fmdtools 2.2.3__tar.gz → 2.3.0__tar.gz

{fmdtools-2.2.3 → fmdtools-2.3.0}/LICENSE

@@ -1,4 +1,4 @@
-fmdtools version 2.2.3
+fmdtools version 2.3.0
 ---------------------------
                                  Apache License
                            Version 2.0, January 2004

{fmdtools-2.2.3 → fmdtools-2.3.0}/PKG-INFO

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: fmdtools
-Version: 2.2.3
+Version: 2.3.0
 Summary: System resilience modelling, simulation, and assessment in Python
 Author: fmdtools Developers
 Maintainer-email: Daniel Hulse <daniel.e.hulse@nasa.gov>
-License: fmdtools version 2.2.3
+License: fmdtools version 2.3.0
         ---------------------------
                                          Apache License
                                    Version 2.0, January 2004
@@ -367,7 +367,7 @@ This may then be installed using:
 Note that this version reflects the latest version on the ``main`` git branch along with any local changes. To use a particular version of ``fmdtools`` you can checkout the tag corresponding to the version you want, e.g.:
 
 ```
-   git checkout v2.2.3
+   git checkout v2.3.0
 ```
 
 
@@ -505,8 +505,8 @@ To cite a particular version of the fmdtools, you may use:
   author = {{NASA}},
   title = {fmdtools},
   url = {https://github.com/nasa/fmdtools},
-  version = {2.2.3},
-  date = {2025-12-4},
+  version = {2.3.0},
+  date = {2025-12-19},
 }
 ```
 

{fmdtools-2.2.3 → fmdtools-2.3.0}/README.md

@@ -106,7 +106,7 @@ This may then be installed using:
 Note that this version reflects the latest version on the ``main`` git branch along with any local changes. To use a particular version of ``fmdtools`` you can checkout the tag corresponding to the version you want, e.g.:
 
 ```
-   git checkout v2.2.3
+   git checkout v2.3.0
 ```
 
 
@@ -244,8 +244,8 @@ To cite a particular version of the fmdtools, you may use:
   author = {{NASA}},
   title = {fmdtools},
   url = {https://github.com/nasa/fmdtools},
-  version = {2.2.3},
-  date = {2025-12-4},
+  version = {2.3.0},
+  date = {2025-12-19},
 }
 ```
 

{fmdtools-2.2.3 → fmdtools-2.3.0}/examples/__init__.py

@@ -15,4 +15,4 @@ CONDITIONS OF ANY KIND, either express or implied. See the License for the
 specific language governing permissions and limitations under the License.
 """
 
-__all__ = ['asg_demo', 'eps', 'multirotor', 'pump', 'rover', 'tank', 'taxiway']
+__all__ = ['asg_demo', 'eps', 'multirotor', 'pump', 'rover', 'tank', 'taxiway' 'airspacelib']

fmdtools-2.3.0/examples/airspacelib/__init__.py

@@ -0,0 +1,22 @@
+"""
+Airspace library.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+
+import examples.airspacelib.base as base
+import examples.airspacelib.contingencymanagement as contingencymanagement
+import examples.airspacelib.wildfireresponse as wildfireresponse
+
+__all__ = ['base', 'contingencymanagement', 'wildfireresponse']

fmdtools-2.3.0/examples/airspacelib/base/__init__.py

@@ -0,0 +1,24 @@
+# -*- coding: utf-8 -*-
+"""
+Base packages for the Airspace Library.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+
+import examples.airspacelib.base.aircraft as aircraft
+import examples.airspacelib.base.parameter as parameter
+import examples.airspacelib.base.state as state
+import examples.airspacelib.base.arch as arch
+
+__all__ = ['aircraft', 'parameter', 'state', 'arch']

fmdtools-2.3.0/examples/airspacelib/base/aircraft.py

@@ -0,0 +1,48 @@
+# -*- coding: utf-8 -*-
+"""
+Base aircraft for use in Airspace Library.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+from fmdtools.define.block.function import Function
+
+from examples.airspacelib.base.state import AircraftState
+from examples.airspacelib.base.parameter import AircraftParameter
+
+
+class BaseAircraft(Function):
+    """Base Aircraft function to be used by other models."""
+
+    __slots__ = ()
+    container_s = AircraftState
+    container_p = AircraftParameter
+
+    def indicate_at_goal(self):
+        """Indicate whether the aircraft is at its goal location."""
+        return self.s.at_goal()
+
+    def indicate_in_range(self):
+        """Indicate whether the aircraft is in range of its goal location."""
+        return self.s.in_range()
+
+    def fly_to_goal(self):
+        """Fly to a pre-determined goal."""
+        if not self.indicate_at_goal():
+            self.s.update_position(maxvel=self.p.max_speed)
+            dist = self.s.calc_dist_to_travel()
+            self.s.inc(fuel_status=-dist/self.p.max_range)
+
+
+if __name__ == "__main__":
+    ba = BaseAircraft()

