wls_alloc.h File Reference

#include "generated/airframe.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	WLS_t

Macros
#define	WLS_N_U_MAX   6
	active set algorithm for control allocation More...
#define	WLS_N_V_MAX   4

Functions
void	send_wls_v (char *name, struct WLS_t *WLS_p, struct transport_tx *trans, struct link_device *dev)
void	send_wls_u (char *name, struct WLS_t *WLS_p, struct transport_tx *trans, struct link_device *dev)
void	wls_alloc (struct WLS_t *WLS_p, float **B, float *u_guess, float *W_init, int imax)
	active set algorithm for control allocation More...

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Data Structure Documentation

WLS_t

struct WLS_t

Definition at line 66 of file wls_alloc.h.

Data Fields
float	gamma_sq
int	iter
int	nu
int	nv
float	PC
float	SC
float	u[WLS_N_U_MAX]
float	u_max[WLS_N_U_MAX]
float	u_min[WLS_N_U_MAX]
float	u_pref[WLS_N_U_MAX]
float	v[WLS_N_V_MAX]
float	Wu[WLS_N_U_MAX]
float	Wv[WLS_N_V_MAX]

Macro Definition Documentation

WLS_N_U_MAX

#define WLS_N_U_MAX   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 60 of file wls_alloc.h.

WLS_N_V_MAX

#define WLS_N_V_MAX   4

Definition at line 64 of file wls_alloc.h.

Function Documentation

send_wls_u()

void send_wls_u	(	char *	name,
		struct WLS_t *	WLS_p,
		struct transport_tx *	trans,
		struct link_device *	dev
	)

Definition at line 71 of file wls_alloc.c.

References dev, WLS_t::nu, WLS_t::u, WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, and WLS_t::Wu.

Referenced by send_wls_u_oneloop(), and send_wls_u_stab().

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send_wls_v()

void send_wls_v	(	char *	name,
		struct WLS_t *	WLS_p,
		struct transport_tx *	trans,
		struct link_device *	dev
	)

Definition at line 61 of file wls_alloc.c.

References dev, WLS_t::gamma_sq, WLS_t::iter, WLS_t::nv, WLS_t::v, and WLS_t::Wv.

Referenced by send_wls_v_oneloop(), and send_wls_v_stab().

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wls_alloc()

void wls_alloc	(	struct WLS_t *	WLS_p,
		float **	B,
		float *	u_guess,
		float *	W_init,
		int	imax
	)

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

WLS_p	Struct that contains most of the WLS parameters
B	The control effectiveness matrix
u_guess	Initial value for u
W_init	Initial working set, if known
imax	Max number of iterations

Definition at line 119 of file wls_alloc.c.

References A, alpha, B, b, WLS_t::gamma_sq, WLS_t::iter, lambda, WLS_t::nu, WLS_t::nv, p, qr_solve_wrapper(), WLS_t::u, WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, UNUSED, WLS_t::v, WLS_t::Wu, and WLS_t::Wv.

Referenced by oneloop_andi_run().

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