wls_alloc.h File Reference

#include "generated/airframe.h"

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Macros
#define	WLS_N_U   6
	active set algorithm for control allocation More...
#define	WLS_N_V   4

Functions
int	wls_alloc (float *u, float *v, float *umin, float *umax, float **B, float *u_guess, float *W_init, float *Wv, float *Wu, float *ud, float gamma, int imax, int n_u, int n_v)
	active set algorithm for control allocation More...

Macro Definition Documentation

WLS_N_U

#define WLS_N_U   6

active set algorithm for control allocation

Takes the control objective and max and min inputs from pprz and calculates the inputs that will satisfy most of the control objective, subject to the weighting matrices Wv and Wu

The dimension of the input vectors u and v are defined at compilation time and must be large enough for all the considered cases.

Parameters

u	The control output vector
v	The control objective vector
B	The control effectiveness matrix
n_u	Length of u
n_v	Lenght of v
u_guess	Initial value for u
W_init	Initial working set, if known
Wv	Weighting on different control objectives
Wu	Weighting on different controls
up	Preferred control vector
gamma_sq	Preference of satisfying control objective over desired control vector (sqare root of gamma)
imax	Max number of iterations
n_u	Length of u (the number of actuators)
n_v	Lenght of v (the number of control objectives)

Returns

Number of iterations: (imax+1) means it ran out of iterations

Definition at line 58 of file wls_alloc.h.

WLS_N_V

#define WLS_N_V   4

Definition at line 62 of file wls_alloc.h.

Function Documentation

wls_alloc()

int wls_alloc	(	float *	u,
		float *	v,
		float *	umin,
		float *	umax,
		float **	B,
		float *	u_guess,
		float *	W_init,
		float *	Wv,
		float *	Wu,
		float *	up,
		float	gamma_sq,
		int	imax,
		int	n_u,
		int	n_v
	)

active set algorithm for control allocation

Takes the control objective and max and min inputs from pprz and calculates the inputs that will satisfy most of the control objective, subject to the weighting matrices Wv and Wu

Parameters

u	The control output vector
v	The control objective vector
umin	The minimum u vector
umax	The maximum u vector
B	The control effectiveness matrix
u_guess	Initial value for u
W_init	Initial working set, if known
Wv	Weighting on different control objectives
Wu	Weighting on different controls
up	Preferred control vector
gamma_sq	Preference of satisfying control objective over desired control vector (sqare root of gamma)
imax	Max number of iterations
n_u	Length of u (the number of actuators)
n_v	Lenght of v (the number of control objectives)

Returns

Number of iterations which is (imax+1) if it ran out of iterations

Definition at line 108 of file wls_alloc.c.

References A, alpha, B, b, lambda, p, qr_solve_wrapper(), UNUSED, up, WLS_N_C, WLS_N_U, Wu, and Wv.

Referenced by oneloop_andi_run(), and stabilization_indi_rate_run().

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