Crate wls_alloc 

Weighted least-squares (WLS) constrained control allocator.

Solves min ‖Au − b‖² subject to umin ≤ u ≤ umax using an active-set method with incremental QR updates. Designed for real-time motor mixing on flight controllers: no_std, fully stack-allocated, const-generic over problem dimensions.

Encapsulated API (recommended)

wls::ControlAllocator owns the static problem (effectiveness matrix, weights, γ) and the warm-start solver state. Build once, then call solve on every control tick.

use wls_alloc::wls::ControlAllocator;
use wls_alloc::{ExitCode, VecN, MatA};

// Effectiveness matrix G (6 pseudo-controls × 4 motors)
let g: MatA<6, 4> = MatA::zeros(); // replace with real data
let wv: VecN<6> = VecN::from_column_slice(&[10.0, 10.0, 10.0, 1.0, 0.5, 0.5]);
let wu: VecN<4> = VecN::from_column_slice(&[1.0; 4]);

let mut alloc = ControlAllocator::<4, 6, 10>::new(&g, &wv, wu, 2e-9, 4e5);

// Per-tick solve
let v: VecN<6> = VecN::zeros();
let ud: VecN<4> = VecN::from_column_slice(&[0.5; 4]);
let umin: VecN<4> = VecN::from_column_slice(&[0.0; 4]);
let umax: VecN<4> = VecN::from_column_slice(&[1.0; 4]);

let stats = alloc.solve(&v, &ud, &umin, &umax, 100);
assert_eq!(stats.exit_code, ExitCode::Success);
let u = alloc.solution();

Raw building blocks

The raw module exposes the underlying free functions (setup_a / setup_b / solve / solve_cls) for advanced use: custom A matrices, the unregularised CLS variant, or composing pieces of the pipeline differently.

use wls_alloc::raw::{setup_a_unreg, setup_b_unreg, solve_cls};
use wls_alloc::{ExitCode, VecN, MatA};

let g: MatA<4, 4> = MatA::zeros();
let wv: VecN<4> = VecN::from_column_slice(&[1.0; 4]);

let a = setup_a_unreg::<4, 4>(&g, &wv);
let v: VecN<4> = VecN::zeros();
let b = setup_b_unreg(&v, &wv);

let umin: VecN<4> = VecN::from_column_slice(&[0.0; 4]);
let umax: VecN<4> = VecN::from_column_slice(&[1.0; 4]);
let mut us: VecN<4> = VecN::from_column_slice(&[0.5; 4]);
let mut ws = [0i8; 4];
let stats = solve_cls::<4, 4>(&a, &b, &umin, &umax, &mut us, &mut ws, 100);
assert_eq!(stats.exit_code, ExitCode::Success);

Re-exports

pub use types::ExitCode;

pub use types::MatA;

pub use types::SolverStats;

pub use types::VecN;

pub use setup::setup_a;

pub use setup::setup_a_unreg;

pub use setup::setup_b;

pub use setup::setup_b_unreg;

pub use solver::solve;

pub use solver::solve_cls;

Modules

linalg

Low-level linear algebra: Householder QR, back-substitution, constraint checking. Shared linear algebra utilities: constraint checking, Householder QR, and triangular back-substitution.

raw

Low-level free-function building blocks. Use wls::ControlAllocator for typical flight-controller workloads; reach for raw when you need a custom A, the unregularised CLS solver, or non-standard pipeline composition.

setup

Problem setup: convert WLS control-allocation parameters into LS form.

solver

Active-set constrained least-squares solver.

types

Core types, constants, and nalgebra type aliases. Core types and constants shared across the crate.

wls

High-level encapsulated WLS control allocator. Encapsulated weighted least-squares control allocator.