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I wrote a test for the WLS control allocation and found a mistake with the initialization of one of the arrays. The fix gives the correct result in the test, but is not flight tested.
Something else, but related:
I also realized that the use of Variable Length Arrays (VLA) leads to a lot more assembly code than fixed size arrays, and in this case it is not really needed if you call the algorithm with arguments of the same size. (Usage example: https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/stabilization/wls/wls_alloc.c#L109)
I think that only if you would have two constrained least squares problems of different size to solve it could make sense to do it like this. Should we restrict it to 'single use' in order to make it faster?