Flight Solver

Real-time solvers for flight controllers. no_std, fully stack-allocated, const-generic over all dimensions.

Solvers

Quick start

RLS - online parameter estimation

use flight_solver::rls::{InverseQrRls, RlsParallel, CovarianceGuards};

// Inverse QR-RLS: 4 regressors, 3 parallel outputs
let mut rls = InverseQrRls::<4, 3>::new(1e2, 0.995);

let a = nalgebra::SVector::<f32, 4>::new(0.1, -0.2, 0.3, 0.05);
let y = nalgebra::SVector::<f32, 3>::new(0.5, -0.3, 0.1);
rls.update(&a, &y);

WLS control allocation (high-level API)

flight_solver::wls::ControlAllocator owns the problem configuration (A, γ, normalized wu) and the warm-start solver state across solves. Build once, then call solve() every control tick to compute the optimal control allocation for a given desired pseudo-control and preferred motor command.

use flight_solver::wls::ControlAllocator;
use flight_solver::cls::{ExitCode, Mat, VecN};

let g: Mat<6, 4> = Mat::zeros();
let wv = VecN::<6>::from_column_slice(&[10.0, 10.0, 10.0, 1.0, 0.5, 0.5]);
let wu = VecN::<4>::from_column_slice(&[1.0; 4]);

// One-time setup: factor A, compute γ, normalize wu
let mut alloc = ControlAllocator::<4, 6, 10>::new(&g, &wv, wu, 2e-9, 4e5);

// Per-tick solve — warm-start is persisted automatically across calls
let v = VecN::<6>::zeros();
let ud = VecN::<4>::from_column_slice(&[0.5; 4]);
let umin = VecN::<4>::from_column_slice(&[0.0; 4]);
let umax = VecN::<4>::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(); // optimal motor commands

CLS - raw building blocks

For advanced use — custom A matrices, the unregularised CLS variant, or non-standard pipeline composition — the cls module exposes the underlying free functions directly.

use flight_solver::cls::{solve, ExitCode, Mat, VecN};
use flight_solver::cls::setup::wls::{setup_a, setup_b};

let g: Mat<6, 4> = Mat::zeros();
let wv = VecN::<6>::from_column_slice(&[10.0, 10.0, 10.0, 1.0, 0.5, 0.5]);
let mut wu = VecN::<4>::from_column_slice(&[1.0; 4]);

let (a, gamma) = setup_a::<4, 6, 10>(&g, &wv, &mut wu, 2e-9, 4e5);
let b = setup_b::<4, 6, 10>(&VecN::zeros(), &VecN::from_column_slice(&[0.5; 4]), &wv, &wu, gamma);

let mut us = VecN::<4>::from_column_slice(&[0.5; 4]);
let mut ws = [0i8; 4];
let stats = solve::<4, 6, 10>(&a, &b, &VecN::zeros(), &VecN::from_element(1.0), &mut us, &mut ws, 100);

References

• Haykin, S. Adaptive Filter Theory, 5th ed., Pearson, 2014. Ch. 15 - Square-root adaptive filtering (inverse QR-RLS derivation).
• ActiveSetCtlAlloc - C reference implementation of the active-set WLS solver.
• Indiflight - C reference implementation of the standard RLS with numerical guards.