set_va! turns the body about a stored reference_point, and set_va!(body_aero, settings) applies yaw_rate

[1-Bort-1]

TL;DR

set_va!(body_aero, va_vec, omega; reference_point) now gives each panel va_vec - omega × (control_point - reference_point), where it used to pivot about the origin only, and set_va!(body_aero, settings) passes condition.yaw_rate through as omega about body z. Before this, the only way to move the pivot was to shift the whole mesh with kite_body_origin, and a non-zero yaw_rate in a settings file did nothing.

What changed

• Pivot. reference_point is a new field on BodyAerodynamics, zero by default, so every existing result stays the same. The set_va! keyword defaults to that stored value and writes to it. The formula matches the Python package (awegroup/Vortex-Step-Method@b5cd5f1, BodyAerodynamics.py:522).
• Why it is stored. A keyword that is not stored gets lost: set_va! is called again by reinit!, by the body_aero.omega = ... setter, inside linearize and when the Makie helper restores the old state. Each of those would quietly go back to the origin. Storing the point, as omega already is, keeps it through all of them without touching those callers. body_aero.reference_point = p goes through set_va! the same way the omega setter does.
• linearize. make_dual_shadow builds the shadow body from every wing, as linearize and make_dual_shadow take a BodyAerodynamics with several wings #355 made it, and then calls set_va! with the original body's reference_point. The constructor takes no reference_point, so va and omega go through that one set_va! call instead of constructor keywords. Without it, the ForwardDiff Jacobian about a pivot is off by 14% from finite differences (below).
• yaw_rate. Converted from °/s and applied as omega = [0, 0, yaw_rate], as the Python va_initialize does (its default body_axis is +z). Every shipped vsm_settings*.yaml has yaw_rate: 0.0, so no shipped setup changes.
• Cleanup in set_va!. The zero-omega branch and the per-wing loop are gone. The loop walked the panels in the same order as a single enumerate(panels), and with omega = 0 the cross product is zero, so behaviour is the same (existing multi-wing omega test still green).

Where I would push back

• The name. reference_point follows the issue and the Python keyword, but in this package Solver.reference_point is the moment reference. body_aero.reference_point and solver.reference_point are now two different points with the same name. rotation_center would be clearer; renaming is one sed if you prefer it.
• The per-panel method is left alone. The issue suggests giving set_va!(body_aero, va_distribution::AbstractMatrix; pitch_rate_dist) the same keyword. That method takes no omega, so there is nothing to turn about. Python accepts an (n, 3) va together with body_rates; if that is wanted, it is a separate change.
• A possible docstring error, not changed. The set_va!(body_aero, settings) docstring labels X_b "forward" and Z_b "down". Positive alpha gives va_z = +sin α, and the test wings run from LE at x = 0 to TE at x = 1, which reads as x aft and z up. If so, the sign a user expects for yaw_rate is about z up. I did not verify the frame beyond that, so I left the labels as they are.

Verification

• Red before, on unchanged code:
  • set_va! with VSMSettings applies the yaw rate about body z: 1 pass, 5 fail.
  • set_va! rotates the body about reference_point: MethodError (no keyword).
  • With set_va! fixed but not yet make_dual_shadow: ForwardDiff matches FiniteDiff about [0.5, 4.0, 0.0] evaluated 0.1395 < 0.001.
• Green after merging origin/main at 086ee32 (juliaserver, fresh session, Julia 1.13.0): test/body_aerodynamics/test_body_aerodynamics.jl (4903), test/body_aerodynamics/test_results.jl (linearize Jacobian 30/30), test/filament/test_bound_filament.jl (225), test/solver/test_forwarddiff.jl (10/10, pivot case included), test/solver/test_moment_units.jl, test/solver/test_viscous_drag_correction.jl, test/solver/test_solver.jl, test/solver/test_unrefined_dist.jl, test/solver/test_flow_curvature.jl, test/settings/test_settings.jl.
• test/plotting/test_plotting.jl: not run locally; it is the only test of the Makie restore path.
• Local CI mirror on a035f39: PASS, 5 min, Julia 1.13.0, one cell. GitHub CI on a035f39: PASS, every check on the first attempt, the ForwardDiff POLAR_MATRICES check included. The branch is up to date with origin/main at 086ee32. On the previous head 8a2b61d both passed; GitHub needed three attempts because Julia 1.12 - windows failed AutoForwardDiff matches AutoFiniteDiff (LOOP, POLAR_MATRICES) twice at 0.046430340012943265 < 1e-4. That is test_forwarddiff.jl's POLAR_MATRICES check flakes at ~4%, and the oper #287: which polar table a runner builds decides the check, and a manual run on main splits the same way (numbers on #287). Locally this branch and main give identical Jacobians to the last bit.
• Four merges from main. Add the Gaunaa et al. 2024 spanwise-flow viscous drag correction as an opt-in solver setting #352 (viscous drag correction) conflicted only in CHANGELOG.md; both entries are kept. The correction reads the per-panel inflow that set_va! has already set, so it sees the pivot. Name the apparent wind va, va_vec and va_dist everywhere except the public API #349 (the va / va_vec rename) conflicted in set_va! and in the settings testset; both use its names. linearize and make_dual_shadow take a BodyAerodynamics with several wings #355 (several wings in linearize) conflicted in make_dual_shadow, resolved as above. Bound and trailing vortices share one segment kernel, so the trailing core induces azimuthal velocity #351 (trailing-vortex core) conflicted only in CHANGELOG.md; both entries are kept.
• Docs: no new exported symbol (a field and a keyword on the documented set_va!). REUSE: not used here.
• Benchmark: n/a, not measured. set_va! runs once per operating point, not inside the solve loop.
• Risk: a caller that relies on set_va! pivoting about the origin after an earlier call set a non-zero reference_point. The stored point now carries over by design.

