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Include ServoDyn in Option 1 solve if structural controllers are enabled #3213

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1b9bbf3
Use finite differencing for ServoDyn Jacobians
deslaughter Feb 18, 2026
3f5d720
Add SrvD to Option 1 solve if it contains structural controllers
deslaughter Feb 18, 2026
3fd6c7d
Update r-test
deslaughter Feb 18, 2026
75778d4
Debugging VS projects
deslaughter Feb 19, 2026
e53c694
Remove old linearization code form ServoDyn
deslaughter Feb 19, 2026
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2 changes: 1 addition & 1 deletion modules/awae/src/vtk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,7 @@ extern "C"

// Read remaining values
const auto n_values{n_points * 3};
for (auto i = 1U; i < n_values; ++i)
for (auto i = 1; i < n_values; ++i)
{
answer = fast_float::from_chars(answer.ptr, input.data() + input.size(), values[i],
fast_float::chars_format::skip_white_space);
Expand Down
4 changes: 2 additions & 2 deletions modules/openfast-library/src/FAST_Funcs.f90
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Expand Up @@ -1440,7 +1440,7 @@ subroutine FAST_JacobianPInput(ModData, ThisTime, iInput, iState, T, ErrStat, Er
dYdu=dYdu, dXdu=dXdu)

case (Module_SrvD)
call SrvD_JacobianPInput(ThisTime, T%SrvD%Input(iInput, ModData%Ins), T%SrvD%p(ModData%Ins), &
call SrvD_JacobianPInput(ModData%Vars, ThisTime, T%SrvD%Input(iInput, ModData%Ins), T%SrvD%p(ModData%Ins), &
T%SrvD%x(ModData%Ins, iState), T%SrvD%xd(ModData%Ins, iState), &
T%SrvD%z(ModData%Ins, iState), T%SrvD%OtherSt(ModData%Ins, iState), &
T%SrvD%y(ModData%Ins), T%SrvD%m(ModData%Ins), &
Expand Down Expand Up @@ -1563,7 +1563,7 @@ subroutine FAST_JacobianPContState(ModData, ThisTime, iInput, iState, T, ErrStat
dYdx=dYdx, dXdx=dXdx)

case (Module_SrvD)
call SrvD_JacobianPContState(ThisTime, T%SrvD%Input(iInput, ModData%Ins), T%SrvD%p(ModData%Ins), &
call SrvD_JacobianPContState(ModData%Vars, ThisTime, T%SrvD%Input(iInput, ModData%Ins), T%SrvD%p(ModData%Ins), &
T%SrvD%x(ModData%Ins, iState), T%SrvD%xd(ModData%Ins, iState), &
T%SrvD%z(ModData%Ins, iState), T%SrvD%OtherSt(ModData%Ins, iState), &
T%SrvD%y(ModData%Ins), T%SrvD%m(ModData%Ins), ErrStat2, ErrMsg2, &
Expand Down
74 changes: 62 additions & 12 deletions modules/openfast-library/src/FAST_Solver.f90
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Expand Up @@ -46,6 +46,7 @@ subroutine FAST_SolverInit(p_FAST, p, m, GlueModData, GlueModMaps, Turbine, ErrS
character(ErrMsgLen) :: ErrMsg2
integer(IntKi) :: i, j, k
integer(IntKi), allocatable :: modIDs(:), modInds(:), iMod(:)
logical :: SrvDOpt1

!----------------------------------------------------------------------------
! Initialize data in TC structure
Expand Down Expand Up @@ -91,6 +92,17 @@ subroutine FAST_SolverInit(p_FAST, p, m, GlueModData, GlueModMaps, Turbine, ErrS
p%BetaPrime = p%h*p%h*p%Beta*(1.0_R8Ki - p%AlphaF)/(1.0_R8Ki - p%AlphaM)
p%GammaPrime = p%h*p%Gamma*(1.0_R8Ki - p%AlphaF)/(1.0_R8Ki - p%AlphaM)

! ServoDyn is an Option 1 module if it has structural controllers
SrvDOpt1 = .false.
do i = 1, size(Turbine%SrvD%p)
SrvDOpt1 = SrvDOpt1 .or. &
(Turbine%SrvD%p(i)%NumBStC > 0) .or. &
(Turbine%SrvD%p(i)%NumTStC > 0) .or. &
(Turbine%SrvD%p(i)%NumSStC > 0) .or. &
(Turbine%SrvD%p(i)%NumNStC > 0)
end do


!----------------------------------------------------------------------------
! Module ordering for solve
!----------------------------------------------------------------------------
Expand All @@ -115,7 +127,8 @@ subroutine FAST_SolverInit(p_FAST, p, m, GlueModData, GlueModMaps, Turbine, ErrS
pack(modInds, ModIDs == Module_SD .and. p%ModCoupling /= LooseCoupling)]

