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[paparazzi-commits] [paparazzi/paparazzi] 01ac33: [wls] make WLS lib, ad

From: Gautier Hattenberger
Subject: [paparazzi-commits] [paparazzi/paparazzi] 01ac33: [wls] make WLS lib, add support for guidance_indi_...
Date: Sun, 01 Oct 2023 14:15:48 -0700

  Branch: refs/heads/master
  Commit: 01ac335eb708f7e2154dcd352801eb1f1c920fc0
  Author: Gautier Hattenberger <>
  Date:   2023-10-01 (Sun, 01 Oct 2023)

  Changed paths:
    M conf/airframes/tudelft/nederdrone4.xml
    M conf/airframes/tudelft/nederdrone6.xml
    M conf/airframes/tudelft/nederdrone7.xml
    M conf/airframes/tudelft/nederdrone8.xml
    M conf/modules/guidance_indi_hybrid.xml
    M conf/modules/stabilization_indi.xml
    A conf/modules/wls.xml
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
    R sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.c
    R sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.h
    M sw/airborne/math/pprz_algebra_float.c
    M sw/airborne/math/pprz_algebra_float.h
    A sw/airborne/math/wls/wls_alloc.c
    A sw/airborne/math/wls/wls_alloc.h
    M sw/airborne/test/Makefile
    M sw/airborne/test/test_alloc.c

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

* [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 <>

* Bound defaults to min in case of NaN


Co-authored-by: Christophe De Wagter <>

* [guidance_indi] lift effectiveness and set stabilization limits in WEAK 

* 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 <>
Co-authored-by: Ewoud Smeur <>

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