Properly support yaw rate command integration from controller#456
Properly support yaw rate command integration from controller#456rafmudaf merged 2 commits intoOpenFAST:devfrom
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rafmudaf
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| IF ( .not. OtherState%BegYawMan ) THEN ! Override yaw maneuver is just beginning (possibly again). | ||
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| CALL CalculateStandardYaw(t, u, p, m, YawPosCom, YawRateCom, ErrStat, ErrMsg) | ||
| CALL CalculateStandardYaw(t, u, p, m, YawPosCom, YawRateCom, OtherState%YawPosComInt, ErrStat, ErrMsg) |
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It looks like you could potentially be updating the OtherState%YawPosComInt twice in this call to UpdateStates (i.e., taking two steps instead of just one).
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I missed this bit of logic. The second call to CalculateStandadYaw is during an override yaw manuever and should only be called once while OtherState%BegYawMan is false. If we are doing an over-ride of the yaw from the DLL, I would expect the DLL commanded yaw should be completely out of the loop then, so maybe the first first CalculateStandardYaw should be in an else condition on t >= p%TYawManS.
| ! yaw control integrated command angle | ||
| !............................................................................................ | ||
| OtherState%YawPosComInt = p%YawNeut | ||
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Do we need to take into account the initial yaw position from ElastoDyn here?
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THIS PULL REQUEST IS READY TO MERGE
Feature or improvement description
Integration of the yawrate command from the DLL is now properly supported.
This has been tested by @nikhar-abbas and @ewquon
Related issue, if one exists
Issue #25
Impacted areas of the software
This resolves issue #25. When a DLL was controlling the yaw, the position was incorrectly integrated.
Test results, if applicable
No test cases are affected by this PR as none of the glue-code DLL cases use yaw control.
Closes #25