Linearization with AD15 and IfW

.github/workflows/automated-dev-tests.yml

@@ -774,7 +774,7 @@ jobs:
       - name: Run 5MW tests
         working-directory: ${{runner.workspace}}/openfast/build
         run: |
-          ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_OC3Mnpl_DLL_WTurb_WavesIrr
+          ctest -VV -L openfast -LE "cpp|linear|python" -j1 -R 5MW_OC3Mnpl_DLL_WTurb_WavesIrr
       - name: Failing test artifacts
         uses: actions/upload-artifact@v4
         if: failure()

modules/aerodyn/src/AeroDyn_Inflow.f90

@@ -62,30 +62,32 @@ subroutine ADI_Init(InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitOut
    ! Display the module information
    call DispNVD( ADI_Ver )
 
+   ! Clear writeoutputs
+   if (allocated(InitOut%WriteOutputHdr)) deallocate(InitOut%WriteOutputHdr)
+   if (allocated(InitOut%WriteOutputUnt)) deallocate(InitOut%WriteOutputUnt)
+
    ! Set parameters
    p%dt         = interval
    p%storeHHVel = InitInp%storeHHVel
    p%WrVTK      = InitInp%WrVTK
    p%MHK        = InitInp%AD%MHK
    p%WtrDpth    = InitInp%AD%WtrDpth
 
+   ! --- Initialize Inflow Wind 
+   call ADI_InitInflowWind(InitInp%RootName, InitInp%IW_InitInp, u%AD, OtherState%AD, m%IW, Interval, InitOut_IW, errStat2, errMsg2); if (Failed()) return
+   ! Concatenate AD outputs to IW outputs
+   call concatOutputHeaders(InitOut%WriteOutputHdr, InitOut%WriteOutputUnt, InitOut_IW%WriteOutputHdr, InitOut_IW%WriteOutputUnt, errStat2, errMsg2); if(Failed()) return
+
    ! --- Initialize AeroDyn
-   if (allocated(InitOut%WriteOutputHdr)) deallocate(InitOut%WriteOutputHdr)
-   if (allocated(InitOut%WriteOutputUnt)) deallocate(InitOut%WriteOutputUnt)
+   ! Link InflowWind's FlowField to AeroDyn's FlowField
+   InitInp%AD%FlowField => InitOut_IW%FlowField
 
    call AD_Init(InitInp%AD, u%AD, p%AD, x%AD, xd%AD, z%AD, OtherState%AD, y%AD, m%AD, Interval, InitOut_AD, errStat2, errMsg2); if (Failed()) return
    InitOut%Ver = InitOut_AD%ver
    ! Add writeoutput units and headers to driver, same for all cases and rotors!
    !TODO: this header is too short if we add more rotors.  Should also add a rotor identifier
    call concatOutputHeaders(InitOut%WriteOutputHdr, InitOut%WriteOutputUnt, InitOut_AD%rotors(1)%WriteOutputHdr, InitOut_AD%rotors(1)%WriteOutputUnt, errStat2, errMsg2); if(Failed()) return
 
-   ! --- Initialize Inflow Wind 
-   call ADI_InitInflowWind(InitInp%RootName, InitInp%IW_InitInp, u%AD, OtherState%AD, m%IW, Interval, InitOut_IW, errStat2, errMsg2); if (Failed()) return
-   ! Concatenate AD outputs to IW outputs
-   call concatOutputHeaders(InitOut%WriteOutputHdr, InitOut%WriteOutputUnt, InitOut_IW%WriteOutputHdr, InitOut_IW%WriteOutputUnt, errStat2, errMsg2); if(Failed()) return
-   ! Link InflowWind's FlowField to AeroDyn's FlowField
-   p%AD%FlowField => InitOut_IW%FlowField
-
    ! --- Initialize grouped outputs
    !TODO: assumes one rotor
    p%NumOuts = p%AD%rotors(1)%NumOuts + p%AD%rotors(1)%BldNd_TotNumOuts + m%IW%p%NumOuts
@@ -235,7 +237,7 @@ subroutine ADI_UpdateStates( t, n, u, utimes, p, x, xd, z, OtherState, m, errSta
    subroutine CleanUp()
       !call ADI_DestroyConstrState(z_guess, errStat2, errMsg2); if(Failed()) return
       do it=1,size(utimes)
-         call AD_DestroyInput(u_AD(it), errStat2, errMsg2); if(Failed()) return
+         call AD_DestroyInput(u_AD(it), errStat2, errMsg2)  ! ignore errors here
       enddo
    end subroutine
 
