Add initial ballast controller

dzalkind · Oct 15, 2024 · 62db94d · 62db94d
1 parent 99d2819
commit 62db94d
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Showing 7 changed files with 179 additions and 37 deletions.
diff --git a/rosco/controller/rosco_registry/rosco_types.yaml b/rosco/controller/rosco_registry/rosco_types.yaml
@@ -669,6 +669,31 @@ ControlParameters:
       description: Cable control group indices
       allocatable: True
 
+    StC_F_FiltFreq:
+      <<: *real
+      description: Frequency of 1st order LPF filter on pitch/roll motion
+    StC_F_PID:
+      <<: *real
+      description: PID gains of controller from pitch/roll to force
+      allocatable: True
+    StC_F_Lims:
+      <<: *real
+      description: Min and max force at each leg
+      allocatable: True
+    StC_F_Rates:
+      <<: *real
+      description: Min and max force rates (at each leg?)
+      allocatable: True
+    StC_T_Roll:
+      <<: *real
+      description: Transformation from F_Roll (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
+      allocatable: True
+    StC_T_Pitch:
+      <<: *real
+      description: Transformation from F_Pitch (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
+      allocatable: True
+
+
     # Calculated
     PC_RtTq99:
       <<: *real
@@ -1275,6 +1300,18 @@ LocalVariables:
     PtfmRAZ:
       <<: *real
       description: Platform motion -- Acceleration RAZ (rad/s^2)')
+    PtfmRDX_F:
+      <<: *real
+      description: Filtered Platform motion -- Displacement RDX (rad)')
+    PtfmRDY_F:
+      <<: *real
+      description: Filtered Platform motion -- Displacement RDY (rad)')
+    Force_Pitch:
+      <<: *real
+      description: Force to pitch the rotor back to even keel
+    Force_Roll:
+      <<: *real
+      description: Force to roll the rotor back to even keel
     CC_DesiredL:
       <<: *real
       size: 12

diff --git a/rosco/controller/src/Controllers.f90 b/rosco/controller/src/Controllers.f90
@@ -825,6 +825,11 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
         TYPE(ObjectInstances), INTENT(INOUT)      :: objInst
         TYPE(ErrorVariables), INTENT(INOUT)      :: ErrVar
 
+        REAL(DbKi), DIMENSION(6,2)         :: T      ! Transformation from pitch/roll to 6 legs
+        REAL(DbKi), DIMENSION(2,1)         :: Inp      ! Transformation from pitch/roll to 6 legs
+        REAL(DbKi), DIMENSION(6,1)         :: F_Out      ! Transformation from pitch/roll to 6 legs
+
+
 
         ! Internal Variables
         Integer(IntKi)                            :: I_GROUP
@@ -833,15 +838,32 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
 
         IF (CntrPar%StC_Mode == 1) THEN
-            ! User defined control, step example
+            ! Ballast control
 
-            IF (LocalVar%Time > 500) THEN
-                ! Step change in input of -4500 N
-                LocalVar%StC_Input(1) = -1.234e+06
-                LocalVar%StC_Input(2) = 2.053e+06
-                LocalVar%StC_Input(3) = -7.795e+05
+            ! Filter pitch and roll offsets
+            LocalVar%PtfmRDX_F  = LPFilter(LocalVar%PtfmRDX, LocalVar%DT, CntrPar%StC_F_FiltFreq, LocalVar%FP, LocalVar%iStatus, LocalVar%restart, objInst%instLPF)  ! roll
+            LocalVar%PtfmRDY_F  = LPFilter(LocalVar%PtfmRDY, LocalVar%DT, CntrPar%StC_F_FiltFreq, LocalVar%FP, LocalVar%iStatus, LocalVar%restart, objInst%instLPF)  ! pitch
+
+            ! Pitch and roll force commands
+
+            ! PIDController(error, kp, ki, kd, tf, minValue, maxValue, DT, I0, piP, reset, objInst, LocalVar)
+
+            LocalVar%Force_Roll = PIDController(LocalVar%PtfmRDX_F, CntrPar%StC_F_PID(1), CntrPar%StC_F_PID(2), CntrPar%StC_F_PID(3), 100.0_DbKi, CntrPar%StC_F_Lims(1), CntrPar%StC_F_Lims(2), LocalVar%DT, 0.0, LocalVar%piP, LocalVar%restart, objInst, LocalVar)
+            LocalVar%Force_Pitch = PIDController(LocalVar%PtfmRDY_F, CntrPar%StC_F_PID(1), CntrPar%StC_F_PID(2), CntrPar%StC_F_PID(3), 100.0_DbKi, CntrPar%StC_F_Lims(1), CntrPar%StC_F_Lims(2), LocalVar%DT, 0.0, LocalVar%piP, LocalVar%restart, objInst, LocalVar)
+
+            T = RESHAPE((/CntrPar%StC_T_Roll, CntrPar%StC_T_Pitch/),(/6,2/))
+            ! T = RESHAPE((/0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -1.0, -0.5, 0.5, 1.0, 0.5, -0.5/),(/6,2/))  ! 0 roll correction
+            Inp = RESHAPE( (/LocalVar%Force_Roll, LocalVar%Force_Pitch/) , (/2,1/))
+            F_Out = matmul(T,Inp)
+
+
+            ! WRITE(400,*) LocalVar%Time, LocalVar%PtfmRDX_F, LocalVar%PtfmRDY_F, F_Out
+
+            ! Assign to StC_Input
+            DO I_GROUP = 1,CntrPar%StC_Group_N
+                LocalVar%StC_Input(I_GROUP) = F_Out(I_GROUP,1)
+            END DO
 