Scope

+81 / −37 across 7 files against main. src/body_aerodynamics.jl gets the field, the setter, set_va! (net shorter after dropping the branch) and the settings method. src/solver.jl gets the shadow construction. Tests: one new testset, the settings testset extended to a non-zero yaw_rate (create_temp_wing_settings gained a yaw_rate keyword), and the ForwardDiff INVISCID testset run about the origin and about a pivot. Also CHANGELOG and one YAML comment in docs/src/settings.md.

Closes #329 · task VortexStepMethod.jl-329

[1-Bort-1]

Independent review (advisory)

Verdict: APPROVE WITH COMMENTS · 1 inline, 0 off the diff

Good

• The per-panel formula va - omega × (control_point - reference_point) in set_va! matches the card and the Python reference; the zero branch it drops was the same maths with omega = 0, so results with no turn rate do not change.
• Storing the point on the body keeps it through every other caller: reinit! (body_aerodynamics.jl:327), linearize (solver.jl:1320) and the Makie restore (MakieExt:1258) all call set_va!(ba, va, omega), so none of them resets it.
• make_dual_shadow copies reference_point into the shadow body, and the ForwardDiff testset now runs about a pivot with non-zero omega; the card shows this case failing before the fix (0.1395).
• The new testset checks the keyword, the omega setter, reinit! and the reference_point setter, each against one helper, on a two-wing body.
• The settings path gets yaw_rate from °/s to rad/s about z, and the extended test asserts both panel.va and body_aero.omega; every shipped YAML has yaw_rate: 0.0 (grep), so no shipped setup changes.
• The diff stays on what the card says: 7 files, +85/−37, the cleanup is named, and the doubts about the frame and the per-panel method are written down in the card, not buried in code.

Not good

• src/body_aerodynamics.jl:39 — BodyAerodynamics.reference_point (the point the body turns about) and Solver.reference_point (the moment reference) now share a name but mean different points, so a user who sets one will expect the other to follow. A field name is API once released, so choose now (rotation_center, as the card suggests, or say the two are meant to be the same point).
• The body_aero.reference_point = p setter calls set_va!(obj, obj._va, obj.omega), so on a body set up with the per-panel matrix method it silently replaces the distribution with its mean and zeroes pitch_rate_dist. The omega setter already had this trap; this adds a second way in.
• The settings docstring now says yaw_rate is applied about Z_b, right next to a Z_b (down) label the card itself doubts. The sign users will expect for yaw_rate depends on that label, so check the frame before release rather than after.
• docs/src/settings.md now describes yaw_rate as a turn rate about body z, but the field comment at src/settings.jl:15 still says only yaw rate [°/s], so the two descriptions differ.
• The ForwardDiff testset header puts for at the end of the line and the loop variables on the next one, which is harder to scan than binding turns inline or splitting into two named testsets.
• test/plotting/test_plotting.jl, the only test of the Makie restore path, was not run, and neither CI result has been read yet.

_{claude, rubric CLEAN_CODE.md. A different lab from the implementer
on purpose: a reviewer sharing its blind spots would not flag its mistakes.}

[1-Bort-1]

MINOR: BodyAerodynamics.reference_point (the point the body turns about) and Solver.reference_point (the moment reference) now share a name but mean different points, so a user who sets one will expect the other to follow. A field name is API once released, so choose now (rotation_center, as the card suggests, or say the two are meant to be the same point).

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

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[1-Bart-1]

Rename to rotation_center. Yaw_rate is about z up, KA frame (KiteUtils.jl)

[1-Bort-1]

Local full suite: PASS (4 min, Julia 1.13.0, one cell of the matrix)