Weighted Least Square optimization algorithm.

Used for dynamic allocation of actuators, in particular with INDI-based control algorithms.

The size of the matrix (output vs. objectives) must be defined large enough for all the controllers

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="wls">
  b'<define name="WLS_N_U_MAX" value="4" />\n    '
  b'<define name="WLS_N_V_MAX" value="4" />\n  '
</module>

Module configuration options

Define Options

name: WLS_N_U_MAX value: 4
Description: size of the control output vector (default: 6)
name: WLS_N_V_MAX value: 4
Description: size of the control objectives vector (default: 4)

Files

Header Files

The following headers are automatically included in modules.h

wls_alloc.h

Source Files

Raw wls.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="wls" task="core">
  <doc>
    <description>
      Weighted Least Square optimization algorithm.
 
      Used for dynamic allocation of actuators, in particular
      with INDI-based control algorithms.
 
      The size of the matrix (output vs. objectives) must be defined large
      enough for all the controllers
    </description>
    <define name="WLS_N_U_MAX" value="4" description="size of the control output vector (default: 6)"/>
    <define name="WLS_N_V_MAX" value="4" description="size of the control objectives vector (default: 4)"/>
  </doc>
  <header>
    <file name="wls_alloc.h" dir="math/wls"/>
  </header>
  <makefile>
    <file name="wls_alloc.c" dir="math/wls"/>
    <file name="qr_solve.c" dir="math/qr_solve"/>
    <file name="r8lib_min.c" dir="math/qr_solve"/>
    <test/>
  </makefile>
</module>
 