-            END IF
 
 
         ELSEIF (CntrPar%StC_Mode == 2) THEN

diff --git a/rosco/controller/src/ROSCO_IO.f90 b/rosco/controller/src/ROSCO_IO.f90
@@ -1,5 +1,5 @@
 ! ROSCO IO
-! This file is automatically generated by write_registry.py using ROSCO v2.9.0
+! This file is automatically generated by write_registry.py using ROSCO v2.9.4
 ! For any modification to the registry, please edit the rosco_types.yaml accordingly
 
 MODULE ROSCO_IO
@@ -169,6 +169,10 @@ SUBROUTINE WriteRestartFile(LocalVar, CntrPar, ErrVar, objInst, RootName, size_a
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PtfmRAX
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PtfmRAY
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PtfmRAZ
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%PtfmRDX_F
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%PtfmRDY_F
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%Force_Pitch
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%Force_Roll
         WRITE( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(1)
         WRITE( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(2)
         WRITE( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(3)
@@ -471,6 +475,10 @@ SUBROUTINE ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootNa
         READ( Un, IOSTAT=ErrStat) LocalVar%PtfmRAX
         READ( Un, IOSTAT=ErrStat) LocalVar%PtfmRAY
         READ( Un, IOSTAT=ErrStat) LocalVar%PtfmRAZ
+        READ( Un, IOSTAT=ErrStat) LocalVar%PtfmRDX_F
+        READ( Un, IOSTAT=ErrStat) LocalVar%PtfmRDY_F
+        READ( Un, IOSTAT=ErrStat) LocalVar%Force_Pitch
+        READ( Un, IOSTAT=ErrStat) LocalVar%Force_Roll
         READ( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(1)
         READ( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(2)
         READ( Un, IOSTAT=ErrStat) LocalVar%CC_DesiredL(3)
@@ -692,7 +700,7 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
                                       '[N/A]', '[N/A]', '[N/A]', '[N/A]', '[rad/s]', & 
                                       '[deg]', '[deg]', '[deg]', '[N/A]', '[rad/s]', & 
                                       '[rad/s]']
-    nLocalVars = 124
+    nLocalVars = 128
     Allocate(LocalVarOutData(nLocalVars))
     Allocate(LocalVarOutStrings(nLocalVars))
     LocalVarOutData(1) = LocalVar%iStatus
@@ -807,18 +815,22 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
     LocalVarOutData(110) = LocalVar%PtfmRAX
     LocalVarOutData(111) = LocalVar%PtfmRAY
     LocalVarOutData(112) = LocalVar%PtfmRAZ
-    LocalVarOutData(113) = LocalVar%CC_DesiredL(1)
-    LocalVarOutData(114) = LocalVar%CC_ActuatedL(1)
-    LocalVarOutData(115) = LocalVar%CC_ActuatedDL(1)
-    LocalVarOutData(116) = LocalVar%StC_Input(1)
-    LocalVarOutData(117) = LocalVar%Flp_Angle(1)
-    LocalVarOutData(118) = LocalVar%RootMyb_Last(1)
-    LocalVarOutData(119) = LocalVar%ACC_INFILE_SIZE
-    LocalVarOutData(120) = LocalVar%AWC_complexangle(1)
-    LocalVarOutData(121) = LocalVar%ZMQ_ID
-    LocalVarOutData(122) = LocalVar%ZMQ_YawOffset
