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Functions
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, float u_guess, float W_init, float Wv, float Wu, float ud, float gamma, int imax)
	active set algorithm for control allocation More...

Function Documentation

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 74 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,
		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 112 of file wls_alloc.c.

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

Referenced by stabilization_indi_calc_cmd().

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Functions

Function Documentation