Tight-Coupling Algorithm for OpenFAST 5.0

.gitmodules

@@ -1,3 +1,4 @@
 [submodule "reg_tests/r-test"]
 	path = reg_tests/r-test
-	url = https://github.com/OpenFAST/r-test.git
+	url = https://github.com/OpenFAST/r-test.git
+	shallow = true

cmake/OpenfastFortranOptions.cmake

@@ -139,6 +139,10 @@ macro(set_fast_gfortran)
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS},--stack,${stack_size}")
   endif()
 
+  # Profiling
+  # set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -pg")
+  # set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg")
+
   check_f2008_features()
 endmacro(set_fast_gfortran)
 

docs/source/user/glue/modvar.dot

@@ -0,0 +1,166 @@
+digraph ModVarDiagram {
+    graph [fontname = "Helvetica,Arial,sans-serif"; rankdir = LR; ranksep = 1;];
+    node [fontname = "Helvetica,Arial,sans-serif"; shape = record; style = filled; fillcolor = gray95;];
+    edge [fontname = "Helvetica,Arial,sans-serif";];
+
+
+
+
+    DatLoc [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>DatLoc</b> </td></tr>
+        <tr><td align="left" width="90">Num</td><td width="80">IntKi</td></tr>
+        <tr><td align="left">i1</td><td>IntKi</td></tr>
+        <tr><td align="left">i2</td><td>IntKi</td></tr>
+        <tr><td align="left">i3</td><td>IntKi</td></tr>
+        <tr><td align="left">i4</td><td>IntKi</td></tr>
+        <tr><td align="left">i5</td><td>IntKi</td></tr>
+        </table>>;];
+
+    Field [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>Field ID</b> </td></tr>
+        <tr><td align="left"  width="120">FieldForce</td><td width="50">1</td></tr>
+        <tr><td align="left">FieldMoment</td><td>2</td></tr>
+        <tr><td align="left">FieldOrientation</td><td>3</td></tr>
+        <tr><td align="left">FieldTransDisp</td><td>4</td></tr>
+        <tr><td align="left">FieldTransVel</td><td>5</td></tr>
+        <tr><td align="left">FieldAngularVel</td><td>6</td></tr>
+        <tr><td align="left">FieldTransAcc</td><td>7</td></tr>
+        <tr><td align="left">FieldAngularAcc</td><td>8</td></tr>
+        <tr><td align="left">FieldScalar</td><td>9</td></tr>
+        <tr><td align="left">FieldAngularDisp</td><td>10</td></tr>
+        </table>>;];
+
+    VF [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>Variable Flag</b> </td></tr>
+        <tr><td align="left"  width="120">VF_None</td><td width="50">0</td></tr>
+        <tr><td align="left">VF_Mesh</td><td>1</td></tr>
+        <tr><td align="left">VF_Line</td><td>2</td></tr>
+        <tr><td align="left">VF_RotFrame</td><td>4</td></tr>
+        <tr><td align="left">VF_Linearize</td><td>8</td></tr>
+        <tr><td align="left">VF_ExtLin</td><td>16</td></tr>
+        <tr><td align="left">VF_SmallAngle</td><td>32</td></tr>
+        <tr><td align="left">VF_2PI</td><td>64</td></tr>
+        <tr><td align="left">VF_WM_Rot</td><td>128</td></tr>
+        <tr><td align="left">VF_WriteOut</td><td>256</td></tr>
+        <tr><td align="left">VF_Solve</td><td>512</td></tr>
+        <tr><td align="left">VF_AeroMap</td><td>1024</td></tr>
+        <tr><td align="left">VF_DerivOrder1</td><td>2048</td></tr>
+        <tr><td align="left">VF_DerivOrder2</td><td>4096</td></tr>
+        <tr><td align="left">VF_Mapping</td><td>8192</td></tr>
+        </table>>;];
+
+    ModVarType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModVarType</b> </td></tr>
+        <tr><td align="left" width="110">Field</td><td port="Field" width="100">IntKi</td></tr>
+        <tr><td align="left">Nodes</td><td>IntKi</td></tr>
+        <tr><td align="left">Num</td><td>IntKi</td></tr>
+        <tr><td align="left">Flags</td><td port="Flags">IntKi</td></tr>
+        <tr><td align="left">DerivOrder</td><td>IntKi</td></tr>
+        <tr><td align="left">iLoc(2)</td><td>IntKi</td></tr>
+        <tr><td align="left">iGlu(2)</td><td>IntKi</td></tr>
+        <tr><td align="left">iq(2)</td><td>IntKi</td></tr>
+        <tr><td align="left">iLB</td><td>IntKi</td></tr>
+        <tr><td align="left">iUB</td><td>IntKi</td></tr>
+        <tr><td align="left">j</td><td>IntKi</td></tr>
+        <tr><td align="left">k</td><td>IntKi</td></tr>
+        <tr><td align="left">m</td><td>IntKi</td></tr>
+        <tr><td align="left">n</td><td>IntKi</td></tr>
+        <tr><td align="left">Perturb</td><td>R8Ki</td></tr>
+        <tr><td align="left">DL</td><td port="DatLoc">DatLoc</td></tr>
+        <tr><td align="left">Name</td><td>character</td></tr>
+        <tr><td align="left">LinNames(:)</td><td>character</td></tr>
+        </table>>;];
+