-    LocalVarOutData(123) = LocalVar%ZMQ_TorqueOffset
-    LocalVarOutData(124) = LocalVar%ZMQ_PitOffset(1)
+    LocalVarOutData(113) = LocalVar%PtfmRDX_F
+    LocalVarOutData(114) = LocalVar%PtfmRDY_F
+    LocalVarOutData(115) = LocalVar%Force_Pitch
+    LocalVarOutData(116) = LocalVar%Force_Roll
+    LocalVarOutData(117) = LocalVar%CC_DesiredL(1)
+    LocalVarOutData(118) = LocalVar%CC_ActuatedL(1)
+    LocalVarOutData(119) = LocalVar%CC_ActuatedDL(1)
+    LocalVarOutData(120) = LocalVar%StC_Input(1)
+    LocalVarOutData(121) = LocalVar%Flp_Angle(1)
+    LocalVarOutData(122) = LocalVar%RootMyb_Last(1)
+    LocalVarOutData(123) = LocalVar%ACC_INFILE_SIZE
+    LocalVarOutData(124) = LocalVar%AWC_complexangle(1)
+    LocalVarOutData(125) = LocalVar%ZMQ_ID
+    LocalVarOutData(126) = LocalVar%ZMQ_YawOffset
+    LocalVarOutData(127) = LocalVar%ZMQ_TorqueOffset
+    LocalVarOutData(128) = LocalVar%ZMQ_PitOffset(1)
     LocalVarOutStrings = [CHARACTER(15) ::  'iStatus', 'Time', 'DT', 'n_DT', 'Time_Last', & 
                                       'VS_GenPwr', 'VS_GenPwrF', 'GenSpeed', 'RotSpeed', 'NacHeading', & 
                                       'NacVane', 'HorWindV', 'rootMOOP', 'rootMOOPF', 'BlPitch', & 
@@ -841,9 +853,10 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
                                       'PtfmTDY', 'PtfmTDZ', 'PtfmRDX', 'PtfmRDY', 'PtfmRDZ', & 
                                       'PtfmTVX', 'PtfmTVY', 'PtfmTVZ', 'PtfmRVX', 'PtfmRVY', & 
                                       'PtfmRVZ', 'PtfmTAX', 'PtfmTAY', 'PtfmTAZ', 'PtfmRAX', & 
-                                      'PtfmRAY', 'PtfmRAZ', 'CC_DesiredL', 'CC_ActuatedL', 'CC_ActuatedDL', & 
-                                      'StC_Input', 'Flp_Angle', 'RootMyb_Last', 'ACC_INFILE_SIZE', 'AWC_complexangle', & 
-                                      'ZMQ_ID', 'ZMQ_YawOffset', 'ZMQ_TorqueOffset', 'ZMQ_PitOffset']
+                                      'PtfmRAY', 'PtfmRAZ', 'PtfmRDX_F', 'PtfmRDY_F', 'Force_Pitch', & 
+                                      'Force_Roll', 'CC_DesiredL', 'CC_ActuatedL', 'CC_ActuatedDL', 'StC_Input', & 
+                                      'Flp_Angle', 'RootMyb_Last', 'ACC_INFILE_SIZE', 'AWC_complexangle', 'ZMQ_ID', & 
+                                      'ZMQ_YawOffset', 'ZMQ_TorqueOffset', 'ZMQ_PitOffset']
     ! Initialize debug file
     IF ((LocalVar%iStatus == 0) .OR. (LocalVar%iStatus == -9))  THEN ! .TRUE. if we're on the first call to the DLL
         IF (CntrPar%LoggingLevel > 0) THEN
@@ -858,8 +871,8 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
             CALL GetNewUnit(UnDb2, ErrVar)
             OPEN(unit=UnDb2, FILE=TRIM(RootName)//'.RO.dbg2')
             WRITE(UnDb2, *)  'Generated on '//CurDate()//' at '//CurTime()//' using ROSCO-'//TRIM(rosco_version)
-            WRITE(UnDb2, '(125(a20,TR5:))') 'Time',   LocalVarOutStrings
-            WRITE(UnDb2, '(125(a20,TR5:))')
+            WRITE(UnDb2, '(129(a20,TR5:))') 'Time',   LocalVarOutStrings
+            WRITE(UnDb2, '(129(a20,TR5:))')
         END IF
 
