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[paparazzi-commits] [paparazzi/paparazzi] b2e22b: WLS control allocation
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[paparazzi-commits] [paparazzi/paparazzi] b2e22b: WLS control allocation (#2075) |
Date: |
Thu, 15 Jun 2017 09:16:21 -0700 |
Branch: refs/heads/master
Home: https://github.com/paparazzi/paparazzi
Commit: b2e22be800d10f7e78d2f18808fa4ca890eff636
https://github.com/paparazzi/paparazzi/commit/b2e22be800d10f7e78d2f18808fa4ca890eff636
Author: Ewoud Smeur <address@hidden>
Date: 2017-06-15 (Thu, 15 Jun 2017)
Changed paths:
M conf/airframes/TUDELFT/tudelft_bebop_indi_actuators.xml
M conf/modules/stabilization_indi.xml
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
A sw/airborne/firmwares/rotorcraft/stabilization/wls/qr_solve.c
A sw/airborne/firmwares/rotorcraft/stabilization/wls/qr_solve.h
A sw/airborne/firmwares/rotorcraft/stabilization/wls/r8lib_min.c
A sw/airborne/firmwares/rotorcraft/stabilization/wls/r8lib_min.h
A sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.c
A sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.h
M sw/airborne/test/Makefile
A sw/airborne/test/test_alloc.c
Log Message:
-----------
WLS control allocation (#2075)
* WLS control allocation
* comments, and configure preferred act values
* keep option open to use pseudo-inverse
* add link to burkardt
Will be testflown asap tomorrow morning on BB1 and BB2
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