[paparazzi-commits] [paparazzi/paparazzi] 676358: Allocation merge (#2078)

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 676358ee6e2d4ddedeecc58d8a1fcd05e55d2dff
      
https://github.com/paparazzi/paparazzi/commit/676358ee6e2d4ddedeecc58d8a1fcd05e55d2dff
  Author: Ewoud Smeur <address@hidden>
  Date:   2017-06-28 (Wed, 28 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/wls_alloc.c
    A sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.h
    A sw/airborne/math/qr_solve/qr_solve.c
    A sw/airborne/math/qr_solve/qr_solve.h
    A sw/airborne/math/qr_solve/r8lib_min.c
    A sw/airborne/math/qr_solve/r8lib_min.h
    M sw/airborne/test/Makefile
    A sw/airborne/test/test_alloc.c

  Log Message:
  -----------
  Allocation merge (#2078)

* WLS control allocation

* comments, and configure preferred act values

* keep option open to use pseudo-inverse

* add link to burkardt

* Simplify input reset if not flying

* qr solve in math folder

Use INDI_NUM_ACT and INDI_OUTPUTS instead of hardcoded numbers.
Fix code style

* Removed hardcoded number of actuators

precompute number of thrusters