         IF (CntrPar%LoggingLevel > 2) THEN
@@ -904,25 +917,25 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
     ! Process DebugOutData, LocalVarOutData
     ! Remove very small numbers that cause ******** outputs
     DO I = 1,SIZE(DebugOutData)
-        IF (ABS(DebugOutData(I)) < 1D-99) THEN
+        IF (ABS(DebugOutData(I)) < 1E-99) THEN
             DebugOutData(I) = 0
         END IF
-        IF (ABS(DebugOutData(I)) > 1D+99) THEN
-            DebugOutData(I) = 1D+99
+        IF (ABS(DebugOutData(I)) > 1E+99) THEN
+            DebugOutData(I) = 1E+99
         END IF
     END DO
 
     DO I = 1,SIZE(LocalVarOutData)
-        IF (ABS(LocalVarOutData(I)) < 1D-99) THEN
+        IF (ABS(LocalVarOutData(I)) < 1E-99) THEN
             LocalVarOutData(I) = 0
         END IF
-        IF (ABS(LocalVarOutData(I)) > 1D+99) THEN
-            LocalVarOutData(I) = 1D+99
+        IF (ABS(LocalVarOutData(I)) > 1E+99) THEN
+            LocalVarOutData(I) = 1E+99
         END IF
     END DO
 
     ! Write debug files
-    FmtDat = "(F20.5,TR5,124(ES20.5E2,TR5:))"   ! The format of the debugging data
+    FmtDat = "(F20.5,TR5,128(ES20.5E2,TR5:))"   ! The format of the debugging data
     IF ( MOD(LocalVar%n_DT, CntrPar%n_DT_Out) == 0) THEN
         IF(CntrPar%LoggingLevel > 0) THEN
             WRITE (UnDb, TRIM(FmtDat))  LocalVar%Time, DebugOutData
@@ -945,4 +958,4 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, size_av
     ENDIF
 END SUBROUTINE Debug
 
-END MODULE ROSCO_IO
+END MODULE ROSCO_IO
diff --git a/rosco/controller/src/ROSCO_Types.f90 b/rosco/controller/src/ROSCO_Types.f90
@@ -1,5 +1,5 @@
 ! ROSCO Registry
-! This file is automatically generated by write_registry.py using ROSCO v2.9.0
+! This file is automatically generated by write_registry.py using ROSCO v2.9.4
 ! For any modification to the registry, please edit the rosco_types.yaml accordingly
 
 MODULE ROSCO_Types
@@ -170,6 +170,12 @@ MODULE ROSCO_Types
     INTEGER(IntKi)                :: StC_Mode                    ! Flag for StC Control
     INTEGER(IntKi)                :: StC_Group_N                 ! Number of cable control groups
     INTEGER(IntKi), DIMENSION(:), ALLOCATABLE     :: StC_GroupIndex              ! Cable control group indices
+    REAL(DbKi)                    :: StC_F_FiltFreq              ! Frequency of 1st order LPF filter on pitch/roll motion
+    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: StC_F_PID                   ! PID gains of controller from pitch/roll to force
+    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: StC_F_Lims                  ! Min and max force at each leg
+    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: StC_F_Rates                 ! Min and max force rates (at each leg?)
+    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: StC_T_Roll                  ! Transformation from F_Roll (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
+    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: StC_T_Pitch                 ! Transformation from F_Pitch (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
     REAL(DbKi)                    :: PC_RtTq99                   ! 99% of the rated torque value, using for switching between pitch and torque control, [Nm].
     REAL(DbKi)                    :: VS_MaxOMTq                  ! Maximum torque at the end of the below-rated region 2, [Nm]
     REAL(DbKi)                    :: VS_MinOMTq                  ! Minimum torque at the beginning of the below-rated region 2, [Nm]
@@ -361,6 +367,10 @@ MODULE ROSCO_Types
     REAL(DbKi)                    :: PtfmRAX                     ! Platform motion -- Acceleration RAX (rad/s^2)')
     REAL(DbKi)                    :: PtfmRAY                     ! Platform motion -- Acceleration RAY (rad/s^2)')
     REAL(DbKi)                    :: PtfmRAZ                     ! Platform motion -- Acceleration RAZ (rad/s^2)')
+    REAL(DbKi)                    :: PtfmRDX_F                   ! Filtered Platform motion -- Displacement RDX (rad)')
+    REAL(DbKi)                    :: PtfmRDY_F                   ! Filtered Platform motion -- Displacement RDY (rad)')
+    REAL(DbKi)                    :: Force_Pitch                 ! Force to pitch the rotor back to even keel
+    REAL(DbKi)                    :: Force_Roll                  ! Force to roll the rotor back to even keel
     REAL(DbKi)                    :: CC_DesiredL(12)             ! None
     REAL(DbKi)                    :: CC_ActuatedL(12)            ! None
     REAL(DbKi)                    :: CC_ActuatedDL(12)           ! None

diff --git a/rosco/controller/src/ReadSetParameters.f90 b/rosco/controller/src/ReadSetParameters.f90
@@ -554,8 +554,15 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar, LocalVar, accINFILE, accINFILE_s
         IF (ErrVar%aviFAIL < 0) RETURN
 
