[bugfix] SrvD: fix inconsistency in initial pos/orient for StC

The reference position, reference orientation, translational displacement, and orientation at init are now passed to SrvD for all the StC instances.  It is possible to do this with less info since some orientations could be assumed at init, but for throroughness we pass all of it to ServoDyn to use in initializing the StC instances.  This in some ways future-proofs for when arbitrary initial orientations are added to the code (if ever)

modules/elastodyn/src/ElastoDyn.f90

@@ -250,9 +250,11 @@ SUBROUTINE ED_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitOut
    InitOut%PlatformPos(2) = InitOut%PlatformPos(2) - TransMat(3,2)*p%PtfmRefzt
    InitOut%PlatformPos(3) = InitOut%PlatformPos(3) - TransMat(3,3)*p%PtfmRefzt + p%PtfmRefzt
 
-   InitOut%HubHt       = p%HubHt
-   InitOut%TwrBasePos    = y%TowerLn2Mesh%Position(:,p%TwrNodes + 2)
-   InitOut%TwrBaseOrient = y%TowerLn2Mesh%Orientation(:,:,p%TwrNodes + 2)
+   InitOut%HubHt            = p%HubHt
+   InitOut%TwrBaseRefPos    = y%TowerLn2Mesh%Position(:,p%TwrNodes + 2)
+   InitOut%TwrBaseTransDisp = y%TowerLn2Mesh%TranslationDisp(:,p%TwrNodes + 2)
+   InitOut%TwrBaseRefOrient = y%TowerLn2Mesh%RefOrientation(:,:,p%TwrNodes + 2)
+   InitOut%TwrBaseOrient    = y%TowerLn2Mesh%Orientation(:,:,p%TwrNodes + 2)
    InitOut%HubRad      = p%HubRad
    InitOut%RotSpeed    = p%RotSpeed
    InitOut%isFixed_GenDOF = .not. InputFileData%GenDOF

modules/elastodyn/src/ElastoDyn_Registry.txt

@@ -38,7 +38,9 @@ typedef	^	InitOutputType	ReKi	HubHt	-	-	-	"Height of the hub"	meters
 typedef	^	InitOutputType	ReKi	BldRNodes	{:}	-	-	"Radius to analysis nodes relative to hub ( 0 < RNodes(:) < BldFlexL )"
 typedef	^	InitOutputType	ReKi	TwrHNodes	{:}	-	-	"Location of variable-spaced tower nodes (relative to the tower rigid base height"
 typedef	^	InitOutputType	ReKi	PlatformPos	{6}	-	-	"Initial platform position (6 DOFs)"
-typedef	^	InitOutputType	ReKi	TwrBasePos	{3}	-	-	"initial position of the tower base (for SrvD)"	m
+typedef	^	InitOutputType	ReKi	TwrBaseRefPos	{3}	-	-	"initial position of the tower base (for SrvD)"	m
+typedef	^	InitOutputType	R8Ki	TwrBaseTransDisp	{3}	-	-	"initial displacement of the tower base (for SrvD)"	m
+typedef	^	InitOutputType	R8Ki	TwrBaseRefOrient	{3}{3}	-	-	"reference orientation of the tower base (for SrvD)"
 typedef	^	InitOutputType	R8Ki	TwrBaseOrient	{3}{3}	-	-	"initial orientation of the tower base (for SrvD)"
 typedef	^	InitOutputType	ReKi	HubRad	-	-	-	"Preconed hub radius (distance from the rotor apex to the blade root)"	m
 typedef	^	InitOutputType	ReKi	RotSpeed	-	-	-	"Initial or fixed rotor speed"	rad/s

