Bug Fix: UA driver aero-elastic simulation had wrong sign

modules/aerodyn/src/UnsteadyAero.f90

@@ -1416,7 +1416,7 @@ subroutine UA_Init_Outputs(InitInp, p, y, InitOut, errStat, errMsg)
 
    ! --- Write to File
    if ((p%NumOuts > 0) .and. p%UA_OUTS==2) then
-      call WrScr('   UA: Writing separate output file: '//trim((InitInp%OutRootName)//'.out'))
+      call WrScr('   UA: Writing separate output file: '//trim(InitInp%OutRootName)//'.out')
       CALL GetNewUnit( p%unOutFile, ErrStat2, ErrMsg2 )
          call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
          if (ErrStat >= AbortErrLev) return

modules/lindyn/src/LinDyn.f90

@@ -238,8 +238,8 @@ end subroutine LD_InitInputData
 !----------------------------------------------------------------------------------------------------------------------------------
 !> Compute A and B state matrices for a linear mechanical system
 !! NOTE: Generic function (no derived types), keep it that way
-!! A = [   0        I       ]     B = [0      ]
-!!     [-M^{-1}K   -M^{-1}C ]       = [-M^{-1}]
+!! A = [   0        I       ]     B = [ 0      ]
+!!     [-M^{-1}K   -M^{-1}C ]       = [ M^{-1} ]
 subroutine StateMatrices(MM, CC, KK, AA, BB, errStat, errMsg)
    real(ReKi),              intent(in ) :: MM(:,:)
    real(ReKi),              intent(in ) :: CC(:,:)
@@ -251,6 +251,7 @@ subroutine StateMatrices(MM, CC, KK, AA, BB, errStat, errMsg)
    integer(IntKi)                          :: errStat2    ! Status of error message
    character(1024)                         :: errMsg2     ! Error message if ErrStat /= ErrID_None
    integer                                 :: nx, nq, i
+
    real(ReKi), dimension(:,:), allocatable :: MLU     ! LU factorization of M matrix
    real(ReKi), dimension(:,:), allocatable :: MinvX   ! Tmp array to store either: M^{-1} C, M^{-1} K , or M^{-1}
    real(ReKi), dimension(:) , allocatable  :: WORK    ! LAPACK variable
@@ -291,10 +292,12 @@ subroutine StateMatrices(MM, CC, KK, AA, BB, errStat, errMsg)
    ! Inverse of M
    MinvX = MLU
    LWORK=nx*nx ! Somehow LWORK = -1 does not work
-   allocate(WORK(LWORk))
+   call AllocAry(WORK, LWORk, 'WORK', errStat2, errMsg2); if(Failed()) return
    call LAPACK_getri(nx, MinvX, IPIV, WORK, LWORK, errStat2, errMsg2); if(Failed()) return
-   BB(nx+1:nq, : ) = -MinvX
+   BB(nx+1:nq, : ) = MinvX
 
+   call CleanUp()
+
 contains
    logical function Failed()
       call SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, 'StateMatrices' )

reg_tests/executeUnsteadyAeroRegressionCase.py

@@ -117,7 +117,7 @@ def Error(msg):
 for dvrf in dvrFiles:
     simName = os.path.splitext(os.path.basename(dvrf))[0]
     localOutFile    = os.path.join(testBuildDirectory, simName + '.outb')
-    baselineOutFile = os.path.join(inputsDirectory,    simName + '.out')  # TODO TODO
+    baselineOutFile = os.path.join(inputsDirectory,    simName + '.outb')  # TODO TODO
 
     if not os.path.exists(localOutFile):
         Error('File does not exist: {}'.format(localOutFile))