fmdtools-2.3.0/examples/airspacelib/base/aircraftarchitecture.py

@@ -0,0 +1,119 @@
+# -*- coding: utf-8 -*-
+"""
+Combined aircraft architecture with all of the subfunctions in /arch.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+from fmdtools.define.architecture.function import FunctionArchitecture
+from fmdtools.define.architecture.function import FunctionArchitectureGraph
+from fmdtools.define.container.parameter import Parameter
+import fmdtools.sim.propagate as prop
+
+
+from examples.airspacelib.base.arch.flows import Trajectories, Force, Electricity
+from examples.airspacelib.base.arch.flows import AircraftEnvironment
+from examples.airspacelib.base.arch.aviate import Aviate
+from examples.airspacelib.base.arch.controlflight import ControlFlight
+from examples.airspacelib.base.arch.storeee import StoreAndSupplyElectricity
+from examples.airspacelib.base.arch.perceiveenvironment import PerceiveEnvironment
+from examples.airspacelib.base.arch.holdpayload import HoldPayload
+
+
+class AircraftArchParameter(Parameter):
+    """Overall Parameter Defining the AircraftArchitecture."""
+
+    flightplan: tuple = ((0.0, 0.0), (25.0, 25.0))
+    height: float = 25.0
+
+
+class AircraftArchitecture(FunctionArchitecture):
+    """
+    Overall drone architecture.
+
+    Involves flows:
+        - force: the flow of force between physical components
+        - electricity: the flow of electrical energy from the power supply to functions
+        - trajectories: the 3d position and velocity of the aircraft
+        - environment: the environment the aircraft inhabits and interacts with
+    And functions:
+        - control_flight : flight planning and control
+        - aviate : the function that moves the drone in the x/y/z
+        - store_and_supply_ee : the aircraft power supply/battery
+        - perceive_environment : drone perception and localization
+        - hold_payload : the structure of the drone
+    """
+
+    __slots__ = ()
+    container_p = AircraftArchParameter
+
+    def init_architecture(self, **kwargs):
+        """Initialize the architecture of the aircraft."""
+        self.add_flow('force', Force)
+        self.add_flow('electricity', Electricity)
+        self.add_flow('trajectories', Trajectories)
+        self.add_flow('environment', AircraftEnvironment)
+
+        self.add_fxn('control_flight', ControlFlight,
+                     'trajectories', 'force', 'electricity', 'environment',
+                     s={'flightplan': self.p.flightplan, 'height': self.p.height})
+        self.add_fxn('aviate', Aviate,
+                     'trajectories', 'force', 'electricity', 'environment')
+        self.add_fxn('store_and_supply_ee', StoreAndSupplyElectricity,
+                     'force', 'electricity')
+        self.add_fxn('perceive_environment', PerceiveEnvironment,
+                     'environment', 'force', 'electricity', 'trajectories')
+        self.add_fxn('hold_payload', HoldPayload, 'trajectories', 'force')
+
+    def classify(self, **kwargs):
+        """Classify the simulation results."""
+        return {'faultmodes': {*self.return_faultmodes()}}
+
+
+if __name__ == "__main__":
+    import doctest
+    doctest.testmod(verbose=True)
+
+    t = Trajectories()
+    t.create_local('perc_traj')
+    cf = ControlFlight(trajectories=t)
+    av = Aviate(trajectories=t)
+
+    cf.dynamic_behavior()
+    cf.des_traj.s
+    av.dynamic_behavior()
+    av.trajectories.s
+
+    cf.dynamic_behavior()
+    cf.des_traj.s
+    av.dynamic_behavior()
+    av.trajectories.s
+
+    da = AircraftArchitecture(p={'flightplan':((0.0, 0.0), (25.0, 0.0), (0.0, 25.0), (25.0, 25.0))})
+    fg = FunctionArchitectureGraph(da)
+    fg.draw()
+
+    res, hist = prop.nominal(da)
+
+    res, hist = prop.one_fault(da, 'store_and_supply_ee', 'depletion', 7, to_return=['classify', 'graph'])
+    res.store_and_supply_ee_depletion_t7.tend.graph.draw()
+
+    hist.plot_trajectories('trajectories.s.x', 'trajectories.s.y')
+    hist.plot_trajectories('trajectories.s.x',
+                           'trajectories.s.y',
+                           'trajectories.s.z',
+                           time_groups='nominal', time_ticks=1.0)
+
+    hist.plot_line('flows.electricity.s.charge',
+                   'fxns.control_flight.m.mode',
+                   'fxns.aviate.m.mode')

