Merge branch 'develop' into improve_wfc

.github/workflows/CI_rosco-compile.yml

@@ -16,13 +16,15 @@ jobs:
         strategy:
             fail-fast: false #true
             matrix:
-                os: ["ubuntu-latest", "macOS-13", "windows-latest"] #mac-13 intel, mac-14 arm
+                os: ["ubuntu-latest", "macOS-latest", "windows-latest"] #mac-13 intel, mac-14 arm
                 python-version: ["3.9", "3.10", "3.11", "3.12"]
 
         steps:
             - name: Setup GNU Fortran
               if: false == contains( matrix.os, 'windows')
-              uses: awvwgk/setup-fortran@v1 #modflowpy/install-intelfortran-action@v1 #
+              uses: fortran-lang/setup-fortran@v1.6
+              # with:
+              #   compiler: intel-classic
 
             - name: Install compiler
               if: false == contains( matrix.os, 'windows')

.github/workflows/Publish_ROSCO.yml

@@ -12,9 +12,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, windows-latest, macos-13, macos-14]
+        os: [ubuntu-latest, windows-latest, macos-12, macos-13, macos-14]
 
     steps:
+      - name: Set up QEMU
+        if: runner.os == 'Linux'
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+
       - name: Setup GNU Fortran
         if: false == contains( matrix.os, 'windows')
         uses: awvwgk/setup-fortran@v1
@@ -51,16 +57,40 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v4
 
-      - name: Build wheels mac and linux
-        if: false == contains( matrix.os, 'windows')
-        uses: pypa/cibuildwheel@v2.17.0
+      - name: Build wheels linux
+        if: contains( matrix.os, 'ubuntu')
+        uses: pypa/cibuildwheel@v2.18.1
+        env:
+          CC: ${{ steps.install_cc.outputs.cc }}
+          CXX: ${{ steps.install_cc.outputs.cxx }}
+
+      - name: Build wheels mac-12
+        if: contains( matrix.os, 'macos-12')
+        uses: pypa/cibuildwheel@v2.18.1
+        env:
+          CC: ${{ steps.install_cc.outputs.cc }}
+          CXX: ${{ steps.install_cc.outputs.cxx }}
+          CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="12.0"
+
+      - name: Build wheels mac-13
+        if: contains( matrix.os, 'macos-13')
+        uses: pypa/cibuildwheel@v2.18.1
+        env:
+          CC: ${{ steps.install_cc.outputs.cc }}
+          CXX: ${{ steps.install_cc.outputs.cxx }}
+          CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="13.0"
+
+      - name: Build wheels mac-14
+        if: contains( matrix.os, 'macos-14')
+        uses: pypa/cibuildwheel@v2.18.1
         env:
           CC: ${{ steps.install_cc.outputs.cc }}
           CXX: ${{ steps.install_cc.outputs.cxx }}
+          CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="14.0"
 
       - name: Build wheels windows
         if: contains( matrix.os, 'windows')
-        uses: pypa/cibuildwheel@v2.17.0
+        uses: pypa/cibuildwheel@v2.18.1
 
       - uses: actions/upload-artifact@v4
         with:

.readthedocs.yaml

@@ -10,6 +10,11 @@ build:
   os: ubuntu-22.04
   tools:
     python: "mambaforge-22.9"
+  jobs:
+    # Read the docs needs a couple packages not in the environment file
+    pre_install:
+      - conda install -y cmake compilers sphinx sphinxcontrib-bibtex
+      - conda install sphinx_rtd_theme>=1.3
 
 conda:
   environment: environment.yml

Examples/Test_Cases/BAR_10/BAR_10.fst

@@ -10,7 +10,7 @@ True                   Echo        - Echo input data to <RootName>.ech (flag)
 99999.0                DT_UJac     - Time between calls to get Jacobians (s)
 1000000.0              UJacSclFact - Scaling factor used in Jacobians (-)
 ---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
-1                      CompElast   - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
+2                      CompElast   - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
 1                      CompInflow  - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from OpenFOAM}
 2                      CompAero    - Compute aerodynamic loads (switch) {0=None; 1=AeroDyn v14; 2=AeroDyn v15}
 1                      CompServo   - Compute control and electrical-drive dynamics (switch) {0=None; 1=ServoDyn}

