[dzalkind]

Description and Purpose

Release ROSCO v2.10.6 by merging develop into main. This release adds windIO support, adds OpenFAST v5.0 compatibility, and reworks the fixed-blade-pitch (FBP) MHK control path. The DISCON.IN format has not changed.

What's changed

windIO support (#492, #498)

• New rosco.toolbox.inputs.windio module with windio_to_discon() and discon_to_windio(), which convert between the control section of a windIO turbine file and ROSCO DISCON parameters.
• Speeds are converted using the gearbox ratio, because windIO inputs are rotor-based and ROSCO inputs are generator-based (Account for gearbox ratio in windio conversion #498).
• New Examples/34_discon_windio.py converts in both directions and checks that a round trip gives back the original values. It has been added to test_examples.py. windIO turbine yamls for the IEA-15, IEA-22 and NREL-5MW are in Examples/example_inputs/windio/.

OpenFAST v5.0 support (#503)

• environment.yml pins openfast=5.0 / openfast-io=5.0, and pyproject.toml requires openfast_io~=5.0.
• The Test_Cases input decks are updated to the OpenFAST v5 format.
• Turbine.load_from_fast() no longer reads the ElastoDyn/BeamDyn blade files, and the unused Turbine.bld_flapwise_damp attribute has been removed.
• The RM1 MHK model and tuning yamls are updated. CaseLibrary.sweep_control_params can now sweep a discon_param.

Fixed-blade-pitch MHK control (#508, which has the full details, plus follow-up commits)

• Controller: in FBP mode, VS_MaxTq is now de-rated by PRC_R_Torque. PRC_R_Torque defaults to 1, so existing configurations behave the same. PRC_Mode = 2 can now be used with VS_FBP > 0 to soft-start the rotor. PRC_Mode = 1 is still rejected.
• Toolbox: FBP mode conflicts that ROSCO aborts on at runtime are now caught during tuning. The toolbox warns when VS_ControlMode does not match the selected VS_FBP. Fixed the below-rated Cp_op and the order in which minimum-speed limits are applied.
• PRC_WindSpeeds / PRC_GenSpeeds defaults now come from the turbine (v_min / v_max and PC_RefSpd) instead of hard-coded values.
• VS_ControlMode is now described as the below-rated torque mode in the schema, the DISCON writer, and the example DISCONs.
• CaseLibrary.sweep_control_params accepts a param_sweeps list of full controller_params overrides. Each sweep case now gets its own deep copy of the controller parameters, so one case cannot change the next.
• docs/source/marine_hydro.rst is substantially expanded, and Examples/31_fixed_pitch_mhk.py is reorganized. The docs give the tip-cavitation speed limit as design guidance. Neither ROSCO nor the toolbox checks it, so use AeroDyn's CavitCheck to confirm a schedule.

Docs and small fixes (#506 and others)

• ControllerInterface docstrings now say that yaw inputs are in radians, not degrees (Update documentation errors #506). Fixed a docstring typo in sim.py.
• The Ind_StructControl error message now names StC_Mode (it said CC_Mode).
• load_ascii_output now pads or truncates rows with the wrong number of columns instead of failing.
• README: new section on extracting a precompiled libdiscon from the conda-forge package.
• Docs: added instructions for building the docs locally. The Read the Docs build now uses mamba.

Packaging / CI

• requires-python >= 3.11: Python 3.9 and 3.10 are no longer supported. The install docs now use Python 3.11.
• Wheels: no longer built for manylinux_i686, and Linux wheels are built on manylinux_2_28. macOS wheels use Apple clang from the runner instead of Homebrew LLVM.
• The compile CI installs ROSCO with --no-deps.
• Version bumped to 2.10.6 in pyproject.toml and the generated registry (ROSCO_Types.f90, ROSCO_IO.f90).

Compatibility notes

• DISCON.IN: no parameters were added or removed, so existing DISCON files work unchanged.
• Toolbox: requires Python ≥ 3.11 and OpenFAST v5.0 input files for tuning (openfast_io~=5.0).

Type of change

What types of change is it?
Select the appropriate type(s) that describe this PR

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (non-backwards-compatible fix or feature)
• Code style update (formatting, renaming)
• Refactoring (no functional changes, no API changes)
• Documentation update
• Maintenance update
• Other (please describe)

TODO Items General:

• Add example/test for new feature: 34_discon_windio added to test_examples.py
• Update registry: regenerated with the v2.10.6 version string
• Run testing: CI_rosco-compile passed at 8294a23 and needs to be re-run after the cavitation-check removal

TODO Items API Change:

• Update docs with API change: N/A, no DISCON API change
• Run update_rosco_discons.py in Test_Cases/
• Update DISCON schema: VS_ControlMode description only

Github issues addressed, if one exists

None. This PR includes #492, #498, #503, #506 and #508, plus two follow-up commits to #508: removing the toolbox cavitation check, and deep-copying controller parameters for each sweep case.

Examples/Testing, if applicable

• CI_rosco-compile passed on develop at 8294a23. It will be re-run on the final head of develop before this is merged.
• Examples/34_discon_windio.py converts DISCON → windIO → DISCON for the IEA-15 (monopile and semi) and NREL-5MW, and fails if any value differs by more than 1e-3.
• Examples/31_fixed_pitch_mhk.py tunes and simulates all six FBP configurations. The results are used in the verification section of the MHK docs.

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