fmdtools-2.3.0/examples/airspacelib/base/arch/__init__.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+"""
+Base architecture components for the Airspace library.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+
+import examples.airspacelib.base.arch.aviate as aviate
+import examples.airspacelib.base.arch.controlflight as controlflight
+import examples.airspacelib.base.arch.flows as flows
+import examples.airspacelib.base.arch.holdpayload as holdpayload
+import examples.airspacelib.base.arch.perceiveenvironment as perceiveenvironment
+import examples.airspacelib.base.arch.storeee as storeee
+
+__all__ = ['aviate', 'controlflight', 'flows', 'holdpayload', 'perceiveenvironment',
+           'storeee']

fmdtools-2.3.0/examples/airspacelib/base/arch/aviate.py

@@ -0,0 +1,130 @@
+# -*- coding: utf-8 -*-
+"""
+Aviate functionality.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+from fmdtools.define.container.mode import Mode
+from fmdtools.define.block.function import Function
+
+from examples.airspacelib.base.arch.flows import Trajectories, Force, Electricity
+from examples.airspacelib.base.arch.flows import AircraftEnvironment
+import numpy as np
+
+class AviateMode(Mode):
+    """Aviate function modes."""
+
+    opermodes = ('flight', 'idle', 'falling')
+    mode: str = "idle"
+    fault_crash = ()
+
+
+class Aviate(Function):
+    """
+    Function that moves the drone within the environment.
+
+    Examples
+    --------
+    >>> t = Trajectories()
+    >>> t.s.put(z=100.0, goal_z=100.0, dz=0.0, dx=10.0)
+    >>> des_traj = t.create_local("des_traj")
+    >>> av = Aviate(trajectories=t)
+    >>> av.static_behavior()
+    >>> av.dynamic_behavior()
+    >>> av.trajectories.s.x
+    10.0
+    >>> av.trajectories.des_traj.s.put(dx=0.0, dy=10.0)
+    >>> av.static_behavior()
+    >>> av.dynamic_behavior()
+    >>> av.trajectories.s.y
+    10.0
+    """
+
+    __slots__ = ('trajectories', 'force', 'electricity', 'environment')
+
+    flow_trajectories = Trajectories
+    flow_force = Force
+    flow_electricity = Electricity
+    flow_environment = AircraftEnvironment
+    container_m = AviateMode
+
+    def static_behavior(self):
+        """Overall static behavior of drone (determines modes based on states)."""
+        if self.force.s.contact_support >= 10.0:
+            self.m.add_fault('crash')
+
+        if self.trajectories.s.z > 0.0:
+            if self.electricity.s.voltage_high <= 0.0:
+                self.m.set_mode('falling')
+            else:
+                self.m.set_mode('flight')
+        else:
+            if self.electricity.s.voltage_high > 0.0:
+                if not self.trajectories.des_traj.s.same(dx=0.0, dy=0.0):
+                    self.m.add_fault('crash')
+                    self.m.set_mode('idle')
+                elif not self.trajectories.des_traj.s.dz <= 0.0:
+                    self.m.set_mode('flight')
+                else:
+                    self.m.set_mode('idle')
+            else:
+                self.m.set_mode('idle')
+
+        if self.m.in_mode("falling", "crash"):
+            self.falling_behavior()
+        elif self.m.in_mode('flight'):
+            self.flight_behavior()
+        elif self.m.in_mode("idle"):
+            self.idle_behavior()
+
+    def dynamic_behavior(self):
+        """Overall dynamic behavior of the drone (flight, falling, and idle)."""
+        self.trajectories.s.increment_position()
+        self.trajectories.s.limit(z=(0.0, np.inf))
+
+    def flight_behavior(self):
+        """
+        Behavior when the drone is flying in the air.
+
+        The trajectory increments to a new location determined by the direction and
+        distance of the desired trajectory.
+        """
+        self.trajectories.s.assign(self.trajectories.des_traj.s, 'dx', 'dy', 'dz')
+        self.electricity.s.current_high = 1.0
+        self.force.s.put(lift_support=1.0)
+
+    def falling_behavior(self):
+        """
+        Behavior when falling.
+
+        The drone falls to the ground, removing all support to the drone.
+        """
+        if self.trajectories.s.z > 0.0:
+            #self.trajectories.s.assign(self.trajectories.des_traj.s, 'dx', 'dy')
+            self.trajectories.s.dz = -self.trajectories.s.z
+            self.force.s.put(lift_support=0.0)
+        else:
+            self.idle_behavior()
+
+    def idle_behavior(self):
+        """Behavior when not moving and grounded."""
+        self.trajectories.s.put(dx=0.0, dy=0.0, dz=0.0)
+        self.force.s.put(lift_support=0.0)
+        self.electricity.s.current_high = 0.0
+
+if __name__ == "__main__":
+    import doctest
+    doctest.testmod(verbose=True)
+
+    av = Aviate()