modules/elastodyn/src/ElastoDyn_Types.f90

@@ -58,7 +58,9 @@ MODULE ElastoDyn_Types
     REAL(ReKi) , DIMENSION(:), ALLOCATABLE  :: BldRNodes      !< Radius to analysis nodes relative to hub ( 0 < RNodes(:) < BldFlexL ) [-]
     REAL(ReKi) , DIMENSION(:), ALLOCATABLE  :: TwrHNodes      !< Location of variable-spaced tower nodes (relative to the tower rigid base height [-]
     REAL(ReKi) , DIMENSION(1:6)  :: PlatformPos      !< Initial platform position (6 DOFs) [-]
-    REAL(ReKi) , DIMENSION(1:3)  :: TwrBasePos      !< initial position of the tower base (for SrvD) [m]
+    REAL(ReKi) , DIMENSION(1:3)  :: TwrBaseRefPos      !< initial position of the tower base (for SrvD) [m]
+    REAL(R8Ki) , DIMENSION(1:3)  :: TwrBaseTransDisp      !< initial displacement of the tower base (for SrvD) [m]
+    REAL(R8Ki) , DIMENSION(1:3,1:3)  :: TwrBaseRefOrient      !< reference orientation of the tower base (for SrvD) [-]
     REAL(R8Ki) , DIMENSION(1:3,1:3)  :: TwrBaseOrient      !< initial orientation of the tower base (for SrvD) [-]
     REAL(ReKi)  :: HubRad      !< Preconed hub radius (distance from the rotor apex to the blade root) [m]
     REAL(ReKi)  :: RotSpeed      !< Initial or fixed rotor speed [rad/s]
@@ -1136,7 +1138,9 @@ SUBROUTINE ED_CopyInitOutput( SrcInitOutputData, DstInitOutputData, CtrlCode, Er
     DstInitOutputData%TwrHNodes = SrcInitOutputData%TwrHNodes
 ENDIF
     DstInitOutputData%PlatformPos = SrcInitOutputData%PlatformPos
-    DstInitOutputData%TwrBasePos = SrcInitOutputData%TwrBasePos
+    DstInitOutputData%TwrBaseRefPos = SrcInitOutputData%TwrBaseRefPos
+    DstInitOutputData%TwrBaseTransDisp = SrcInitOutputData%TwrBaseTransDisp
+    DstInitOutputData%TwrBaseRefOrient = SrcInitOutputData%TwrBaseRefOrient
     DstInitOutputData%TwrBaseOrient = SrcInitOutputData%TwrBaseOrient
     DstInitOutputData%HubRad = SrcInitOutputData%HubRad
     DstInitOutputData%RotSpeed = SrcInitOutputData%RotSpeed
@@ -1374,7 +1378,9 @@ SUBROUTINE ED_PackInitOutput( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMs
       Re_BufSz   = Re_BufSz   + SIZE(InData%TwrHNodes)  ! TwrHNodes
   END IF
       Re_BufSz   = Re_BufSz   + SIZE(InData%PlatformPos)  ! PlatformPos
-      Re_BufSz   = Re_BufSz   + SIZE(InData%TwrBasePos)  ! TwrBasePos
+      Re_BufSz   = Re_BufSz   + SIZE(InData%TwrBaseRefPos)  ! TwrBaseRefPos
+      Db_BufSz   = Db_BufSz   + SIZE(InData%TwrBaseTransDisp)  ! TwrBaseTransDisp
+      Db_BufSz   = Db_BufSz   + SIZE(InData%TwrBaseRefOrient)  ! TwrBaseRefOrient
       Db_BufSz   = Db_BufSz   + SIZE(InData%TwrBaseOrient)  ! TwrBaseOrient
       Re_BufSz   = Re_BufSz   + 1  ! HubRad
       Re_BufSz   = Re_BufSz   + 1  ! RotSpeed
@@ -1567,10 +1573,20 @@ SUBROUTINE ED_PackInitOutput( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMs
       ReKiBuf(Re_Xferred) = InData%PlatformPos(i1)
       Re_Xferred = Re_Xferred + 1
     END DO
-    DO i1 = LBOUND(InData%TwrBasePos,1), UBOUND(InData%TwrBasePos,1)
-      ReKiBuf(Re_Xferred) = InData%TwrBasePos(i1)
+    DO i1 = LBOUND(InData%TwrBaseRefPos,1), UBOUND(InData%TwrBaseRefPos,1)
+      ReKiBuf(Re_Xferred) = InData%TwrBaseRefPos(i1)
       Re_Xferred = Re_Xferred + 1
     END DO
+    DO i1 = LBOUND(InData%TwrBaseTransDisp,1), UBOUND(InData%TwrBaseTransDisp,1)
+      DbKiBuf(Db_Xferred) = InData%TwrBaseTransDisp(i1)
+      Db_Xferred = Db_Xferred + 1
+    END DO
+    DO i2 = LBOUND(InData%TwrBaseRefOrient,2), UBOUND(InData%TwrBaseRefOrient,2)
+      DO i1 = LBOUND(InData%TwrBaseRefOrient,1), UBOUND(InData%TwrBaseRefOrient,1)
+        DbKiBuf(Db_Xferred) = InData%TwrBaseRefOrient(i1,i2)
+        Db_Xferred = Db_Xferred + 1
+      END DO
+    END DO
     DO i2 = LBOUND(InData%TwrBaseOrient,2), UBOUND(InData%TwrBaseOrient,2)
       DO i1 = LBOUND(InData%TwrBaseOrient,1), UBOUND(InData%TwrBaseOrient,1)
         DbKiBuf(Db_Xferred) = InData%TwrBaseOrient(i1,i2)
@@ -1889,12 +1905,28 @@ SUBROUTINE ED_UnPackInitOutput( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat, Er
       OutData%PlatformPos(i1) = ReKiBuf(Re_Xferred)
       Re_Xferred = Re_Xferred + 1
     END DO
-    i1_l = LBOUND(OutData%TwrBasePos,1)
-    i1_u = UBOUND(OutData%TwrBasePos,1)
-    DO i1 = LBOUND(OutData%TwrBasePos,1), UBOUND(OutData%TwrBasePos,1)
-      OutData%TwrBasePos(i1) = ReKiBuf(Re_Xferred)
+    i1_l = LBOUND(OutData%TwrBaseRefPos,1)
+    i1_u = UBOUND(OutData%TwrBaseRefPos,1)
+    DO i1 = LBOUND(OutData%TwrBaseRefPos,1), UBOUND(OutData%TwrBaseRefPos,1)
+      OutData%TwrBaseRefPos(i1) = ReKiBuf(Re_Xferred)
       Re_Xferred = Re_Xferred + 1
     END DO
+    i1_l = LBOUND(OutData%TwrBaseTransDisp,1)
+    i1_u = UBOUND(OutData%TwrBaseTransDisp,1)
+    DO i1 = LBOUND(OutData%TwrBaseTransDisp,1), UBOUND(OutData%TwrBaseTransDisp,1)
+      OutData%TwrBaseTransDisp(i1) = REAL(DbKiBuf(Db_Xferred), R8Ki)
+      Db_Xferred = Db_Xferred + 1
+    END DO
+    i1_l = LBOUND(OutData%TwrBaseRefOrient,1)
+    i1_u = UBOUND(OutData%TwrBaseRefOrient,1)
+    i2_l = LBOUND(OutData%TwrBaseRefOrient,2)
+    i2_u = UBOUND(OutData%TwrBaseRefOrient,2)
+    DO i2 = LBOUND(OutData%TwrBaseRefOrient,2), UBOUND(OutData%TwrBaseRefOrient,2)
+      DO i1 = LBOUND(OutData%TwrBaseRefOrient,1), UBOUND(OutData%TwrBaseRefOrient,1)
+        OutData%TwrBaseRefOrient(i1,i2) = REAL(DbKiBuf(Db_Xferred), R8Ki)
+        Db_Xferred = Db_Xferred + 1
+      END DO
+    END DO
     i1_l = LBOUND(OutData%TwrBaseOrient,1)
     i1_u = UBOUND(OutData%TwrBaseOrient,1)
     i2_l = LBOUND(OutData%TwrBaseOrient,2)

