Merging Andy's MDv2+SrvDLin to Matt's MDv2 #6
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Does not run (seg faults) since there are old routines still that need updating.
- new order: Blade, nacelle, tower, substructure - The order is very important in the linearization, so I reordered simply to keep it consistent everywhere.
- Update SrvD_JacobianPInput - still missing the dYdu user channels - also missing dXdu - Update GetOP for dx_op matrix - Updates to FAST_Lin.f90 so it now compiles and actually runs!!!! Just produces rubbish... There was some confusion on a prior commit about where the logmapping flag from FAST_Lin goes (doesn't go with the u% stuff, only for y% motion DCMs)
- this is necessary so I can set outputs for single StC during linearization (speeds up code)
- think this is working for BStC
- but u (unerturbed) was getting used to set the StC motion input perturbations :(
Increase rank of arrays so that blade number and StC instance are tracked. This simplifies assembling of jacobians in glue code.
Also a few blank lines moved for easier git comparisons
fix a few typos in Linear_SrvD_InputSolve_du, and add some comments
SStC loads were mapped to u_ED_PlatformPtMesh_2 which was then overwritten in FAST_Solver.f90 when HD loads were calculated and added to the platform reference point.
- Some states may not have been set to zero when unused (z-dof when Omni for example)
- Tower Line2 was incorrectly linearized. Changed to Linearize_Line2_to_Point from Linearize_Point_to_Point (this was causing NaNs in the A & C matrices in testing) - Incorrect indexing (Jac_Idx_BStC_y should have been Jac_Idx_BStC_u) in dUdu - Wrong tower mesh in the linearization.
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Excellent! Looks like you figured it out. I had changed the branch name after creating #4, and that closed the PR instead of updating which branch the PR was based on... sorry about that. |
mattEhall
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Aug 25, 2021
Merging Andy's MDv2+SrvDLin to Matt's MDv2
mattEhall
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Jan 16, 2024
Fix potential numerical issues with acos in HD/SeaSt
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Recreating Andy's pull request #5: "I have not not tested this other than a quick compile. There were only a few changes in the FAST_Lin.f90 file where we both had to add to subroutines."