fmdtools-2.3.0/examples/airspacelib/base/arch/controlflight.py

@@ -0,0 +1,212 @@
+# -*- coding: utf-8 -*-
+"""
+ControlFlight function used to control the aircraft.
+
+Copyright © 2024, United States Government, as represented by the Administrator
+of the National Aeronautics and Space Administration. All rights reserved.
+
+The "Fault Model Design tools - fmdtools version 2" software is licensed
+under the Apache License, Version 2.0 (the "License"); you may not use this
+file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE/2.0. 
+
+Unless required by applicable law or agreed to in writing, software distributed
+under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+CONDITIONS OF ANY KIND, either express or implied. See the License for the
+specific language governing permissions and limitations under the License.
+"""
+
+
+from fmdtools.define.block.function import Function
+from fmdtools.define.container.state import State
+from fmdtools.define.container.mode import Mode
+
+from examples.airspacelib.base.arch.flows import Trajectories, Force, Electricity
+from examples.airspacelib.base.arch.flows import AircraftEnvironment
+
+
+class ControlState(State):
+    """
+    State of ControlFlight Function planning.
+
+    Parameters
+    ----------
+    flightplan: tuple
+        Set of x/y points the drone is to fly through.
+    height: float
+        Height the drone is to fly at.
+    pt: int
+        Point within the flight plan that the drone is to fly to.
+    """
+
+    flightplan: tuple = ((0.0, 0.0), (25.0, 25.0))
+    height: float = 25.0
+    pt: int = 0
+
+    def get_goal(self):
+        """Get the current goal point (x,y) for the drone."""
+        if self.pt < len(self.flightplan):
+            return self.flightplan[self.pt]
+        else:
+            return self.flightplan[-1]
+
+    def inc_goal(self):
+        """Increment the current goal."""
+        if self.pt < len(self.flightplan):
+            self.pt += 1
+
+    def is_start(self):
+        """Determine whether the drone is as the start of its flightplan."""
+        return self.pt == 0
+
+    def is_end(self):
+        """Determine whether the drone is at the end of its flightplan."""
+        return self.pt >= len(self.flightplan)-1
+
+
+class ControlMode(Mode):
+    """ControlFlight mode."""
+
+    opermodes = ('ascend', 'descend', 'flight', 'idle', 'pause')
+    exclusive = True
+    fault_off = ()
+    fault_loss = ()
+    mode: str = 'idle'
+
+
+class ControlFlight(Function):
+    """
+    Flight control function.
+
+    Determines direction and distance to travel based on location and flightplan.
+
+    Examples
+    --------
+    >>> t = Trajectories()
+    >>> perc_traj = t.create_local('perc_traj')
+    >>> cf = ControlFlight(trajectories=t)
+    >>> cf.m.mode
+    'idle'
+    >>> cf(0)
+    >>> cf(1)
+    >>> cf.m.mode
+    'ascend'
+    >>> cf.trajectories.perc_traj.s.z = cf.s.height
+    >>> cf(2)
+    >>> cf.m.mode
+    'flight'
+    >>> cf.des_traj.s.get('dx', 'dy')
+    array([7.07106781, 7.07106781])
+    >>> cf.trajectories.perc_traj.s.put(x=25.0, y=25.0)
+    >>> cf(3)
+    >>> cf.m.mode
+    'descend'
+    >>> cf.trajectories.perc_traj.s.put(z=0.0)
+    >>> cf(4)
+    >>> cf.m.mode
+    'idle'
+    """
+
+    __slots__ = ('trajectories', 'perc_traj', 'des_traj', 'force', 'electricity',
+                 'environment')
+    flow_trajectories = Trajectories
+    flow_force = Force
+    flow_electricity = Electricity
+    flow_environment = AircraftEnvironment
+    container_s = ControlState
+    container_m = ControlMode
+
+    def init_block(self, **kwargs):
+        """Add the desired trajectory local flow to the Function."""