! Indices of Option 1 modules
p%iModOpt1 = [pack(modInds, ModIDs == Module_ED .and. p%ModCoupling == LooseCoupling), &
p%iModOpt1 = [pack(modInds, ModIDs == Module_SrvD .and. SrvDOpt1), &
pack(modInds, ModIDs == Module_ED .and. p%ModCoupling == LooseCoupling), &
pack(modInds, ModIDs == Module_BD .and. p%ModCoupling == LooseCoupling), &
pack(modInds, ModIDs == Module_SD .and. p%ModCoupling == LooseCoupling), &
pack(modInds, ModIDs == Module_SED), &
Expand Down Expand Up @@ -450,9 +463,30 @@ subroutine SetVarSolveFlags()
end associate
end do
end if

end if

case (Map_Variable)

! This includes all variable-to-variable mappings for modules
! that are in tight coupling and/or Option 1. May need to limit
! this in the future to just loads and accelerations.

! Add flag to source variable
do i = 1, size(SrcMod%Vars%y)
associate (Var => SrcMod%Vars%y(i))
if (.not. MV_EqualDL(Mapping%SrcDL, Var%DL)) cycle
call MV_SetFlags(Var, VF_Solve)
end associate
end do

! Add flag to destination variable
do i = 1, size(DstMod%Vars%u)
associate (Var => DstMod%Vars%u(i))
if (.not. MV_EqualDL(Mapping%DstDL, Var%DL)) cycle
call MV_SetFlags(Var, VF_Solve)
end associate
end do

end select

end associate
Expand Down Expand Up @@ -953,6 +987,14 @@ subroutine FAST_SolverStep0(p, m, GlueModData, GlueModMaps, Turbine, ErrStat, Er
! Set algorithmic acceleration from actual acceleration
m%StatePred%a = m%StatePred%vd

! Initialize the algorithmic acceleration to actual acceleration in BeamDyn
do i = 1, size(GlueModData)
if (GlueModData(i)%ID == Module_BD) then
Turbine%BD%OtherSt(GlueModData(i)%Ins, STATE_CURR)%xcc = &
Turbine%BD%OtherSt(GlueModData(i)%Ins, STATE_CURR)%acc
end if
end do

!----------------------------------------------------------------------------
! Set Outputs
!----------------------------------------------------------------------------
Expand Down Expand Up @@ -1272,9 +1314,11 @@ subroutine FAST_SolverStep(n_t_global, t_initial, p, m, GlueModData, GlueModMaps
call FAST_InputSolve(p%iModOpt2(i), GlueModData, GlueModMaps, INPUT_CURR, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return

! Update states
call FAST_UpdateStates(ModData, t_initial, n_t_global, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return
! Update states of modules not in the tight coupling category
if (iand(ModData%Category, MC_Tight) == 0) then
call FAST_UpdateStates(ModData, t_initial, n_t_global, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return
end if

! Calculate outputs
call FAST_CalcOutput(ModData, GlueModMaps, t_global_next, INPUT_CURR, STATE_PRED, Turbine, ErrStat2, ErrMsg2)
Expand All @@ -1287,12 +1331,18 @@ subroutine FAST_SolverStep(n_t_global, t_initial, p, m, GlueModData, GlueModMaps
!-------------------------------------------------------------------------

do i = 1, size(p%iModOpt1)
associate (ModData => GlueModData(p%iModOpt1(i)))

call FAST_InputSolve(p%iModOpt1(i), GlueModData, GlueModMaps, INPUT_CURR, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return
! Solve for inputs to module
call FAST_InputSolve(p%iModOpt1(i), GlueModData, GlueModMaps, INPUT_CURR, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return

call FAST_UpdateStates(GlueModData(p%iModOpt1(i)), t_initial, n_t_global, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return
! Update states for modules not updated in Option 2
if (iand(ModData%Category, MC_Option2) == 0) then
call FAST_UpdateStates(GlueModData(p%iModOpt1(i)), t_initial, n_t_global, Turbine, ErrStat2, ErrMsg2)
if (Failed()) return
end if
end associate
end do

!-------------------------------------------------------------------------
Expand Down Expand Up @@ -1505,9 +1555,9 @@ subroutine FAST_SolverStep(n_t_global, t_initial, p, m, GlueModData, GlueModMaps
if (Failed()) return

! Transfer accelerations to BeamDyn
if (ModData%ID == Module_BD) then
call SetBDAccel(ModData, m%StatePred, Turbine%BD%OtherSt(ModData%Ins, STATE_PRED))
end if
! if (ModData%ID == Module_BD) then
! call SetBDAccel(ModData, m%StatePred, Turbine%BD%OtherSt(ModData%Ins, STATE_PRED))
! end if

end associate
end do
Expand Down
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