From e5b1af5383757f4ad1b98ab36a1e7093b51b8365 Mon Sep 17 00:00:00 2001
From: dzalkind <65573423+dzalkind@users.noreply.github.com>
Date: Fri, 9 Jun 2023 14:31:18 -0600
Subject: [PATCH] Yaw Rate Bug Fix (#239)

* Add back open loop yaw rate control

* Check OL outputs in example

* Update CI to use mamba, first attempt

* Install extras when environment first set up

* Remove potential libpython typo

* Remove more potential typos

* Use mamba in compile, too

* Use environment.yml file

* Remove conda installs from rosco-compile

* Clean up CI scripts

* Update mamba install in CI

* Remove petsc and mpi

* Revert CI back to conda
---
 Examples/14_open_loop_control.py | 16 ++++++++++++++++
 ROSCO/src/Controllers.f90        |  8 ++++++++
 2 files changed, 24 insertions(+)

diff --git a/Examples/14_open_loop_control.py b/Examples/14_open_loop_control.py
index 7ca79462..cbc20f5d 100644
--- a/Examples/14_open_loop_control.py
+++ b/Examples/14_open_loop_control.py
@@ -145,6 +145,22 @@
 fastout = op.load_fast_out(out_file, tmin=0)
 fig, ax = op.plot_fast_out(cases=cases,showplot=False)
 
+# Check that open loop commands are close to control outputs from OpenFAST
+fo = fastout[0]
+tt = fo['Time']
+valid_ind = tt > 2  # first few timesteps can differ, depending on OpenFAST solve config
+
+# Computer errors
+nacelle_yaw_diff = fo['NacYaw'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['nacelle_yaw']))
+bld_pitch_diff = fo['BldPitch1'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['blade_pitch']))
+gen_tq_diff = fo['GenTq'][valid_ind] - np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['generator_torque'])/1e3
+
+# Check diff timeseries
+np.testing.assert_allclose(nacelle_yaw_diff,  0,  atol = 1e-1)   # yaw has dynamics and integration error, tolerance higher
+np.testing.assert_allclose(bld_pitch_diff,    0,  atol = 1e-3)
+np.testing.assert_allclose(gen_tq_diff,       0,  atol = 1e-3)
+
+
 if False:
   plt.show()
 else:
diff --git a/ROSCO/src/Controllers.f90 b/ROSCO/src/Controllers.f90
index 221dd16b..c8a73e35 100644
--- a/ROSCO/src/Controllers.f90
+++ b/ROSCO/src/Controllers.f90
@@ -371,6 +371,14 @@ SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar,
             ! Output yaw rate command in rad/s
             avrSWAP(48) = YawRateCom * D2R
 
+            ! If using open loop yaw rate control, overwrite controlled output
+            ! Open loop torque control
+            IF ((CntrPar%OL_Mode == 1) .AND. (CntrPar%Ind_YawRate > 0)) THEN
+                IF (LocalVar%Time >= CntrPar%OL_Breakpoints(1)) THEN
+                    avrSWAP(48) = interp1d(CntrPar%OL_Breakpoints,CntrPar%OL_YawRate,LocalVar%Time, ErrVar)
+                ENDIF
+            ENDIF
+
             ! Save for debug
             DebugVar%YawRateCom       = YawRateCom
             DebugVar%NacHeadingTarget = NacHeadingTarget