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,10 +1,10 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
+!    - File written using ROSCO version 2.9.4 controller tuning logic on 07/01/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
 0                   ! DT_Out    		  - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
-1                   ! Ext_Interface		        - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
+1                   ! Ext_Interface		- (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------
@@ -53,8 +53,8 @@
 !------- BLADE PITCH CONTROL ----------------------------------------------
 30                  ! PC_GS_n			- Amount of gain-scheduling table entries
 0.057899  0.086034  0.108220  0.127602  0.145231  0.161628  0.177110  0.191882  0.205973  0.219605  0.232854  0.245775  0.258317  0.270576  0.282622  0.294421  0.305965  0.317359  0.328547  0.339534  0.350412  0.361066  0.371600  0.382012  0.392231  0.402383  0.412328  0.422200  0.431927  0.441532                ! PC_GS_angles	    - Gain-schedule table: pitch angles [rad].
--0.017460  -0.014512  -0.012235  -0.010423  -0.008947  -0.007722  -0.006689  -0.005805  -0.005042  -0.004374  -0.003787  -0.003265  -0.002799  -0.002380  -0.002002  -0.001658  -0.001344  -0.001057  -0.000793  -0.000549  -0.000324  -0.000115  0.000080  0.000261  0.000431  0.000590  0.000740  0.000880  0.001013  0.001138                ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains [s].
--0.000715  -0.000623  -0.000552  -0.000496  -0.000450  -0.000412  -0.000380  -0.000352  -0.000328  -0.000307  -0.000289  -0.000273  -0.000258  -0.000245  -0.000233  -0.000223  -0.000213  -0.000204  -0.000196  -0.000188  -0.000181  -0.000175  -0.000169  -0.000163  -0.000158  -0.000153  -0.000148  -0.000144  -0.000140  -0.000136                ! PC_GS_KI		- Gain-schedule table: pitch controller ki gains [-].
+-0.017426  -0.014498  -0.012232  -0.010428  -0.008956  -0.007733  -0.006701  -0.005818  -0.005054  -0.004387  -0.003799  -0.003276  -0.002810  -0.002390  -0.002011  -0.001666  -0.001352  -0.001064  -0.000799  -0.000554  -0.000328  -0.000118  0.000077  0.000259  0.000430  0.000589  0.000739  0.000881  0.001014  0.001139                ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains [s].
+-0.000714  -0.000623  -0.000552  -0.000496  -0.000450  -0.000412  -0.000380  -0.000353  -0.000329  -0.000308  -0.000290  -0.000274  -0.000259  -0.000246  -0.000234  -0.000223  -0.000214  -0.000205  -0.000196  -0.000189  -0.000182  -0.000175  -0.000169  -0.000164  -0.000158  -0.000153  -0.000149  -0.000144  -0.000140  -0.000136                ! PC_GS_KI		- Gain-schedule table: pitch controller ki gains [-].
 0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000                ! PC_GS_KD			- Gain-schedule table: pitch controller kd gains
 0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000  0.000000                ! PC_GS_TF			- Gain-schedule table: pitch controller tf gains (derivative filter)
 1.570000000000      ! PC_MaxPit			- Maximum physical pitch limit, [rad].
@@ -86,7 +86,7 @@