+    ModVarsType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModVarsType</b> </td></tr>
+        <tr><td align="left" width="110">Nx</td><td width="100">IntKi</td></tr>
+        <tr><td align="left">Nu</td><td>IntKi</td></tr>
+        <tr><td align="left">Ny</td><td>IntKi</td></tr>
+        <tr><td align="left">x(:)</td><td port="x">ModVarType</td></tr>
+        <tr><td align="left">u(:)</td><td port="u">ModVarType</td></tr>
+        <tr><td align="left">y(:)</td><td port="y">ModVarType</td></tr>
+        </table>>;];
+
+
+
+    ModLinType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModLinType</b> </td></tr>
+        <tr><td align="left" width="110">x(:)</td><td width="100">R8Ki</td></tr>
+        <tr><td align="left">dx(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">u(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">y(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">J(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dYdx(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dXdx(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dYdu(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dXdu(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dXdy(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dUdu(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">dUdy(:,:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">StateRotation(:,:)</td><td>R8Ki</td></tr>
+        </table>>;];
+
+    ModDataType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModDataType</b> </td></tr>
+        <tr><td align="left" width="110">Abbr</td><td width="100">character</td></tr>
+        <tr><td align="left">iMod</td><td>IntKi</td></tr>
+        <tr><td align="left">ID</td><td>IntKi</td></tr>
+        <tr><td align="left">Ins</td><td>IntKi</td></tr>
+        <tr><td align="left">SubSteps</td><td>IntKi</td></tr>
+        <tr><td align="left">DT</td><td>R8Ki</td></tr>
+        <tr><td align="left">Vars</td><td port="Vars">ModVarsType</td></tr>
+        <tr><td align="left">Lin</td><td port="Lin">ModLinType</td></tr>
+        </table>>;];
+
+    ModJacType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModJacType</b> <br/>Owned by module</td></tr>
+        <tr><td align="left" width="110">x(:)</td><td width="100">R8Ki</td></tr>
+        <tr><td align="left">u(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">y(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">x_perturb(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">u_perturb(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">x_pos(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">x_neg(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">y_pos(:)</td><td>R8Ki</td></tr>
+        <tr><td align="left">y_neg(:)</td><td>R8Ki</td></tr>
+        </table>>;];
+
+
+
+    VarMapType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>VarMapType</b> </td></tr>
+        <tr><td align="left" width="110">iMapping</td><td width="100">IntKi</td></tr>
+        <tr><td align="left">iModSrc</td><td>IntKi</td></tr>
+        <tr><td align="left">iModDst</td><td>IntKi</td></tr>
+        <tr><td align="left">iVarSrc(10)</td><td>IntKi</td></tr>
+        <tr><td align="left">iVarSrcDisp(10)</td><td>IntKi</td></tr>
+        <tr><td align="left">iVarDst(10)</td><td>IntKi</td></tr>
+        <tr><td align="left">iVarDstDisp(10)</td><td>IntKi</td></tr>
+        </table>>;];
+
+    ModGlueType [shape = plain;label = <<table border="0" cellborder="1" cellspacing="0" cellpadding="0">
+        <tr><td colspan="2" port="header"> <b>ModGlueType</b> </td></tr>
+        <tr><td align="left" width="110">Name</td><td width="100">character</td></tr>
+        <tr><td align="left">ModData(:)</td><td port="ModData">ModDataType</td></tr>
+        <tr><td align="left">Vars</td><td port="Vars">ModVarsType</td></tr>
+        <tr><td align="left">Lin</td><td port="Lin">ModLinType</td></tr>
+        <tr><td align="left">VarMaps</td><td port="VarMaps">VarMapType</td></tr>
+        </table>>;];
+
+
+    ModVarType:Field:e -> Field:header:w;
+    ModVarType:Flags:e -> VF:header:w;
+    ModVarType:DatLoc:e -> DatLoc:header:w;
+    ModVarsType:x:e -> ModVarType:header:w;
+    ModVarsType:u:e -> ModVarType:header:w;
+    ModVarsType:y:e -> ModVarType:header:w;
+
+    ModDataType:Vars:e -> ModVarsType:header:w;
+
+    ModDataType:Lin:e -> ModLinType:header:w;
+
+    ModGlueType:ModData:e -> ModDataType:header:w;
+    ModGlueType:Vars:e -> ModVarsType:header:w;
+    ModGlueType:Lin:e -> ModLinType:header:w;
+    ModGlueType:VarMaps:e -> VarMapType:header:w;
+}