modules/openfast-library/src/FAST_Subs.f90

@@ -1148,12 +1148,18 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
       Init%InData_SrvD%RootName      = TRIM(p_FAST%OutFileRoot)//'.'//TRIM(y_FAST%Module_Abrev(Module_SrvD))
       Init%InData_SrvD%NumBl         = Init%OutData_ED%NumBl
       Init%InData_SrvD%Gravity       = (/ 0.0_ReKi, 0.0_ReKi, -p_FAST%Gravity /)       ! "Gravitational acceleration vector" m/s^2
-      Init%InData_SrvD%NacPosition(1:3)        = ED%Input(1)%NacelleLoads%Position(1:3,1)
-      Init%InData_SrvD%NacOrientation(1:3,1:3) = ED%Input(1)%NacelleLoads%RefOrientation(1:3,1:3,1)  ! R8Ki
-      Init%InData_SrvD%TwrBasePos    = Init%OutData_ED%TwrBasePos
-      Init%InData_SrvD%TwrBaseOrient = Init%OutData_ED%TwrBaseOrient                      ! R8Ki
-      Init%InData_SrvD%PlatformPos(1:3)        = ED%y%PlatformPtMesh%Position(1:3,1)
-      Init%InData_SrvD%PlatformOrient(1:3,1:3) = ED%y%PlatformPtMesh%Orientation(1:3,1:3,1)  ! R8Ki
+      Init%InData_SrvD%NacRefPos(1:3)        = ED%y%NacelleMotion%Position(1:3,1)
+      Init%InData_SrvD%NacTransDisp(1:3)     = ED%y%NacelleMotion%TranslationDisp(1:3,1)     ! R8Ki
+      Init%InData_SrvD%NacRefOrient(1:3,1:3) = ED%y%NacelleMotion%RefOrientation(1:3,1:3,1)  ! R8Ki
+      Init%InData_SrvD%NacOrient(1:3,1:3)    = ED%y%NacelleMotion%Orientation(1:3,1:3,1)     ! R8Ki
+      Init%InData_SrvD%TwrBaseRefPos         = Init%OutData_ED%TwrBaseRefPos
+      Init%InData_SrvD%TwrBaseTransDisp      = Init%OutData_ED%TwrBaseTransDisp
+      Init%InData_SrvD%TwrBaseRefOrient      = Init%OutData_ED%TwrBaseRefOrient              ! R8Ki
+      Init%InData_SrvD%TwrBaseOrient         = Init%OutData_ED%TwrBaseOrient                 ! R8Ki
+      Init%InData_SrvD%PtfmRefPos(1:3)       = ED%y%PlatformPtMesh%Position(1:3,1)
+      Init%InData_SrvD%PtfmTransDisp(1:3)    = ED%y%PlatformPtMesh%TranslationDisp(1:3,1)
+      Init%InData_SrvD%PtfmRefOrient(1:3,1:3)= ED%y%PlatformPtMesh%RefOrientation(1:3,1:3,1) ! R8Ki
+      Init%InData_SrvD%PtfmOrient(1:3,1:3)   = ED%y%PlatformPtMesh%Orientation(1:3,1:3,1)    ! R8Ki
       Init%InData_SrvD%TMax          = p_FAST%TMax
       Init%InData_SrvD%AirDens       = AirDens
       Init%InData_SrvD%AvgWindSpeed  = Init%OutData_IfW%WindFileInfo%MWS
@@ -1163,17 +1169,23 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
       Init%InData_SrvD%RotSpeedRef   = Init%OutData_ED%RotSpeed
       Init%InData_SrvD%InterpOrder   = p_FAST%InterpOrder
 
