Update control interface (#366)

* Update to latest scipy functions

* Update max_torque_rates

* minor changes to controller_interface

* update scipy version and DISCOn files

* sync with new WISDEM syntax

* pin to right version of wisdem

* Fix max_torque_rates with gearbox ratio

---------

Co-authored-by: AthulKrishnaSundarrajan <[email protected]>
Co-authored-by: Garrett Barter <[email protected]>

rosco/toolbox/control_interface.py

@@ -74,6 +74,7 @@ def __init__(self, lib_name, param_filename="DISCON.IN", **kwargs):
         self.char_buffer = 500
         self.avr_size = 500
         self.sim_name = "simDEBUG"
+        self.pitch = 0 # option to provid initial blade pitch value
 
         # Set kwargs, like DT
         for k, w in kwargs.items():
@@ -89,7 +90,7 @@ def __init__(self, lib_name, param_filename="DISCON.IN", **kwargs):
 
     def init_discon(self):
         # Initialize
-        self.pitch = 0
+
         self.torque = 0
         # -- discon
         self.discon = cdll.LoadLibrary(self.lib_name)
@@ -104,9 +105,9 @@ def init_discon(self):
         self.avrSWAP[26] = 10  # HARD CODE initial wind speed = 10 m/s
 
         # Blade pitch initial conditions
-        self.avrSWAP[3] = 0 * np.deg2rad(1)
-        self.avrSWAP[32] = 0 * np.deg2rad(1)
-        self.avrSWAP[33] = 0 * np.deg2rad(1)
+        self.avrSWAP[3] = self.pitch * np.deg2rad(1)
+        self.avrSWAP[32] = self.pitch * np.deg2rad(1)
+        self.avrSWAP[33] = self.pitch * np.deg2rad(1)
 
         self.avrSWAP[27] = 1  # IPC
 
@@ -212,6 +213,12 @@ def call_controller(self, turbine_state, end=False):
         except KeyError:
             self.avrSWAP[82] = 0
 
+        # pass translational acceleration
+        try:
+            self.avrSWAP[52] = turbine_state['FA_Acc']
+        except KeyError:
+            self.avrSWAP[52] = 0
+
         # call controller
         self.call_discon()