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[BugFix] Logic error in glue code for StC loads on SD with no HD #739

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Merged
andrew-platt merged 1 commit into from
May 3, 2021
Merged

[BugFix] Logic error in glue code for StC loads on SD with no HD #739

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41 changes: 22 additions & 19 deletions modules/openfast-library/src/FAST_Solver.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -2345,7 +2345,7 @@ SUBROUTINE FullOpt1_InputOutputSolve( this_time, p_FAST, calcJacobian &

CALL Create_FullOpt1_UVector(u, u_ED%PlatformPtMesh, u_SD%TPMesh, u_SD%LMesh, &
u_HD%Morison%Mesh, u_HD%WAMITMesh, u_ED%HubPtLoad, MeshMapData%u_BD_RootMotion, u_Orca%PtfmMesh, &
u_ExtPtfm%PtfmMesh, p_FAST )
u_ExtPtfm%PtfmMesh, u_SrvD%SStC, p_FAST )

K = 0

Expand Down Expand Up @@ -3012,12 +3012,13 @@ SUBROUTINE U_FullOpt1_Residual( y_ED2, y_SD2, y_HD2, y_BD2, y_Orca2, y_ExtPtfm2,

IF ( p_FAST%CompSub == Module_SD ) THEN

IF ( p_FAST%CompHydro == Module_HD ) THEN

! initialize these SD loads inputs here in case HD is used (note from initialiazation that these meshes don't exist if HD isn't used)
IF ( p_FAST%CompHydro == Module_HD .or. (p_FAST%CompServo == Module_SrvD .and. allocated(y_SrvD%SStC)) ) THEN
! initialize these SD loads inputs here in case HD is used (note from initialiazation that these meshes don't exist if HD isn't used)
MeshMapData%u_SD_LMesh%Force = 0.0_ReKi
MeshMapData%u_SD_LMesh%Moment = 0.0_ReKi

ENDIF

IF ( p_FAST%CompHydro == Module_HD ) THEN

!..................
! Get HD inputs on Morison%Mesh and WAMITMesh
Expand Down Expand Up @@ -3281,7 +3282,7 @@ SUBROUTINE U_FullOpt1_Residual( y_ED2, y_SD2, y_HD2, y_BD2, y_Orca2, y_ExtPtfm2,
CALL Create_FullOpt1_UVector(U_Resid, MeshMapData%u_ED_PlatformPtMesh, MeshMapData%u_SD_TPMesh, MeshMapData%u_SD_LMesh, &
MeshMapData%u_HD_M_Mesh, MeshMapData%u_HD_W_Mesh, &
MeshMapData%u_ED_HubPtLoad, MeshMapData%u_BD_RootMotion, MeshMapData%u_Orca_PtfmMesh, &
MeshMapData%u_ExtPtfm_PtfmMesh, p_FAST )
MeshMapData%u_ExtPtfm_PtfmMesh, u_SrvD%SStC, p_FAST )

U_Resid = u_in - U_Resid

Expand Down Expand Up @@ -3339,7 +3340,7 @@ END SUBROUTINE FullOpt1_InputOutputSolve
!> This routine initializes the array that maps rows/columns of the Jacobian to specific mesh fields.
!! Do not change the order of this packing without changing subroutine Create_FullOpt1_UVector()!
SUBROUTINE Init_FullOpt1_Jacobian( p_FAST, MeshMapData, ED_PlatformPtMesh, SD_TPMesh, SD_LMesh, HD_M_Mesh, &
HD_WAMIT_Mesh, ED_HubPtLoad, u_BD, Orca_PtfmMesh, ExtPtfm_PtfmMesh, ErrStat, ErrMsg)
HD_WAMIT_Mesh, ED_HubPtLoad, u_BD, Orca_PtfmMesh, ExtPtfm_PtfmMesh, SrvD_u_SStC, ErrStat, ErrMsg)

