wls_alloc.c File Reference

This is an active set algorithm for WLS control allocation. More...

#include "wls_alloc.h"
#include <stdio.h>
#include "std.h"
#include <string.h>
#include <math.h>
#include <float.h>
#include "math/qr_solve/qr_solve.h"
#include "math/qr_solve/r8lib_min.h"

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Macros
#define	WLS_VERBOSE   FALSE

Functions
void	print_final_values (int n_u, int n_v, float *u, float **B, float *v, float *umin, float *umax)
void	print_in_and_outputs (int n_c, int n_free, float **A_free_ptr, float *d, float *p_free)
void	qr_solve_wrapper (int m, int n, float **A, float *b, float *x)
	Wrapper for qr solve. More...
int	wls_alloc (float *u, float *v, float *umin, float *umax, float **B, int n_u, int n_v, float *u_guess, float *W_init, float *Wv, float *Wu, float *up, float gamma_sq, int imax)
	active set algorithm for control allocation More...

Detailed Description

This is an active set algorithm for WLS control allocation.

This algorithm will find the optimal inputs to produce the least error wrt the control objective, taking into account the weighting matrices on the control objective and the control effort.

The algorithm is described in: Prioritized Control Allocation for Quadrotors Subject to Saturation - E.J.J. Smeur, D.C. Höppener, C. de Wagter. In IMAV 2017

written by Anton Naruta && Daniel Hoppener 2016 MAVLab Delft University of Technology

Definition in file wls_alloc.c.

Macro Definition Documentation

#define WLS_VERBOSE   FALSE

Definition at line 52 of file wls_alloc.c.

Function Documentation

void print_final_values	(	int	n_u,
		int	n_v,
		float *	u,
		float **	B,
		float *	v,
		float *	umin,
		float *	umax
	)

Referenced by wls_alloc().

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void print_in_and_outputs	(	int	n_c,
		int	n_free,
		float **	A_free_ptr,
		float *	d,
		float *	p_free
	)

Referenced by wls_alloc().

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void qr_solve_wrapper	(	int	m,
		int	n,
		float **	A,
		float *	b,
		float *	x
	)

Wrapper for qr solve.

Possible to use a different solver if needed. Solves a system of the form Ax = b for x.

Parameters

m	number of rows
n	number of columns

Definition at line 63 of file wls_alloc.c.

References qr_solve().

Referenced by wls_alloc().

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

u	The control output vector
v	The control objective
umin	The minimum u vector
umax	The maximum u 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

Returns

Number of iterations, -1 upon failure

Definition at line 101 of file wls_alloc.c.

References A, alpha, p, print_final_values(), print_in_and_outputs(), qr_solve_wrapper(), and UNUSED.

Referenced by stabilization_indi_calc_cmd().

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