         !------------- StC Control ----- 
-        CALL ParseInput(FileLines,  'StC_Group_N',      CntrPar%StC_Group_N,                            accINFILE(1), ErrVar, CntrPar%StC_Mode == 0, UnEc)
-        CALL ParseAry(  FileLines,  'StC_GroupIndex',   CntrPar%StC_GroupIndex, CntrPar%StC_Group_N,    accINFILE(1), ErrVar, CntrPar%StC_Mode == 0, UnEc)
+        CALL ParseInput(FileLines,  'StC_Group_N',      CntrPar%StC_Group_N,                                accINFILE(1), ErrVar, CntrPar%StC_Mode == 0, UnEc)
+        CALL ParseAry(  FileLines,  'StC_GroupIndex',   CntrPar%StC_GroupIndex,     CntrPar%StC_Group_N,    accINFILE(1), ErrVar, CntrPar%StC_Mode == 0, UnEc)
+        CALL ParseInput(FileLines, 'StC_F_FiltFreq',    CntrPar%StC_F_FiltFreq,                             accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+        CALL ParseAry(FileLines, 'StC_F_PID',           CntrPar%StC_F_PID,          3,                      accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+        CALL ParseAry(FileLines, 'StC_F_Lims',          CntrPar%StC_F_Lims,         2,                      accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+        CALL ParseAry(FileLines, 'StC_F_Rates',         CntrPar%StC_F_Rates,        2,                      accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+        CALL ParseAry(FileLines, 'StC_T_Roll',          CntrPar%StC_T_Roll,         CntrPar%StC_Group_N,    accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+        CALL ParseAry(FileLines, 'StC_T_Pitch',         CntrPar%StC_T_Pitch,        CntrPar%StC_Group_N,    accINFILE(1), ErrVar, CntrPar%StC_Mode .NE. 1, UnEc)
+
         IF (ErrVar%aviFAIL < 0) RETURN
 
         ! Open loop cable, structural control, needs number of groups
@@ -1461,6 +1468,17 @@ SUBROUTINE CheckInputs(LocalVar, CntrPar, avrSWAP, ErrVar, size_avcMSG)
                     ErrVar%ErrMsg = 'StC_GroupIndices must be greater than 2801.'        !< Starting index for the cable control
                 END IF
             END DO
+
+            IF (ABS(SUM(CntrPar%StC_T_Roll)) > 1e-4) THEN
+                ErrVar%aviFAIL = -1
+                    ErrVar%ErrMsg = 'StC_T_Roll must sum to 0.'   
+            END IF
+
+            IF (ABS(SUM(CntrPar%StC_T_Pitch)) > 1e-4) THEN
+                ErrVar%aviFAIL = -1
+                    ErrVar%ErrMsg = 'StC_T_Pitch must sum to 0.'   
+            END IF
+
         END IF
 
         ! Check that open loop control active if using open loop cable/struct control

diff --git a/rosco/toolbox/inputs/toolbox_schema.yaml b/rosco/toolbox/inputs/toolbox_schema.yaml
@@ -1150,6 +1150,40 @@ properties:
                         type: number
                         description: Integer identifier of turbine
                         default: 0
+                    StC_F_FiltFreq:
+                        type: number
+                        description: Frequency of 1st order LPF filter on pitch/roll motion
+                        default: 0.01
+                    StC_F_PID:
+                        type: array
+                        items:
+                            type: number
+                        description: PID gains of controller from pitch/roll to force
+                        default: [0,0,0]
+                    StC_F_Lims:
+                        type: array
+                        items:
+                            type: number
+                        description: Min and max force at each leg
+                        default: [-1,1]
+                    StC_F_Rates:
+                        type: array
+                        items:
+                            type: number
+                        description: Min and max force rates (at each leg?)
+                        default: [-1,1]
+                    StC_T_Roll:
+                        type: array
+                        items:
+                            type: number
+                        description: Transformation from F_Roll (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
+                        default: [0,0,0,0,0,0]
+                    StC_T_Pitch:
+                        type: array
+                        items:
+                            type: number
+                        description: Transformation from F_Pitch (output of PID control) to StC_Force (length should match StC_Group_N), will be normalized to max of 1, must sum to 0
+                        default: [0,0,0,0,0,0]
 
     linmodel_tuning:
         type: object