ENH: Add the Coriolis Force to the Flight class

CHANGELOG.md

@@ -36,6 +36,7 @@ Attention: The newest changes should be on top -->
 - ENH: Implement Multivariate Rejection Sampling (MRS) [#738] (https://github.com/RocketPy-Team/RocketPy/pull/738) 
 - ENH: Create a rocketpy file to store flight simulations [#800](https://github.com/RocketPy-Team/RocketPy/pull/800)
 - ENH: Support for the RSE file format has been added to the library [#798](https://github.com/RocketPy-Team/RocketPy/pull/798)
+- ENH: Add the Coriolis Force to the Flight class [#799](https://github.com/RocketPy-Team/RocketPy/pull/799)
 - ENH: Introduce Net Thrust with pressure corrections [#789](https://github.com/RocketPy-Team/RocketPy/pull/789)
 
 ### Changed

rocketpy/environment/environment.py

@@ -248,6 +248,8 @@ class Environment:
         Number of ensemble members. Only defined when using Ensembles.
     Environment.ensemble_member : int
         Current selected ensemble member. Only defined when using Ensembles.
+    Environment.earth_rotation_vector : list[float]
+        Earth's angular velocity vector in the Flight Coordinate System.
 
     Notes
     -----
@@ -353,6 +355,7 @@ def __init__(
         self.set_location(latitude, longitude)
         self.__initialize_earth_geometry(datum)
         self.__initialize_utm_coordinates()
+        self.__set_earth_rotation_vector()
 
         # Set the gravity model
         self.gravity = self.set_gravity_model(gravity)
@@ -584,6 +587,23 @@ def __reset_wind_direction_function(self):
         self.wind_direction.set_outputs("Wind Direction (Deg True)")
         self.wind_direction.set_title("Wind Direction Profile")
 
+    def __set_earth_rotation_vector(self):
+        """Calculates and stores the Earth's angular velocity vector in the Flight
+        Coordinate System, which is essential for evaluating inertial forces.
+        """
+        # Sidereal day
+        T = 86164.1  # seconds
+
+        # Earth's angular velocity magnitude
+        w_earth = 2 * np.pi / T
+
+        # Vector in the Flight Coordinate System
+        lat = np.radians(self.latitude)
+        w_local = [0, w_earth * np.cos(lat), w_earth * np.sin(lat)]
+
+        # Store the attribute
+        self.earth_rotation_vector = w_local
+
     # Validators (used to verify an attribute is being set correctly.)
 
     def __validate_dictionary(self, file, dictionary):

rocketpy/simulation/flight.py

@@ -1710,6 +1710,27 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
         ax, ay, az = K @ Vector(L)
         az -= self.env.gravity.get_value_opt(z)  # Include gravity
 
+        # Coriolis acceleration
+        _, w_earth_y, w_earth_z = self.env.earth_rotation_vector
+        ax -= 2 * (
+            -a23 * vy * w_earth_y
+            + a22 * vz * w_earth_y
+            - a33 * vy * w_earth_z
+            + a32 * vz * w_earth_z
+        )
+        ay -= 2 * (
+            a23 * vx * w_earth_y
+            - a21 * vz * w_earth_y
+            + a33 * vx * w_earth_z
+            - a31 * vz * w_earth_z
+        )
+        az -= 2 * (
+            -a22 * vx * w_earth_y
+            + a21 * vy * w_earth_y
+            - a32 * vx * w_earth_z
+            + a31 * vy * w_earth_z
+        )
+
         # Create u_dot
         u_dot = [
             vx,
@@ -1776,7 +1797,7 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
         _, _, z, vx, vy, vz, e0, e1, e2, e3, omega1, omega2, omega3 = u
 
         # Create necessary vectors
-        # r = Vector([x, y, z])               # CDM position vector
+        # r = Vector([x, y, z])  # CDM position vector
         v = Vector([vx, vy, vz])  # CDM velocity vector
         e = [e0, e1, e2, e3]  # Euler parameters/quaternions
         w = Vector([omega1, omega2, omega3])  # Angular velocity vector
@@ -1935,8 +1956,9 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
         # Angular velocity derivative
         w_dot = I_CM.inverse @ (T21 + (T20 ^ r_CM))
 
-        # Velocity vector derivative
-        v_dot = K @ (T20 / total_mass - (r_CM ^ w_dot))
+        # Velocity vector derivative + Coriolis acceleration
+        w_earth = Kt @ Vector(self.env.earth_rotation_vector)
+        v_dot = K @ (T20 / total_mass - (r_CM ^ w_dot)) - 2 * (w_earth ^ v)
 
         # Euler parameters derivative
         e_dot = [