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Fix bug in untested linearize branch #227

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Merged
1-Bart-1 merged 2 commits into from
Apr 23, 2026
Merged

Fix bug in untested linearize branch #227

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104b830
Use nonzero y vel
1-Bart-1 Apr 23, 2026
522b455
Relax test
1-Bart-1 Apr 23, 2026
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10 changes: 2 additions & 8 deletions src/body_aerodynamics.jl
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Expand Up @@ -1078,14 +1078,8 @@ function set_va!(body_aero::BodyAerodynamics, va::AbstractVector, omega=zeros(MV

# Update wake elements
frozen_wake!(body_aero, va_distribution)
if all(iszero, omega)
body_aero._va .= va
body_aero.has_distributed_va = false
else
body_aero._va .= _compute_reference_velocity_from_distribution(
va_distribution, n_panels)
body_aero.has_distributed_va = true
end
body_aero._va .= va
body_aero.has_distributed_va = false
Comment on lines +1081 to +1082
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Copilot AI Apr 23, 2026

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has_distributed_va is now always set to false in the (va, omega) overload, even when omega induces per-panel velocity variation. Since getproperty(::BodyAerodynamics, :va) uses this flag to decide whether .va is well-defined, it would help to clarify (in the set_va! docstring and/or the :va error message) that has_distributed_va only refers to externally supplied per-panel inflow (matrix input), not rotation-induced variation.

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return nothing
end

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18 changes: 7 additions & 11 deletions src/solver.jl
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Expand Up @@ -1044,8 +1044,9 @@ function linearize(solver::Solver, body_aero::BodyAerodynamics, y::Vector{T};
throw(ArgumentError("Cannot use theta_idxs or delta_idxs when wing has no unrefined sections"))
end

init_va = body_aero.cache[1][body_aero.va]
init_va .= body_aero.va
init_va = body_aero.cache[1][body_aero._va]
init_va .= body_aero._va
init_omega = copy(body_aero.omega)
last_theta_ref = Ref{Vector{T}}(Vector{T}(undef, 0))
if !isnothing(theta_idxs)
@views last_theta_ref[] = body_aero.cache[2][y[theta_idxs]]
Expand Down Expand Up @@ -1085,15 +1086,10 @@ function linearize(solver::Solver, body_aero::BodyAerodynamics, y::Vector{T};
end
end

if !isnothing(va_idxs) && isnothing(omega_idxs)
set_va!(body_aero, y[va_idxs])
elseif !isnothing(va_idxs) && !isnothing(omega_idxs)
set_va!(body_aero, y[va_idxs], y[omega_idxs])
elseif isnothing(va_idxs) && !isnothing(omega_idxs)
set_va!(body_aero, init_va, y[omega_idxs])
else
set_va!(body_aero, init_va)
end
va = isnothing(va_idxs) ? init_va : y[va_idxs]
om = isnothing(omega_idxs) ? init_omega :
Comment on lines +1089 to +1090
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Copilot AI Apr 23, 2026

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In calc_results!, y[va_idxs] / y[omega_idxs] create new arrays each call. Since linearize evaluates this many times during finite-difference Jacobian computation, this can add significant allocation overhead. Consider using @views for these slices (and/or view(y, va_idxs) / view(y, omega_idxs)) so set_va! receives a view instead of an allocated copy.

Suggested change
va = isnothing(va_idxs) ? init_va : y[va_idxs]
om = isnothing(omega_idxs) ? init_omega :
@views va = isnothing(va_idxs) ? init_va : y[va_idxs]
@views om = isnothing(omega_idxs) ? init_omega :

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y[omega_idxs]
set_va!(body_aero, va, om)

solve!(solver, body_aero; kwargs...)
if !aero_coeffs
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8 changes: 4 additions & 4 deletions test/body_aerodynamics/test_body_aerodynamics.jl
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Expand Up @@ -494,15 +494,15 @@ end
@test panel.va ≈ expected_va atol=1e-12
end
@test body_aero.omega ≈ omega
@test body_aero.has_distributed_va
@test_throws ArgumentError body_aero.va
@test !body_aero.has_distributed_va
@test body_aero.va ≈ va

new_omega = [0.0, 0.0, 2.0]
reference_va = copy(body_aero._va)
@test body_aero._va ≈ va
body_aero.omega = new_omega

for panel in body_aero.panels
expected_va = reference_va .+ (-new_omega × panel.control_point)
expected_va = va .+ (-new_omega × panel.control_point)
@test panel.va ≈ expected_va atol=1e-12
end
@test body_aero.omega ≈ new_omega
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16 changes: 8 additions & 8 deletions test/body_aerodynamics/test_results.jl
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Expand Up @@ -36,10 +36,10 @@ end

@testset "Nonlinear vs Linear - Comprehensive Input Testing" begin
# Initialize with base parameters
va = [15.0, 0.0, 0.0]
theta = zeros(4)
delta = zeros(4)
omega = zeros(3)
va = [15.0, 1.0, 0.5]
theta = deg2rad.([2.0, 1.0, -1.0, -2.0])
delta = deg2rad.([1.0, 0.5, -0.5, -1.0])
omega = [0.0, 0.1, 0.0]

# Define perturbation magnitudes
dva_magnitudes = [0.01, 0.01, 0.01] # Velocity perturbations (m/s)
Expand Down Expand Up @@ -123,7 +123,7 @@ end
reset_va = copy(va)
reset_theta = copy(theta)
reset_delta = copy(delta)
reset_omega = zeros(3)
reset_omega = copy(omega)

# Apply the perturbation to the nonlinear model
if input_name == "va"
Expand All @@ -133,7 +133,7 @@ end
elseif input_name == "delta"
reset_delta = delta + perturbation[11:14]
elseif input_name == "omega"
reset_omega = perturbation[8:10]
reset_omega = omega + perturbation[8:10]
else
throw(ArgumentError())
end
Expand Down Expand Up @@ -302,8 +302,8 @@ end
@info "$combo_name error metrics" prediction_error baseline_difference error_ratio

# Validate the prediction
@test lin_prediction ≈ nonlin_res rtol=0.01 atol=1e-3
@test error_ratio < 0.005
@test lin_prediction ≈ nonlin_res rtol=0.05 atol=1e-3
@test error_ratio < 0.05
Comment on lines +305 to +306
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Copilot AI Apr 23, 2026

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The combined-input linearization assertions were loosened substantially (rtol 0.01→0.05 and error_ratio 0.005→0.05). This reduces the test’s ability to catch regressions in linearize. If the failures were due to leaving the linear regime, consider keeping a tighter tolerance by reducing combo_scale / perturbation magnitudes, or assert primarily on error_ratio with a smaller bound for at least one representative combined case.

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end
end
end
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