docs: updates and typo fixes

docs/drivers.rst

@@ -106,7 +106,7 @@ control:
     for i in range(3):
         # 4 = first fairlead id
         point = moordyn.GetPoint(system, i + 4)
-        x = x + moordyn.GetPointPos(point)
+        x = x + list(moordyn.GetPointPos(point))
 
     # Setup the initial condition
     moordyn.Init(system, x, xd)
@@ -123,8 +123,8 @@ control:
         print("Line {}".format(line_id))
         print("=======")
         line = moordyn.GetLine(system, line_id)
-        n_nodes = moordyn.GetLineNumberNodes(line)
-        for node_id in range(n_nodes):
+        n_segs = moordyn.GetLineN(line)
+        for node_id in range(n_segs+1):
             print("  node {}:".format(node_id))
             pos = moordyn.GetLineNodePos(line, node_id)
             printf("  pos = {}".format(pos))

docs/index.rst

@@ -7,17 +7,6 @@ MoorDyn - Lumped-Mass Mooring Dynamics
 ======================================
 .. _index:
 
-.. toctree::
-   :maxdepth: 2
-
-   compiling
-   drivers
-   inputs
-   structure
-   api_c
-   waterkinematics
-   theory
-
 Welcome to MoorDyn's online documentation. MoorDyn is a simple, efficient,
 and versatile mooring system dynamics model designed to work in concert 
 with other simulation tools. It is based on a
@@ -102,3 +91,17 @@ and DualSPHysics). For Coupling with other codes or more manual driving of
 MoorDyn from your own script, several APIs, wrappers, and example driver 
 scripts are available :ref:`here <drivers>`.
 
+Table of Contents:
+------------------
+
+.. toctree::
+   :maxdepth: 1
+
+   compiling
+   drivers
+   inputs
+   structure
+   api_c
+   waterkinematics
+   theory
+

docs/inputs.rst

@@ -519,7 +519,9 @@ Control (MoorDyn-F only)
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
 This section (optional) is only available for MoorDyn-F and describes which lines are assigned to 
-which control channel in the ServoDyn input file. 
+which control channel in the ServoDyn input file. Setting up active tension controls involves 
+modifying the MoorDyn and ServoDyn input file and passing deltaL and deltaLdot control command values 
+into the appropriate channel of the OpenFAST S function (``FAST_SFunc``).
 
 .. code-block:: none
 
@@ -529,11 +531,44 @@ which control channel in the ServoDyn input file.
   1        1,2,3,4 
   2        5
 
-In the example above channel 1 is used to control lines 1-4 and channel 2 is used to control line 5.
+In the example above, channel 1 is used to control lines 1-4 and channel 2 is used to control line 5.
 These channel numbers must correspond to control channels in the ServoDyn input file. The ServoDyn 
-summary file (enabled with ``SumPrint`` option) will contain a list of all cable control channels in 
+summary file (enabled with ``SumPrint`` option) will contain a list of all line control channels in 
 use and what they are assigned to.
 
+An example set up using controls in Simulink would look like this:
+
+For MoorDyn, add the control section below and specify which lines should be actuated using the tension 
+control. In the below snippet, 5 lines are being independently controlled.
+
+.. code-block:: none
+
+  ---------------------- CONTROL ----------------------
+  ChannelID Line(s)
+  () (,)
+  1 1
+  2 2
+  3 3
+  4 4
+  5 5
+ 
+There are a total of 20 available channels for line deltaL command in the S function, and 20 available for 
+the line deltaLdot command in the S function. So when passing in an array of values, pass in 0 for any unused 
+channels. With all the other inputs (see example file described below for other controllers), the S function 
+will take in a total of 51 channels.
+
+In ServoDyn, change the cable control channel to 4 for Simulink control.
+
+.. code-block:: none
+
+  ---------------------- CABLE CONTROL -------------------------------------------
+            4   CCmode       - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
+ 
+To run the active tension control using Simulink, an example .mdl Simulink file and a .m matlab script 
+to run the .mdl file are available in the OpenFAST GitHub repo under `glue-codes/simulink/examples <https://github.com/OpenFAST/openfast/tree/main/glue-codes/simulink/examples>`_
+to show how to pass in values. A .dll OpenFAST shared library file and .mex OpenFAST S function file need to be in 
+the same directory the controller is being run from.
+
 Options
 ^^^^^^^
 
@@ -599,7 +634,7 @@ The list of possible options is:
  - FrictionCoefficient (0.0): The seabed friction coefficient
  - FricDamp (200.0): The seabed friction damping, to scale from no friction at null velocity to 
    full friction when the velocity is large
- - StatDynFricScale (1.0): Rate between Static and Dynamic friction coefficients
+ - StatDynFricScale (1.0): Ratio between Static and Dynamic friction coefficients
  - dtOut (0.0): Time step size to be written to output files. A value of zero will use dtM as a 
    step size (s)
  - SeafloorFile: A path to the :ref:`bathymetry file <seafloor_in>`

docs/structure.rst

@@ -242,7 +242,9 @@ describe its direction vector. This case is meant for making cantilever points o
 bending stiffness. A fixed zero-length rod can be used to make a cantilever point of a power cable 
 to the ground, a body, or a coupling point. A free zero-length rod can be used to join two 
 different types of power cable segments, and it will pass moments between the cable segments 
-without adding any mass or other characteristics.
+without adding any mass or other characteristics. In this case, the two cables being joined need 
+to be attached to end A and end B respectively (with the rod unit vector pointing from the first to 
+the second cable).
 
 Rod objects have the following variables:
 

docs/theory.rst

@@ -1,4 +1,4 @@
-Theoretical aspects
+Theory
 ===================
 .. _theory_global:
 
@@ -8,4 +8,4 @@ Theoretical aspects
    troubleshooting
    initialization
    tschemes
-   features
+   references

source/MoorDyn2.cpp

@@ -1097,8 +1097,10 @@ moordyn::MoorDyn::ReadInFile()
 			// make default water depth at least the depth of the lowest
 			// node (so water depth input is optional)
 			// TODO - this probably doesn't care about 3d seafloor?
+			// Note - this is not in MD-F
 			if (r0[2] < -env->WtrDpth)
 				env->WtrDpth = -r0[2];
+				LOGWRN << "\t Water depth set to point " << PointList.size() << " z position because point was specified below the seabed" << endl;
 
 			LOGDBG << "\t'" << number << "'"
 			       << " - of type " << Point::TypeName(type) << " with id "