LiquidMotor, SolidMotor
 from rocketpy.rocket.aero_surface import Fin, Fins, NoseCone, Tail
 from rocketpy.rocket.aero_surface.generic_surface import GenericSurface

@@ -2,7 +2,6 @@
 import warnings
 
 import numpy as np
-
 from scipy.optimize import fsolve
 
 from rocketpy.mathutils.function import Function

@@ -3,13 +3,17 @@
 import logging
 import math
 import warnings
-
 from typing import Iterable
 from warnings import warn
 
 import numpy as np
 
 from rocketpy.control.controller import _Controller
+from rocketpy.exceptions import (
+    InvalidInertiaError,
+    InvalidParameterError,
+    UnstableRocketWarning,
+)
 from rocketpy.mathutils.function import Function
 from rocketpy.mathutils.vector_matrix import Matrix, Vector
 from rocketpy.motors.empty_motor import EmptyMotor
@@ -29,11 +33,6 @@
 from rocketpy.rocket.aero_surface.fins.free_form_fins import FreeFormFins
 from rocketpy.rocket.aero_surface.fins.trapezoidal_fin import TrapezoidalFin
 from rocketpy.rocket.aero_surface.generic_surface import GenericSurface
-from rocketpy.exceptions import (
-    InvalidInertiaError,
-    InvalidParameterError,
-    UnstableRocketWarning,
-)
 from rocketpy.rocket.components import Components
 from rocketpy.rocket.parachutes.hemispherical_parachute import HemisphericalParachute
 from rocketpy.rocket.parachutes.parachute import Parachute

@@ -2,7 +2,6 @@
 import logging
 import math
 import warnings
-
 from copy import deepcopy
 from functools import cached_property
 

@@ -6,7 +6,6 @@
 import logging
 
 import numpy as np
-
 import simplekml
 
 logger = logging.getLogger(__name__)

@@ -16,7 +16,6 @@
 import re
 import time
 import warnings
-
 from bisect import bisect_left
 
 import dill