TYPE(FAST_ParameterType) , INTENT(INOUT) :: p_FAST !< FAST parameters
TYPE(FAST_ModuleMapType) , INTENT(INOUT) :: MeshMapData !< data that maps meshes together
Expand All @@ -3354,6 +3355,7 @@ SUBROUTINE Init_FullOpt1_Jacobian( p_FAST, MeshMapData, ED_PlatformPtMesh, SD_TP
TYPE(BD_InputType) , INTENT(IN ) :: u_BD(:) !< inputs for each instance of the BeamDyn module (for the RootMotion meshes)
TYPE(MeshType) , INTENT(IN ) :: Orca_PtfmMesh !< OrcaFlex interface PtfmMesh
TYPE(MeshType) , INTENT(IN ) :: ExtPtfm_PtfmMesh !< ExtPtfm_MCKF interface PtfmMesh
TYPE(StC_InputType), ALLOCATABLE , INTENT(IN ) :: SrvD_u_SStC(:) !< ServoDyn SStC inputs (this will be changed later to mesh)

INTEGER(IntKi) , INTENT( OUT) :: ErrStat !< Error status of the operation
CHARACTER(*) , INTENT( OUT) :: ErrMsg !< Error message if ErrStat /= ErrID_None
Expand All @@ -3377,7 +3379,7 @@ SUBROUTINE Init_FullOpt1_Jacobian( p_FAST, MeshMapData, ED_PlatformPtMesh, SD_TP


p_FAST%SizeJac_Opt1(3) = SD_TPMesh%NNodes*6 ! SD inputs: 6 accelerations per node (size of SD input from ED)
IF ( p_FAST%CompHydro == Module_HD ) THEN
IF ( p_FAST%CompHydro == Module_HD .or. (p_FAST%CompServo == Module_SrvD .and. ALLOCATED(SrvD_u_SStC)) ) THEN
p_FAST%SizeJac_Opt1(3) = p_FAST%SizeJac_Opt1(3) &
+ SD_LMesh%NNodes *6 ! SD inputs: 6 loads per node (size of SD input from HD)
END IF
Expand Down Expand Up @@ -3506,7 +3508,7 @@ SUBROUTINE Init_FullOpt1_Jacobian( p_FAST, MeshMapData, ED_PlatformPtMesh, SD_TP
end do !j
end do !i

IF ( p_FAST%CompHydro == Module_HD ) THEN ! this SD mesh linked only when HD is enabled
if ( p_FAST%CompHydro == Module_HD .or. (p_FAST%CompServo == Module_SrvD .and. ALLOCATED(SrvD_u_SStC)) ) then ! this SD mesh linked only when HD is enabled, or SrvD SStC enabled

! SD_LMesh
do i=1,SD_LMesh%NNodes
Expand Down Expand Up @@ -3654,7 +3656,7 @@ END SUBROUTINE Init_FullOpt1_Jacobian
!> This routine basically packs the relevant parts of the modules' input meshes for use in this InputOutput solve.
!! Do not change the order of this packing without changing subroutine Init_FullOpt1_Jacobian()!
SUBROUTINE Create_FullOpt1_UVector(u, ED_PlatformPtMesh, SD_TPMesh, SD_LMesh, HD_M_Mesh, HD_WAMIT_Mesh, &
ED_HubPtLoad, BD_RootMotion, Orca_PtfmMesh, ExtPtfm_PtfmMesh, p_FAST )
ED_HubPtLoad, BD_RootMotion, Orca_PtfmMesh, ExtPtfm_PtfmMesh, SrvD_u_SStC, p_FAST )
!..................................................................................................................................

REAL(ReKi) , INTENT(INOUT) :: u(:) !< output u vector
Expand All @@ -3669,6 +3671,7 @@ SUBROUTINE Create_FullOpt1_UVector(u, ED_PlatformPtMesh, SD_TPMesh, SD_LMesh, HD
TYPE(MeshType) , INTENT(IN ) :: BD_RootMotion(:) !< BeamDyn RootMotion meshes
TYPE(MeshType) , INTENT(IN ) :: Orca_PtfmMesh !< OrcaFlex interface PtfmMesh
TYPE(MeshType) , INTENT(IN ) :: ExtPtfm_PtfmMesh !< ExtPtfm interface PtfmMesh
TYPE(StC_InputType), ALLOCATABLE , INTENT(IN ) :: SrvD_u_SStC(:) !< ServoDyn SStC inputs (this will be changed later to mesh)