 63892.81326000      ! VS_RtTq			- Rated torque, [Nm].
 75.83317000000      ! VS_RefSpd			- Rated generator speed [rad/s]
 1                   ! VS_n				- Number of generator PI torque controller gains
--2452.07948000      ! VS_KP				- Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
+-2454.67747000      ! VS_KP				- Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 -332.357190000      ! VS_KI				- Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 9.76                ! VS_TSRopt		    - Power-maximizing region 2 tip-speed-ratio. Only used in VS_ControlMode = 2.
 0.314000000000      ! VS_PwrFiltF		- Low pass filter on power used to determine generator speed set point.  Only used in VS_ControlMode = 3.
@@ -113,7 +113,7 @@
 36      26          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
 60                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
 3.0000 3.1818 3.3637 3.5455 3.7274 3.9092 4.0911 4.2729 4.4548 4.6366 4.8185 5.0003 5.1822 5.3640 5.5459 5.7277 5.9096 6.0914 6.2732 6.4551 6.6369 6.8188 7.0006 7.1825 7.3643 7.5462 7.7280 7.9099 8.0917 8.2736 8.8311 9.3887 9.9462 10.5038 11.0613 11.6188 12.1764 12.7339 13.2915 13.8490 14.4066 14.9641 15.5217 16.0792 16.6368 17.1943 17.7519 18.3094 18.8670 19.4245 19.9821 20.5396 21.0972 21.6547 22.2123 22.7698 23.3274 23.8849 24.4425 25.0000               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.00972164 -0.01031092 -0.01090020 -0.01148948 -0.01207877 -0.01266805 -0.01325733 -0.01384662 -0.01443590 -0.01502518 -0.01561447 -0.01620375 -0.01679303 -0.01738232 -0.01797160 -0.01856088 -0.01915016 -0.01973945 -0.02032873 -0.02091801 -0.02150730 -0.02209658 -0.02268586 -0.02327515 -0.02386443 -0.02445371 -0.02504300 -0.02563228 -0.02622156 -0.02378670 -0.02062296 -0.02541485 -0.03159105 -0.03849962 -0.04595997 -0.05389417 -0.06225884 -0.07101431 -0.08016995 -0.08970426 -0.09955610 -0.10976762 -0.12028100 -0.13120419 -0.14238799 -0.15383228 -0.16572504 -0.17783697 -0.19011487 -0.20289651 -0.21593424 -0.22919262 -0.24255457 -0.25635133 -0.27049546 -0.28482651 -0.29923376 -0.31380076 -0.32862514 -0.34372726               ! WE_FOPoles        - First order system poles [1/s]
+-0.00969265 -0.01028018 -0.01086771 -0.01145523 -0.01204276 -0.01263029 -0.01321781 -0.01380534 -0.01439287 -0.01498039 -0.01556792 -0.01615544 -0.01674297 -0.01733050 -0.01791802 -0.01850555 -0.01909308 -0.01968060 -0.02026813 -0.02085566 -0.02144318 -0.02203071 -0.02261823 -0.02320576 -0.02379329 -0.02438081 -0.02496834 -0.02555587 -0.02614339 -0.02379613 -0.02047291 -0.02537932 -0.03151563 -0.03840840 -0.04587537 -0.05382394 -0.06221064 -0.07100937 -0.08011138 -0.08959645 -0.09946249 -0.10970584 -0.12021535 -0.13105665 -0.14226361 -0.15376640 -0.16552312 -0.17764204 -0.19004300 -0.20272586 -0.21577830 -0.22897091 -0.24242644 -0.25613739 -0.27000365 -0.28425482 -0.29866687 -0.31351260 -0.32866968 -0.34414305               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.00000             ! Y_uSwitch		- Wind speed to switch between Y_ErrThresh. If zero, only the second value of Y_ErrThresh is used [m/s]

Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/Airfoils/IEA-15-240-RWT_AeroDyn15_Polar_00_Coords.txt → Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/Airfoils/IEA-15-240-RWT_AF00_Coords.txt

@@ -2,15 +2,15 @@
 ! ......... x-y coordinates are next if NumCoords > 0 .............
 ! x-y coordinate of airfoil reference
 !  x/c        y/c
-  0.504545        0.
+ 0.500000       0
 ! coordinates of airfoil shape
 ! interpolation to 200 points
 !  x/c        y/c
- 1.00000000000000e+00 -5.22832942930268e-16
+ 1.00000000000000e+00 -5.22829392626822e-16
  9.99429683992583e-01 -2.22597407115582e-02
  9.98063017832965e-01 -4.44580348954677e-02
  9.95573914266674e-01 -6.65618134473914e-02
- 9.92086309749559e-01 -8.85198205325816e-02
+ 9.92086309749560e-01 -8.85198205325816e-02
  9.87686148675057e-01 -1.10275272231260e-01
  9.82330525170640e-01 -1.31784370919739e-01
  9.76011908335692e-01 -1.53006617635088e-01
@@ -30,7 +30,7 @@
  8.04073832217581e-01 -3.96914898117900e-01
  7.87191529885653e-01 -4.09289340064311e-01
  7.69897919101553e-01 -4.20894001702843e-01
- 7.52252341235159e-01 -4.31703640475795e-01
+ 7.52252341235159e-01 -4.31703640475796e-01
  7.34291349178558e-01 -4.41704116420428e-01
  7.16044924955764e-01 -4.50916295010545e-01
  6.97571640033109e-01 -4.59311192391506e-01
@@ -46,62 +46,62 @@
  5.08535950506088e-01 -4.99900147123151e-01
  4.89992355470388e-01 -4.99865122336167e-01
  4.71632114506831e-01 -4.99152990523336e-01
- 4.53492503744347e-01 -4.97865574847876e-01
+ 4.53492503744348e-01 -4.97865574847876e-01
  4.35593302897673e-01 -4.95849221396458e-01
  4.17956065616942e-01 -4.93220204257438e-01
  4.00609748442576e-01 -4.90034017714886e-01
  3.83560931606009e-01 -4.86240654381211e-01
  3.66843215733716e-01 -4.81953122075711e-01
  3.50457316320503e-01 -4.77107036591688e-01
- 3.34434484008630e-01 -4.71801617147633e-01
+ 3.34434484008630e-01 -4.71801617147634e-01
  3.18774100329315e-01 -4.65997503105357e-01
  3.03499623121295e-01 -4.59771833639973e-01
  2.88611293565648e-01 -4.53111012774598e-01
  2.74124386665666e-01 -4.46071472676040e-01
  2.60041455523719e-01 -4.38653996586565e-01
- 2.46374872015917e-01 -4.30897288076141e-01
- 2.33123443938834e-01 -4.22812892154316e-01
- 2.20293777810423e-01 -4.14442160590302e-01
+ 2.46374872015918e-01 -4.30897288076141e-01
+ 2.33123443938833e-01 -4.22812892154316e-01
+ 2.20293777810423e-01 -4.14442160590301e-01
  2.07883282965331e-01 -4.05790731420267e-01
  1.95902956391646e-01 -3.96897110059902e-01
  1.84341253066628e-01 -3.87763028932806e-01
- 1.73213930954160e-01 -3.78432781857511e-01
+ 1.73213930954161e-01 -3.78432781857511e-01
  1.62499176129638e-01 -3.68901685535316e-01
- 1.52214602777260e-01 -3.59220819204806e-01
+ 1.52214602777259e-01 -3.59220819204806e-01
  1.42331759398971e-01 -3.49381794975500e-01
  1.32872111539190e-01 -3.39428678290192e-01
  1.23806439629760e-01 -3.29359452404754e-01
  1.15147623386077e-01 -3.19202364510091e-01
- 1.06887208802748e-01 -3.08971834769008e-01
+ 1.06887208802748e-01 -3.08971834769009e-01
  9.90071115215634e-02 -2.98675440643128e-01
- 9.15234043853439e-02 -2.88346537239591e-01
+ 9.15234043853440e-02 -2.88346537239591e-01
  8.43970428172224e-02 -2.77979120522002e-01
  7.76464790199521e-02 -2.67604205770439e-01
