Allocator Yz

Allocator YZ

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Allocator YZ

Own only constrained allocation of pitch/yaw moment demand to gimbal_y/z and grid_y/z. Use a small QP or weighted least squares with amplitude, rate, dynamic-pressure authority, moment residual, smoothness, and gimbal translation reserve. grid_roll=0; RCS must never enter the y-z allocation matrix.

sapientinc/PRAXIST/tree/main/examples/rocket_booster_recovery/task_PC/roles/allocator_yz commit f69f2d6326

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npx skillmds@latest add sapientinc/allocator-yz