-      CALL AllocAry( Init%InData_SrvD%BladeRootPosition,      3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootPosition', errStat2, ErrMsg2)
+      CALL AllocAry( Init%InData_SrvD%BladeRootRefPos,         3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootRefPos',     errStat2, ErrMsg2)
          CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
-      CALL AllocAry( Init%InData_SrvD%BladeRootOrientation,3, 3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootOrientation', errStat2, ErrMsg2)
+      CALL AllocAry( Init%InData_SrvD%BladeRootTransDisp,      3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootTransDisp',  errStat2, ErrMsg2)
+         CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
+      CALL AllocAry( Init%InData_SrvD%BladeRootRefOrient,   3, 3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootRefOrient',  errStat2, ErrMsg2)
+         CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
+      CALL AllocAry( Init%InData_SrvD%BladeRootOrient,      3, 3, Init%OutData_ED%NumBl, 'Init%InData_SrvD%BladeRootOrient',     errStat2, ErrMsg2)
          CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
          IF (ErrStat >= AbortErrLev) THEN
             CALL Cleanup()
             RETURN
          END IF
       do k=1,Init%OutData_ED%NumBl
-         Init%InData_SrvD%BladeRootPosition(:,k)      = ED%y%BladeRootMotion(k)%Position(:,1)
-         Init%InData_SrvD%BladeRootOrientation(:,:,k) = ED%y%BladeRootMotion(k)%RefOrientation(:,:,1)
+         Init%InData_SrvD%BladeRootRefPos(:,k)     = ED%y%BladeRootMotion(k)%Position(:,1)
+         Init%InData_SrvD%BladeRootTransDisp(:,k)  = ED%y%BladeRootMotion(k)%TranslationDisp(:,1)
+         Init%InData_SrvD%BladeRootRefOrient(:,:,k)= ED%y%BladeRootMotion(k)%RefOrientation(:,:,1)
+         Init%InData_SrvD%BladeRootOrient(:,:,k)   = ED%y%BladeRootMotion(k)%Orientation(:,:,1)
       enddo
 
 

modules/servodyn/src/BladedInterface_EX.f90

@@ -172,13 +172,16 @@ subroutine InitPtfmMotionSensors()     ! Channels 1001:1018
                TranslationAcc =.TRUE., RotationAcc=.TRUE.)
          if (Failed())  return;
       ! Create the node on the mesh
-      CALL MeshPositionNode ( u%PtfmMotionMesh,1, InitInp%PlatformPos(1:3), ErrStat2, ErrMsg2, InitInp%PlatformOrient )
+      CALL MeshPositionNode ( u%PtfmMotionMesh,1, InitInp%PtfmRefPos(1:3), ErrStat2, ErrMsg2, InitInp%PtfmRefOrient )
          if (Failed())  return;
       ! Create the mesh element
       CALL MeshConstructElement ( u%PtfmMotionMesh, ELEMENT_POINT, ErrStat2, ErrMsg2, 1 )
          if (Failed())  return;
       CALL MeshCommit ( u%PtfmMotionMesh, ErrStat2, ErrMsg2 )
          if (Failed())  return;
+      ! Set any initial offsets
+      u%PtfmMotionMesh%TranslationDisp(1:3,1) = InitInp%PtfmRefPos(1:3)
+      u%PtfmMotionMesh%Orientation(1:3,1:3,1) = InitInp%PtfmOrient(1:3,1:3)
       ! Writing out info on channels
       if (UnSum > 0) then
          call WrSumInfoSend(1001, 'General channel group -- Platform motion -- Displacement TDX (m)')