Implemented missing dU^{ED}/dy^{ED} terms related to HD and MAP

modules-local/openfast-library/src/FAST_Lin.f90

@@ -2206,16 +2206,13 @@ SUBROUTINE Linear_ED_InputSolve_dy( p_FAST, y_FAST, u_ED, y_ED, y_AD, u_AD, BD,
       ED_Start = Indx_u_ED_Hub_Start(u_ED, y_FAST) + u_ED%HubPtLoad%NNodes*3 ! start of u_ED%HubPtLoad%Moment field (skip forces)
       DO k=1,p_FAST%nBeams
          ED_Out_Start = Indx_y_ED_BladeRoot_Start(y_ED, y_FAST, k) ! start of y_ED%BladeRootMotion(k)%TranslationDisp field
-         CALL SumBlockMatrix( dUdy, MeshMapData%BD_P_2_ED_P(k)%dM%m_ud, ED_Start, ED_Out_Start)
+         call SumBlockMatrix( dUdy, MeshMapData%BD_P_2_ED_P(k)%dM%m_ud, ED_Start, ED_Out_Start)
       END DO
 
    END IF
 
    ! HD
-   !..........
-   ! dU^{ED}/dy^{HD}
-   !..........
-   ! LIN-TODO: Implement
+   ! parts of dU^{ED}/dy^{HD} and dU^{ED}/dy^{ED}:
    if ( p_FAST%CompHydro == Module_HD ) then ! HydroDyn-{ElastoDyn or SubDyn}
 
             ! we're just going to assume u_ED%PlatformPtMesh is committed
@@ -2228,9 +2225,17 @@ SUBROUTINE Linear_ED_InputSolve_dy( p_FAST, y_FAST, u_ED, y_ED, y_AD, u_AD, BD,
             ED_Start     = Indx_u_ED_Platform_Start(u_ED, y_FAST) ! start of u_ED%PlatformPtMesh%TranslationDisp field
             call Assemble_dUdy_Loads(HD%y%AllHdroOrigin, u_ED%PlatformPtMesh, MeshMapData%HD_W_P_2_ED_P, ED_Start, HD_Out_Start, dUdy)
          end if
+
+            ! ED translation displacement-to-ED moment transfer (dU^{ED}/dy^{ED}):
+         ED_Start = Indx_u_ED_Platform_Start(u_ED, y_FAST) + u_ED%PlatformPtMesh%NNodes*3   ! start of u_ED%PlatformPtMesh%Moment field (skip the ED forces)
+         ED_Out_Start = Indx_y_ED_Platform_Start(y_ED, y_FAST) ! start of y_ED%PlatformPtMesh%TranslationDisp field
+         call SetBlockMatrix( dUdy, MeshMapData%HD_W_P_2_ED_P%dM%m_uD, ED_Start, ED_Out_Start )
+
+
    end if
 
    ! MAP
+   ! parts of dU^{ED}/dy^{MAP} and dU^{ED}/dy^{ED}:
    if ( p_FAST%CompMooring == Module_MAP ) then
       if ( MAPp%y%ptFairleadLoad%Committed  ) then ! meshes for floating
          !!! ! This linearization was done in forming dUdu (see Linear_ED_InputSolve_du()), so we don't need to re-calculate these matrices 
@@ -2240,6 +2245,12 @@ SUBROUTINE Linear_ED_InputSolve_dy( p_FAST, y_FAST, u_ED, y_ED, y_AD, u_AD, BD,
          ED_Start      = Indx_u_ED_Platform_Start(u_ED, y_FAST) ! start of u_ED%PlatformPtMesh%TranslationDisp field
          call Assemble_dUdy_Loads(MAPp%y%ptFairLeadLoad, u_ED%PlatformPtMesh, MeshMapData%Mooring_P_2_ED_P, ED_Start, MAP_Out_Start, dUdy)
       end if
+
+      ! ED translation displacement-to-ED moment transfer (dU^{ED}/dy^{ED}):
+      ED_Start = Indx_u_ED_Platform_Start(u_ED, y_FAST) + u_ED%PlatformPtMesh%NNodes*3   ! start of u_ED%PlatformPtMesh%Moment field (skip the ED forces)
+      ED_Out_Start = Indx_y_ED_Platform_Start(y_ED, y_FAST) ! start of y_ED%PlatformPtMesh%TranslationDisp field
+      call SumBlockMatrix( dUdy, MeshMapData%Mooring_P_2_ED_P%dM%m_uD, ED_Start, ED_Out_Start )
+
    end if
 
 END SUBROUTINE Linear_ED_InputSolve_dy