+        self.perc_traj = self.trajectories.create_local("perc_traj")
+        self.des_traj = self.trajectories.create_local("des_traj")
+
+    def static_behavior(self):
+        """
+        Propagate static behaviors for flight control.
+
+        Determines modes and behavior for loss/idling.
+        """
+        self.set_faultmode()
+        self.set_des_traj()
+
+    def set_faultmode(self):
+        if self.force.s.contact_support >= 5.0:
+            self.m.add_fault('loss')
+        if self.electricity.s.voltage_low <= 0.0 and not self.m.in_mode('loss'):
+            self.m.set_mode('idle')
+        else:
+            self.electricity.s.current_low = 1.0
+        if self.m.in_mode('idle'):
+            self.electricity.s.power_high = False
+        else:
+            self.electricity.s.power_high = True
+
+    def set_des_traj(self):
+        if not self.m.in_mode('idle', 'loss'):
+            self.set_goal()
+            self.des_traj.s.update_position(maxvel=self.des_traj.p.max_vel)
+        elif self.m.in_mode('idle'):
+            self.des_traj.s.put(dx=0.0, dy=0.0, dz=0.0)
+        else:
+            self.des_traj.s.put(dz=-self.trajectories.s.z)
+
+    def dynamic_behavior(self):
+        """Propagate overall modal logic for flight control."""
+        if not self.m.in_mode('loss'):
+            self.trajectories.perc_traj.update('goal_x', 'goal_y', 'goal_z',
+                                               to_get='des_traj')
+            if self.s.is_start():
+                if self.t.time > 0.0:
+                    self.takeoff_planning()
+            elif self.s.is_end():
+                self.landing_planning()
+            else:
+                self.flight_planning()
+
+    def takeoff_planning(self):
+        """Determine flight mode at the start of the flight plan."""
+        if self.m.in_mode('idle'):
+            self.m.set_mode('ascend')
+        elif self.m.in_mode('ascend') and self.trajectories.perc_traj.s.z >= self.s.height:
+            self.m.set_mode('flight')
+            self.s.inc_goal()
+
+    def landing_planning(self):
+        """Determine flight mode at the end of the flight plan."""
+        if self.m.in_mode('flight') and self.trajectories.perc_traj.s.at_goal():
+            self.m.set_mode('descend')
+        elif self.m.in_mode('descend') and self.trajectories.perc_traj.s.z <= 0.0:
+            self.m.set_mode('idle')
+
+    def flight_planning(self):
+        """Determine flight mode in the middle of the flight plan."""
+        if self.trajectories.perc_traj.s.at_goal() and not self.s.is_end() and not self.m.in_mode('pause'):
+            self.s.inc_goal()
+
+    def set_goal(self):
+        """Set the goal properties of the trajectories flow based on the flight mode."""
+        self.des_traj.s.assign(self.trajectories.perc_traj.s, 'x', 'y', 'z')
+        if self.m.in_mode('ascend'):
+            newgoal = [*self.des_traj.s.get('x', 'y'), self.s.height]
+        elif self.m.in_mode('descend'):
+            newgoal = [*self.des_traj.s.get('x', 'y'), 0.0]
+        elif self.m.in_mode('flight'):
+            newgoal = [*self.s.get_goal(), self.s.height]
+        elif self.m.in_mode('idle', 'pause'):
+            newgoal = self.des_traj.s.get_loc()
+        self.des_traj.s.assign(newgoal, 'goal_x', 'goal_y', 'goal_z')
+
+
+if __name__ == "__main__":
+    import doctest
+    doctest.testmod(verbose=True)
+
+    cf = ControlFlight()
+    cf.dynamic_behavior()
+    cf.trajectories.perc_traj.s.z = cf.s.height
+    cf.dynamic_behavior()
+    cf.trajectories.perc_traj.s.put(x=25.0, y=25.0)
+    cf.dynamic_behavior()
+    cf.trajectories.perc_traj.s.put(z=0.0)
+    cf.dynamic_behavior()