Merge pull request OpenFAST#18 from andrew-platt/MDv2-farm

Updates from SrvD_linearization

Author: mattEhall

modules/aerodyn/src/AeroDyn.f90

@@ -276,7 +276,7 @@ subroutine AD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitOut
       if (Failed()) return;
       NumBlades(iR)          = InitInp%rotors(iR)%NumBlades
       p%rotors(iR)%NumBlades = InitInp%rotors(iR)%NumBlades
-      if (size(InitInp%rotors)>1) then
+      if (nRotors > 1) then
          p%rotors(iR)%RootName  = TRIM(InitInp%RootName)//'.AD.R'//trim(num2lstr(iR))
       else
          p%rotors(iR)%RootName  = TRIM(InitInp%RootName)//'.AD'
@@ -1160,7 +1160,8 @@ subroutine AD_End( u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
       TYPE(AD_MiscVarType),         INTENT(INOUT)  :: m           !< Misc/optimization variables
       INTEGER(IntKi),               INTENT(  OUT)  :: ErrStat     !< Error status of the operation
       CHARACTER(*),                 INTENT(  OUT)  :: ErrMsg      !< Error message if ErrStat /= ErrID_None
-      integer :: iW
+      
+      integer                                      :: iW
 
 
 
@@ -1668,6 +1669,7 @@ subroutine SetInputs(p, p_AD, u, m, indx, errStat, errMsg)
    endif
 end subroutine SetInputs
 
+!----------------------------------------------------------------------------------------------------------------------------------
 !> Disturbed inflow on the blade if tower shadow or tower influence are enabled
 subroutine SetDisturbedInflow(p, u, m, errStat, errMsg)
    type(RotParameterType),       intent(in   )  :: p                      !< AD parameters
@@ -1798,8 +1800,10 @@ subroutine SetInputsForBEMT(p, u, m, indx, errStat, errMsg)
 
    m%BEMT_u(indx)%UserProp = u%UserProp
 
-   ! ................ TSR .....................
 
+   !..........................
+   ! TSR
+   !..........................
    if ( EqualRealNos( m%V_dot_x, 0.0_ReKi ) ) then
       m%BEMT_u(indx)%TSR = 0.0_ReKi
    else

modules/aerodyn/src/AeroDyn_IO.f90

@@ -1453,8 +1453,16 @@ subroutine FVW_AeroOuts( M_sg, M_ag, PitchAndTwist, Vstr_g,  Vind_g, Vwnd_g, Kin
    Vwnd_s = matmul(M_sg, Vwnd_g)
    Urel_s = Vwnd_s - Vstr_s          ! relative wind
    Vtot_s = Vwnd_s - Vstr_s + Vind_s
-   AxInd  = -Vind_s(1)/Urel_s(1)
-   TanInd =  Vind_s(2)/Urel_s(2)
+   if (EqualRealNos(Urel_s(1),0.0_ReKi)) then
+      AxInd = 0.0_ReKi
+   else
+      AxInd  = -Vind_s(1)/Urel_s(1)
+   endif
+   if (EqualRealNos(Urel_s(2),0.0_ReKi)) then
+      TanInd = 0.0_ReKi
+   else
+      TanInd =  Vind_s(2)/Urel_s(2)
+   end if
    phi    = atan2( Vtot_s(1), Vtot_s(2) )        ! flow angle
 
    if(.false.) print*,PitchAndTwist ! just to avoid unused var for now

modules/aerodyn/src/FVW_Subs.f90

@@ -2579,8 +2579,6 @@ SUBROUTINE HD_JacobianPInput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrM
       ! For the case where either RdtnMod=0 and ExtcnMod=0 and hence %SS_Rdtn data or %SS_Exctn data is not valid then we do not have states, so simply return
       ! The key here is to never allocate the dXdu and related state Jacobian arrays because then the glue-code will behave properly
 
-      if ( p%totalStates == 0 ) return
-   
       ! Calculate the partial derivative of the continuous state functions (X) with respect to the inputs (u) here:
 
       ! allocate dXdu if necessary
@@ -2753,8 +2751,6 @@ SUBROUTINE HD_JacobianPContState( t, u, p, x, xd, z, OtherState, y, m, ErrStat,
    ErrStat = ErrID_None
    ErrMsg  = ''
 
-   if ( p%totalStates == 0 ) return
-   
    ! Calculate the partial derivative of the output functions (Y) with respect to the continuous states (x) here:
 