TYPE(FAST_ParameterType) , INTENT(IN ) :: p_FAST !< FAST parameters

Expand Down Expand Up @@ -3720,7 +3723,7 @@ SUBROUTINE Create_FullOpt1_UVector(u, ED_PlatformPtMesh, SD_TPMesh, SD_LMesh, HD
indx_first = indx_last + 1
end do

if ( p_FAST%CompHydro == Module_HD ) then ! this SD mesh linked only when HD is enabled
if ( p_FAST%CompHydro == Module_HD .or. (p_FAST%CompServo == Module_SrvD .and. ALLOCATED(SrvD_u_SStC)) ) then ! this SD mesh linked only when HD is enabled, or SrvD SStC enabled
! SD inputs (SD_LMesh):
do i=1,SD_LMesh%NNodes
indx_last = indx_first + 2
Expand Down Expand Up @@ -4834,7 +4837,7 @@ SUBROUTINE InitModuleMappings(p_FAST, ED, BD, AD14, AD, HD, SD, ExtPtfm, SrvD, M
IF ( p_FAST%CompSub /= Module_None .OR. (p_FAST%CompElast == Module_BD .and. BD_Solve_Option1) .or. p_FAST%CompMooring == Module_Orca) THEN !.OR. p_FAST%CompHydro == Module_HD ) THEN
CALL Init_FullOpt1_Jacobian( p_FAST, MeshMapData, ED%Input(1)%PlatformPtMesh, SD%Input(1)%TPMesh, SD%Input(1)%LMesh, &
HD%Input(1)%Morison%Mesh, HD%Input(1)%WAMITMesh, &
ED%Input(1)%HubPtLoad, BD%Input(1,:), Orca%Input(1)%PtfmMesh, ExtPtfm%Input(1)%PtfmMesh, ErrStat2, ErrMsg2)
ED%Input(1)%HubPtLoad, BD%Input(1,:), Orca%Input(1)%PtfmMesh, ExtPtfm%Input(1)%PtfmMesh, SrvD%Input(1)%SStC, ErrStat2, ErrMsg2)
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
ELSEIF ( p_FAST%CompHydro == Module_HD ) THEN
CALL AllocAry( MeshMapData%Jacobian_Opt1, SizeJac_ED_HD, SizeJac_ED_HD, 'Jacobian for Ptfm-HD coupling', ErrStat2, ErrMsg2 )
Expand Down Expand Up @@ -4899,16 +4902,16 @@ SUBROUTINE InitModuleMappings(p_FAST, ED, BD, AD14, AD, HD, SD, ExtPtfm, SrvD, M
CALL MeshCopy ( SD%Input(1)%TPMesh, MeshMapData%u_SD_TPMesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_SD_TPMesh' )

IF ( p_FAST%CompHydro == Module_HD ) THEN

IF ( p_FAST%CompHydro == Module_HD .or. ( p_FAST%CompServo == Module_SrvD .and. ALLOCATED(SrvD%Input(1)%SStC) )) THEN
CALL MeshCopy ( SD%Input(1)%LMesh, MeshMapData%u_SD_LMesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_SD_LMesh' )

CALL MeshCopy ( SD%Input(1)%LMesh, MeshMapData%u_SD_LMesh_2, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_SD_LMesh_2' )

END IF


IF ( p_FAST%CompHydro == Module_HD .or. ( p_FAST%CompServo == Module_SrvD .and. ALLOCATED(SrvD%Input(1)%SStC) )) THEN
CALL MeshCopy ( SD%Input(1)%LMesh, MeshMapData%u_SD_LMesh_2, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_SD_LMesh_2' )
ENDIF

ELSE IF ( p_FAST%CompSub == Module_ExtPtfm ) THEN

CALL MeshCopy ( ExtPtfm%Input(1)%PtfmMesh, MeshMapData%u_ExtPtfm_PtfmMesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
Expand Down