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[wls] make WLS lib, add support for guidance_indi_hybrid (#3115)

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* [wls] make WLS lib, add support for guidance_indi_hybrid

* [wls] update test program

* [wls] restore static matrix size for WLS

* [wls] update test prog

* [indi] ABI thrust message to 3D vector (#3116)

* [indi] ABI thrust message to 3D vector

Common WLS for innerloop and outerloop

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>

* Bound defaults to min in case of NaN

---------

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>

* [guidance_indi] lift effectiveness and set stabilization limits in WEAK (#3117)

* do not allow code to run with insufficient matrix sizes

* Prefer not to roll when able.

* [wls] only check size if WLS is used

---------

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
Gautier Hattenberger
2023-10-01 23:15:36 +02:00
committed by GitHub
parent 59fac571a6
commit 01ac335eb7
16 changed files with 244 additions and 89 deletions
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conf/airframes/tudelft/nederdrone4.xml
+1
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@@ -110,6 +110,7 @@
</module>
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="8"/>
<define name="WLS_N_U" value="8"/>
<define name="TILT_TWIST_CTRL" value="TRUE"/>
</module>
<module name="stabilization" type="rate_indi"/>
conf/airframes/tudelft/nederdrone6.xml
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@@ -106,6 +106,7 @@
</module>
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="8"/>
<define name="WLS_N_U" value="8"/>
<define name="TILT_TWIST_CTRL" value="TRUE"/>
</module>
<module name="stabilization" type="rate_indi"/>
conf/airframes/tudelft/nederdrone7.xml
+1
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@@ -106,6 +106,7 @@
</module>
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="8"/>
<define name="WLS_N_U" value="8"/>
<define name="TILT_TWIST_CTRL" value="TRUE"/>
</module>
<module name="stabilization" type="rate_indi"/>
conf/airframes/tudelft/nederdrone8.xml
+1
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@@ -106,6 +106,7 @@
</module>
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="8"/>
<define name="WLS_N_U" value="8"/>
<define name="TILT_TWIST_CTRL" value="TRUE"/>
</module>
<module name="stabilization" type="rate_indi"/>