- 7.12479082120209e-02 -2.57229212452774e-01
+ 7.12479082120208e-02 -2.57229212452774e-01
  6.51878662973747e-02 -2.46861090082763e-01
- 5.94874721274202e-02 -2.36524433012696e-01
+ 5.94874721274203e-02 -2.36524433012697e-01
  5.41002464180900e-02 -2.26213901273871e-01
  4.90378786701877e-02 -2.15949074862572e-01
- 4.43003497573338e-02 -2.05745246473815e-01
- 3.98423597346806e-02 -1.95597654428208e-01
+ 4.43003497573340e-02 -2.05745246473815e-01
+ 3.98423597346805e-02 -1.95597654428208e-01
  3.56899752436130e-02 -1.85525503303304e-01
- 3.18292350050658e-02 -1.75535988753057e-01
- 2.82200072057899e-02 -1.65626936732462e-01
- 2.48925247792699e-02 -1.55815221490220e-01
- 2.18286683030034e-02 -1.46105621815703e-01
- 1.89846947131331e-02 -1.36495337998243e-01
+ 3.18292350050659e-02 -1.75535988753057e-01
+ 2.82200072057900e-02 -1.65626936732462e-01
+ 2.48925247792698e-02 -1.55815221490219e-01
+ 2.18286683030035e-02 -1.46105621815703e-01
+ 1.89846947131332e-02 -1.36495337998243e-01
  1.63921917020335e-02 -1.26998300581103e-01
  1.40446346341990e-02 -1.17620770590061e-01
- 1.18798249846349e-02 -1.08356847039079e-01
- 9.93094518736223e-03 -9.92166214620375e-02
+ 1.18798249846349e-02 -1.08356847039080e-01
+ 9.93094518736226e-03 -9.92166214620377e-02
  8.21940795734749e-03 -9.02084101294225e-02
  6.65838622137879e-03 -8.13254351098410e-02
  5.26774192850643e-03 -7.25722234042700e-02
  4.09515753852961e-03 -6.39564017315716e-02
- 3.09878859713640e-03 -5.54780130210999e-02
+ 3.09878859713642e-03 -5.54780130211000e-02
  2.19660773551101e-03 -4.71320046999757e-02
  1.46264176301869e-03 -3.89244052604170e-02
- 9.64484608297914e-04 -3.08606101713945e-02
+ 9.64484608297922e-04 -3.08606101713947e-02
  5.99373867982851e-04 -2.29362359459691e-02
  2.90086645599082e-04 -1.51487658773967e-02
  7.80707788302466e-05 -7.50222207649338e-03
@@ -119,45 +119,45 @@
  8.18368429859057e-03  9.00120990085718e-02
  9.88361416849065e-03  9.89814202866229e-02
  1.18176401547236e-02  1.08079023747493e-01
- 1.39661993216829e-02  1.17296891553284e-01
+ 1.39661993216830e-02  1.17296891553284e-01
  1.62951420791042e-02  1.26624818507885e-01
  1.88631937781153e-02  1.36068234819796e-01
  2.16807137532775e-02  1.45621741073938e-01
  2.47159162958630e-02  1.55271505652796e-01
- 2.80064400105862e-02  1.65019126539152e-01
+ 2.80064400105864e-02  1.65019126539152e-01
  3.15762558914965e-02  1.74861450420233e-01
  3.53948396168776e-02  1.84781748500356e-01
  3.94949825480075e-02  1.94780451150684e-01
  4.38979282781582e-02  2.04852826049369e-01
  4.85758075737765e-02  2.14979335736815e-01
- 5.35679916138119e-02  2.25163248876704e-01
+ 5.35679916138118e-02  2.25163248876704e-01
  5.88818211488708e-02  2.35392575398327e-01
- 6.45001629027312e-02  2.45645861854957e-01
+ 6.45001629027313e-02  2.45645861854958e-01
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@@ -178,7 +178,7 @@
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  7.58125457122835e-01  4.28212344239085e-01
@@ -194,8 +194,8 @@
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@@ -205,4 +205,4 @@
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- 1.00000000000000e+00 -5.26302389882222e-16
+ 1.00000000000000e+00 -5.26828685157063e-16