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[wls] return when a solution is found instead to reach max iter (#3617)
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This bug is intruduced by #3320. Without the return, wls only ends after
reaching max_iter. In simulation, only 1 iteration is needed to reach a
solution in flight, while max iter is set to 10.

https://github.com/paparazzi/paparazzi/pull/3320/changes#diff-fd1514a7b2a74afb97095b63a4d2d7986c427e9d939db0a36eb68620d9e351c1R273
This commit is contained in:
Gautier Hattenberger
2026-03-17 10:00:43 +01:00
committed by GitHub
parent bc6cac516f
commit 68ea2b661e
1 changed files with 1 additions and 2 deletions
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sw/airborne/math/wls/wls_alloc.c
+1 -2
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@@ -264,13 +264,12 @@ void wls_alloc(struct WLS_t* WLS_p, float **B, float *u_guess, float *W_init, in
} }
} }
if (break_flag) { if (break_flag) {
#if WLS_VERBOSE #if WLS_VERBOSE
print_final_values(WLS_p, B); print_final_values(WLS_p, B);
#endif #endif
// if solution is found, return number of iterations // if solution is found, return number of iterations
WLS_p->iter = iter; WLS_p->iter = iter;
return;
} }
} else { } else {
// scaling back actuator command (0-1) // scaling back actuator command (0-1)