Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.

#include "generated/airframe.h"
Go to the source code of this file.
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...  
#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.
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) 
Definition at line 58 of file wls_alloc.h.
#define WLS_N_V 4 
Definition at line 62 of file wls_alloc.h.
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
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) 
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().