WLS VLA #2523
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WLS VLA #2523
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Instead use defines to fix the length of arrays at compile time
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what about defining them in the makefile part of the modules that are using the WLS code ? (or makefile in the case of test code) |
By defining the control allocation problem size in the makefile section of the module xml, there is no need to introduce a dependency on the generated airframe file in the wls_alloc code
Somehow the small inertia caused the drone to start upside down, maybe some kind of overflow somewhere? In any case, this small change was enough to do a simulation without issues...
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Thanks Gautier, I used the makefile section in the stabilization_indi module conf to have the defines. Also, I changed one of the inertia values in the bebop jsbsim file by a tiny amount, otherwise it would start upside down. I am not sure how or why... |
gautierhattenberger
approved these changes
Apr 17, 2020
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I took a moment to remove those variable length arrays (VLA) from the WLS control allocation code. This should speed up the computation time considerably.
I changed the variable length of the arrays to a length set by defines. The problem I ran into is that I am not sure exactly where to define these defines, as it should be possible to define them from the test, or from an airframe, directly or indirectly. If I include the airframe the test does not compile any more, while for the test I now put them in the makefile to make it work... I guess there must be a nice way of doing this right?