Merge pull request #2 from andrew-platt/f/lidar

Lidar for IfW updates/modifications
andrew-platt · Apr 3, 2023 · 88157b0 · 88157b0
2 parents a87e0bb + da67937
commit 88157b0
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diff --git a/docs/source/user/api_change.rst b/docs/source/user/api_change.rst
@@ -12,13 +12,26 @@ Thus, be sure to implement each in order so that subsequent line numbers are cor
 OpenFAST v3.4.0 to OpenFAST dev 
 ----------------------------------
 
-============================================= ==== ================= ========================================================================================================================================================================================================
+============================================= ==== ==================== ========================================================================================================================================================================================================
 Modified in OpenFAST `dev`
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-Module Line Flag Name Example Value
-============================================= ==== ================= ========================================================================================================================================================================================================
-ServoDyn-StructCtrl 6 StC_DOF_MODE 2 StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series; 5: Force determined by external DLL}
-============================================= ==== ================= ========================================================================================================================================================================================================
+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+Module Line Flag Name Example Value
+============================================= ==== ==================== ========================================================================================================================================================================================================
+ServoDyn-StructCtrl 6 StC_DOF_MODE 2 StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series; 5: Force determined by external DLL}
+InflowWind 50 ================== LIDAR Parameters ===========================================================================
+InflowWind 51 SensorType 0 SensorType - Switch for lidar configuration (0 = None, 1 = Single Point Beam(s), 2 = Continuous, 3 = Pulsed)
+InflowWind 52 NumPulseGate 0 NumPulseGate - Number of lidar measurement gates (used when SensorType = 3)
+InflowWind 53 PulseSpacing 30 PulseSpacing - Distance between range gates (m) (used when SensorType = 3)
+InflowWind 54 NumBeam 0 NumBeam - Number of lidar measurement beams (0-5)(used when SensorType = 1)
+InflowWind 55 FocalDistanceX -200 FocalDistanceX - Focal distance co-ordinates of the lidar beam in the x direction (relative to hub height) (only first coordinate used for SensorType 2 and 3) (m)
+InflowWind 56 FocalDistanceY 0 FocalDistanceY - Focal distance co-ordinates of the lidar beam in the y direction (relative to hub height) (only first coordinate used for SensorType 2 and 3) (m)
+InflowWind 57 FocalDistanceZ 0 FocalDistanceZ - Focal distance co-ordinates of the lidar beam in the z direction (relative to hub height) (only first coordinate used for SensorType 2 and 3) (m)
+InflowWind 58 RotorApexOffsetPos 0.0 0.0 0.0 RotorApexOffsetPos - Offset of the lidar from hub height (m)
+InflowWind 59 URefLid 17 URefLid - Reference average wind speed for the lidar[m/s]
+InflowWind 50 MeasurementInterval 0.25 MeasurementInterval - Time between each measurement [s]
+InflowWind 61 LidRadialVel False LidRadialVel - TRUE => return radial component, FALSE => return 'x' direction estimate
+InflowWind 62 ConsiderHubMotion 1 ConsiderHubMotion - Flag whether to consider the hub motion's impact on Lidar measurements
+============================================= ==== ==================== ========================================================================================================================================================================================================
 
 
 

diff --git a/modules/elastodyn/src/ElastoDyn.f90 b/modules/elastodyn/src/ElastoDyn.f90
@@ -1430,10 +1430,6 @@ SUBROUTINE ED_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
  y%HubPtMotion%TranslationDisp(3,1) = m%RtHS%rQ(2) + p%PtfmRefzt
  y%HubPtMotion%TranslationDisp = y%HubPtMotion%TranslationDisp - y%HubPtMotion%Position ! relative position
 
- y%HubDisplacementX = y%HubPtMotion%TranslationDisp(1,1)
- y%HubDisplacementY = y%HubPtMotion%TranslationDisp(2,1)
- y%HubDisplacementZ = y%HubPtMotion%TranslationDisp(3,1)
-
  ! Orientation: 
  y%HubPtMotion%Orientation(1,1,1) = m%CoordSys%g1(1) 
  y%HubPtMotion%Orientation(2,1,1) = m%CoordSys%g2(1)

diff --git a/modules/elastodyn/src/ElastoDyn_Registry.txt b/modules/elastodyn/src/ElastoDyn_Registry.txt
@@ -805,6 +805,3 @@ typedef ^ OutputType ReKi RotPwr - - - "Rotor power (this is equivalent to the l
 typedef ^ OutputType ReKi LSShftFxa - - - "Rotating low-speed shaft force x" N
 typedef ^ OutputType ReKi LSShftFys - - - "Nonrotating low-speed shaft force y" N
 typedef ^ OutputType ReKi LSShftFzs - - - "Nonrotating low-speed shaft force z" N
-typedef ^ OutputType ReKi HubDisplacementX - - - "For AeroDyn14 & ServoDyn/TMD: motions of the nacelle." m
-typedef ^ OutputType ReKi HubDisplacementY - - - "For AeroDyn14 & ServoDyn/TMD: motions of the nacelle." m
-typedef ^ OutputType ReKi HubDisplacementZ - - - "For AeroDyn14 & ServoDyn/TMD: motions of the nacelle." m