@@ -367,7 +369,7 @@ subroutine ADI_InitInflowWind(Root, i_IW, u_AD, o_AD, IW, dt, InitOutData, errSt
       call IfW_SteadyWind_Init(Steady_InitInput, 0, IW%p%FlowField%Uniform, &
                                FileDat, errStat2, errMsg2)
       if(Failed()) return
-      if (i_IW%MHK == 1 .or. i_IW%MHK == 2) then
+      if (i_IW%MHK == MHK_FixedBottom .or. i_IW%MHK == MHK_FLoating) then
          call IfW_UniformField_CalcAccel(IW%p%FlowField%Uniform, errStat2, errMsg2)
          if(Failed()) return
          IW%p%FlowField%AccFieldValid = .true.

modules/aerodyn/src/AeroDyn_Registry.txt

@@ -114,6 +114,7 @@ typedef ^   InitInputType   ReKi    defPatm     -   -   -   "Default atmospheric
 typedef ^   InitInputType   ReKi    defPvap     -   -   -   "Default vapor pressure from the driver; may be overwritten" Pa
 typedef ^   InitInputType   ReKi    WtrDpth -  -   -    "Water depth" m
 typedef ^   InitInputType   ReKi    MSL2SWL -  -   -    "Offset between still-water level and mean sea level" m
+typedef ^   InitInputType   FlowFieldType *FlowField -  -   -    "Pointer of InflowWinds flow field data type" - 
 
 # This is data defined in the Input File for this module (or could otherwise be passed in)
 # ..... Blade Input file data .....................................................................................................
@@ -208,7 +209,7 @@ typedef	^	AD_InputFile	ReKi	InCol_Cl	-	-	-	"The column in the airfoil tables tha
 typedef	^	AD_InputFile	ReKi	InCol_Cd	-	-	-	"The column in the airfoil tables that contains the drag coefficient"	-
 typedef	^	AD_InputFile	ReKi	InCol_Cm	-	-	-	"The column in the airfoil tables that contains the pitching-moment coefficient; use zero if there is no Cm column"	-
 typedef	^	AD_InputFile	ReKi	InCol_Cpmin	-	-	-	"The column in the airfoil tables that contains the drag coefficient; use zero if there is no Cpmin column"	-
-typedef	^	AD_InputFile	INTEGER	AFTabMod	-	-	-	"Interpolation method for multiple airfoil tables {1 = 1D on AoA (only first table is used); 2 = 2D on AoA and Re; 3 = 2D on AoA and UserProp}" -
+typedef	^	AD_InputFile	IntKi AFTabMod	-	-	-	"Interpolation method for multiple airfoil tables {1 = 1D on AoA (only first table is used); 2 = 2D on AoA and Re; 3 = 2D on AoA and UserProp}" -
 typedef	^	AD_InputFile	IntKi	NumAFfiles	-	-	-	"Number of airfoil files used"	-
 typedef	^	AD_InputFile	CHARACTER(1024)	FVWFileName	-	-	-	"FVW input filename"	"quoted string"
 typedef	^	AD_InputFile	CHARACTER(1024)	AFNames	{:}	-	-	"Airfoil file names (NumAF lines)"	"quoted strings"
@@ -359,6 +360,19 @@ typedef	^	MiscVarType	AD_InflowType	Inflow	{:}	-	-	"Inflow storage (size of u fo
 