 

modules/hydrodyn/src/HydroDyn.f90

@@ -31,6 +31,7 @@ ifeq ($(OS),Windows_NT)
   CFLAGS    = $(BITS) -g -std=c99 -DMAP_DLL_EXPORTS -DCMINPACK_NO_DLL  -DNDEBUG -D_WINDOWS -D_USRDLL -D_MINGW
   LDFLAGS   = $(BITS) -g -shared -Wl,--export-all-symbols
   LIB_FLAGS :=
+  CC_TOOLS  = gcc
 else
   PLATFORM = $(shell uname -s)
   DEL_CMD   = rm -rf

modules/map/src/makefile

@@ -358,7 +358,7 @@ MAP_EXTERNCALL void map_offset_vessel(MAP_OtherStateType_t* other_type, MAP_Inpu
 
   /* define transformation matrix */
   R[0][0] = cpsi*cthe;    R[0][1] = cpsi*sthe*sphi - spsi*cphi;   R[0][2] = cpsi*sthe*cphi + spsi*sphi;
-  R[1][0] = spsi*cthe;    R[1][1] = sphi*sthe*sphi + cpsi*cphi;   R[1][2] = spsi*sthe*cphi - cpsi*sphi;
+  R[1][0] = spsi*cthe;    R[1][1] = sphi*sthe*spsi + cpsi*cphi;   R[1][2] = spsi*sthe*cphi - cpsi*sphi;
   R[2][0] = -sthe;        R[2][1] = cthe*sphi;                    R[2][2] = cthe*cphi;
 
   for (i=0 ; i<u_size ; i++) { 

modules/map/src/mapapi.c

@@ -2433,19 +2433,19 @@ MAP_ERROR_CODE set_output_list(Domain* domain, MAP_InitOutputType_t* io_type, ch
     };
 
     if (line_iter->options.azimuth_flag) {
-      success = push_variable_to_output_list(y_list, line_num, &line_iter->psi, "psi", "[m]");
+      success = push_variable_to_output_list(y_list, line_num, &line_iter->psi, "psi", "[rad]");
       io_type->writeOutputHdr_Len++;
       io_type->writeOutputUnt_Len++;
     };
 
     if (line_iter->options.altitude_flag) {
-      success = push_variable_to_output_list(y_list, line_num, &line_iter->alpha, "alpha", "[m]");
+      success = push_variable_to_output_list(y_list, line_num, &line_iter->alpha, "alpha", "[rad]");
       io_type->writeOutputHdr_Len++;
       io_type->writeOutputUnt_Len++;
     };
 
     if (line_iter->options.altitude_anchor_flag) {
-      success = push_variable_to_output_list(y_list, line_num, &line_iter->alpha_at_anchor, "alpha_a", "[m]");
+      success = push_variable_to_output_list(y_list, line_num, &line_iter->alpha_at_anchor, "alpha_a", "[rad]");
       io_type->writeOutputHdr_Len++;
       io_type->writeOutputUnt_Len++;
     };
@@ -2797,8 +2797,8 @@ MAP_ERROR_CODE print_help_to_screen()
   printf("      -v_anch,       --Vertical force at anchor (does NOT include applied forces) [N]\n");
   printf("      -tension_fair, --Line force-magnitude at fairlead (include applied loads) [N]\n");
   printf("      -tension_anch, --Line force-magnitude at anchor (include applied loads) [N]\n");
-  printf("      -azimuth,      --Line lateral offset angle global X axis [deg]\n");
-  printf("      -altitude,     --Line inclination angle relative to global XY plane at fairlead [deg]\n");
+  printf("      -azimuth,      --Line lateral offset angle global X axis [rad]\n");
+  printf("      -altitude,     --Line inclination angle relative to global XY plane at fairlead [rad]\n");
   printf("      -lay_length,   --Length of line on seabed [m]\n");
   printf("      -line_tension, -- \n");
   printf("    Model features:\n");

modules/map/src/mapinit.c

@@ -4987,7 +4987,7 @@ FUNCTION Indx_y_ED_BladeRoot_Start(y_ED, y_FAST, BladeNum) RESULT(ED_Out_Start)
    end do
 END FUNCTION Indx_y_ED_BladeRoot_Start
 !----------------------------------------------------------------------------------------------------------------------------------
-!> This routine returns the starting index for the y_ED%BladeRootMotion(BladeNum) mesh in the FAST linearization outputs.
+!> This routine returns the starting index for the y_ED%NacelleMotion mesh in the FAST linearization outputs.
 FUNCTION Indx_y_ED_Nacelle_Start(y_ED, y_FAST) RESULT(ED_Out_Start)
    TYPE(FAST_OutputFileType),      INTENT(IN )  :: y_FAST           !< FAST output file data (for linearization)
    TYPE(ED_OutputType),            INTENT(IN )  :: y_ED             !< ED outputs at t
@@ -4997,7 +4997,6 @@ FUNCTION Indx_y_ED_Nacelle_Start(y_ED, y_FAST) RESULT(ED_Out_Start)
 
