ENH: Discrete and Continuous Controllers

rocketpy/control/controller.py

@@ -17,7 +17,7 @@ def __init__(
         self,
         interactive_objects,
         controller_function,
-        sampling_rate,
+        sampling_rate=None,
         initial_observed_variables=None,
         name="Controller",
     ):
@@ -72,7 +72,8 @@ def __init__(
             relevant information in the `observed_variables` list.
 
             .. note:: The function will be called according to the sampling rate
-            specified.
+            specified. If unspecified, the default sampling rate is set to None, meaning that the
+            controller function will be called at every solver step of the simulation.
         sampling_rate : float
             The sampling rate of the controller function in Hertz (Hz). This
             means that the controller function will be called every

rocketpy/simulation/flight.py

@@ -777,7 +777,14 @@ def __simulate(self, verbose):
                     self.y_sol = phase.solver.y
                     if verbose:
                         print(f"Current Simulation Time: {self.t:3.4f} s", end="\r")
-
+                    for controller in self._continuous_controllers:
+                        controller(
+                            self.t,
+                            self.y_sol,
+                            [step[1:] for step in self.solution[:-1]],
+                            self.sensors,
+                            self.env,
+                        )
                     if self.__check_simulation_events(phase, phase_index, node_index):
                         break  # Stop if simulation termination event occurred
 
@@ -1576,6 +1583,9 @@ def __init_equations_of_motion(self):
     def __init_controllers(self):
         """Initialize controllers and sensors"""
         self._controllers = self.rocket._controllers[:]
+        self._continuous_controllers = [
+            c for c in self._controllers if c.sampling_rate is None
+        ]
         self.sensors = self.rocket.sensors.get_components()
 
         # reset controllable object to initial state (only airbrakes for now)
@@ -4488,6 +4498,9 @@ def add_parachutes(self, parachutes, t_init, t_end):
 
         def add_controllers(self, controllers, t_init, t_end):
             for controller in controllers:
+                # Skip node creation for continuous controllers
+                if controller.sampling_rate is None:
+                    continue
                 # Calculate start of sampling time nodes
                 controller_time_step = 1 / controller.sampling_rate
                 controller_node_list = [