 
 # Parameters for each rotor
+typedef	^	Jac_u_idxStarts	IntKi	Nacelle	-	1	-	"Index to first point in u jacobian for Nacelle" -
+typedef	^	Jac_u_idxStarts	IntKi	Hub	-	1	-	"Index to first point in u jacobian for Hub" -
+typedef	^	Jac_u_idxStarts	IntKi	TFin	-	1	-	"Index to first point in u jacobian for TFin" -
+typedef	^	Jac_u_idxStarts	IntKi	Tower	-	1	-	"Index to first point in u jacobian for Tower" -
+typedef	^	Jac_u_idxStarts	IntKi	BladeRoot	-	1	-	"Index to first point in u jacobian for BladeRoot" -
+typedef	^	Jac_u_idxStarts	IntKi	Blade	-	1	-	"Index to first point in u jacobian for Blade" -
+typedef	^	Jac_u_idxStarts	IntKi	UserProp	-	1	-	"Index to first point in u jacobian for UserProp" -
+typedef	^	Jac_u_idxStarts	IntKi	Extended	-	1	-	"Index to first point in u jacobian for Extended" -
+typedef	^	Jac_y_idxStarts	IntKi	NacelleLoad	-	1	-	"Index to first point in y jacobian for NacelleLoad" -
+typedef	^	Jac_y_idxStarts	IntKi	HubLoad	-	1	-	"Index to first point in y jacobian for HubLoad" -
+typedef	^	Jac_y_idxStarts	IntKi	TFinLoad	-	1	-	"Index to first point in y jacobian for TFinLoad" -
+typedef	^	Jac_y_idxStarts	IntKi	TowerLoad	-	1	-	"Index to first point in y jacobian for TowerLoad" -
+typedef	^	Jac_y_idxStarts	IntKi	BladeLoad	-	1	-	"Index to first point in y jacobian for BladeLoad" -
 typedef	^	RotParameterType	IntKi	NumBlades	-	-	-	"Number of blades on the turbine"	-
 typedef	^	RotParameterType	IntKi	NumBlNds	-	-	-	"Number of nodes on each blade"	-
 typedef	^	RotParameterType	IntKi	NumTwrNds	-	-	-	"Number of nodes on the tower"	-
@@ -385,11 +399,14 @@ typedef ^   RotParameterType	ReKi	TwrTaper  {:}   	-	-	"Array of tower element t
 typedef ^   RotParameterType	ReKi	TwrAxCent {:}	    -	-	"Array of tower element axial centroid, used in buoyancy calculation" -
 typedef	^	RotParameterType	BEMT_ParameterType	BEMT	-	-	-	"Parameters for BEMT module"
 typedef	^	RotParameterType	AA_ParameterType	AA	-	-	-	"Parameters for AA module"
-typedef	^	RotParameterType	Integer	Jac_u_indx	{:}{:}	-	-	"matrix to help fill/pack the u vector in computing the jacobian"	-
+typedef	^	RotParameterType	IntKi	Jac_u_indx	{:}{:}	-	-	"matrix to help fill/pack the u vector in computing the jacobian"	-
+typedef	^	RotParameterType	Jac_u_idxStarts Jac_u_idxStartList	-	-	-	"Starting indices for all Jac_u components" -
+typedef	^	RotParameterType	Jac_y_idxStarts Jac_y_idxStartList	-	-	-	"Starting indices for all Jac_y components" -
+typedef	^	RotParameterType	IntKi	NumExtendedInputs	-	-	-	"number of extended inputs" -
 typedef	^	RotParameterType	ReKi	du	{:}	-	-	"vector that determines size of perturbation for u (inputs)"
 typedef	^	RotParameterType	ReKi	dx	{:}	-	-	"vector that determines size of perturbation for x (continuous states)"
-typedef	^	RotParameterType	Integer	Jac_ny	-	-	-	"number of outputs in jacobian matrix"	-
-typedef   ^     RotParameterType Integer         NumBl_Lin      -    -     -   "number of blades in the jacobian"	-
+typedef	^	RotParameterType	IntKi	Jac_ny	-	-	-	"number of outputs in jacobian matrix"	-
+typedef   ^     RotParameterType IntKi NumBl_Lin      -    -     -   "number of blades in the jacobian"	-
 
 typedef	^	RotParameterType	IntKi	TwrPotent	-	-	-	"Type of tower influence on wind based on potential flow around the tower {0=none, 1=baseline potential flow, 2=potential flow with Bak correction}"	-
 typedef	^	RotParameterType	IntKi	TwrShadow	-	-	-	"Type of tower influence on wind based on downstream tower shadow {0=none, 1=Powles model, 2=Eames model}"	-