    ED_Out_Start = Indx_y_ED_BladeRoot_Start(y_ED, y_FAST, size(y_ED%BladeRootMotion))        ! start of last blade root
    ED_Out_Start = ED_Out_Start + y_ED%BladeRootMotion(size(y_ED%BladeRootMotion))%NNodes*18  ! N blade roots, 6 fields with 3 components per blade.
-   ED_Out_Start = ED_Out_Start + y_ED%NacelleMotion%NNodes*18     ! 6 fields with 3 components
 END FUNCTION Indx_y_ED_Nacelle_Start
 !----------------------------------------------------------------------------------------------------------------------------------
 !> This routine returns the starting index for y_ED%Yaw in the FAST linearization outputs.

modules/openfast-library/src/FAST_Lin.f90

@@ -2812,7 +2812,11 @@ subroutine dYdu_YawGen()
       ! jacobian with the proper sign:
       !...............................................................................
       do I = 1,p%NumOuts  ! Loop through all selected output channels
-         dYdu(I+SrvD_Indx_Y_WrOutput,1:3) = p%OutParam(I)%SignM * AllOuts( 1:3, p%OutParam(I)%Indx )
+         if (p%OutParam(I)%Indx > 0_IntKi) then
+            dYdu(I+SrvD_Indx_Y_WrOutput,1:3) = p%OutParam(I)%SignM * AllOuts( 1:3, p%OutParam(I)%Indx )
+         else
+            dYdu(I+SrvD_Indx_Y_WrOutput,1:3) = 0.0_R8Ki
+         endif
       enddo             ! I - All selected output channels
    end subroutine dYdu_YawGen
 

modules/servodyn/src/ServoDyn.f90

@@ -2368,7 +2368,7 @@ SUBROUTINE SetOutParam(OutList, p, ErrStat, ErrMsg )
 
       IF ( Indx > 0 ) THEN ! we found the channel name
          IF ( InvalidOutput( ParamIndxAry(Indx) ) ) THEN  ! but, it isn't valid for these settings
-            p%OutParam(I)%Indx  = 0                 ! pick any valid channel (I just picked "Time=0" here because it's universal)
+            p%OutParam(I)%Indx  = ParamIndxAry(Indx)  ! don't reset the index -- causes issues in linearization
             p%OutParam(I)%Units = "INVALID"
             p%OutParam(I)%SignM = 0
          ELSE

modules/servodyn/src/ServoDyn_IO.f90

@@ -195,7 +195,7 @@ of_regression("5MW_Land_BD_DLL_WTurb"                  "openfast;beamdyn;aerodyn
 of_regression("5MW_OC4Jckt_ExtPtfm"                    "openfast;elastodyn;extptfm")
 of_regression("HelicalWake_OLAF"                       "openfast;aerodyn15;olaf")
 of_regression("EllipticalWing_OLAF"                    "openfast;aerodyn15;olaf")
-of_regression("StC_test_OC4Semi"                       "openfast;servodyn;hydrodyn;moordyn;offshore")
+of_regression("StC_test_OC4Semi"                       "openfast;servodyn;hydrodyn;moordyn;offshore;stc")
 
 # OpenFAST C++ API test
 if(BUILD_OPENFAST_CPP_API)
@@ -211,6 +211,8 @@ of_regression_linear("Ideal_Beam_Fixed_Free_Linear" "openfast;linear;beamdyn")
 of_regression_linear("Ideal_Beam_Free_Free_Linear"  "openfast;linear;beamdyn")
 of_regression_linear("5MW_Land_BD_Linear"           "openfast;linear;beamdyn;servodyn")
 of_regression_linear("5MW_OC4Semi_Linear"           "openfast;linear;hydrodyn;servodyn")
+of_regression_linear("StC_test_OC4Semi_Linear_Nac"  "openfast;linear;servodyn;stc")
+of_regression_linear("StC_test_OC4Semi_Linear_Tow"  "openfast;linear;servodyn;stc")
 
 # FAST Farm regression tests
 if(BUILD_FASTFARM)