Thank you Henry for this extremely well written explanation! Going further from your comments, I still wonder the following:
The normalized matrix determines the ārelativeā scale of deflection each actuator will have, but how does the āabsolute valueā get determined (-1 ā¦ +1 range for elevons for example)?
Regarding what the ānormalization factorā, I believe the absolute maximum torque that can be generated with combination of ALL actuators will have to equal 1.0 (after being normalized), instead of āBiggest torque generatable from any of actuatorā. Is this not true?
The second question was raised, as after thinking about why the Flying Wingās elevons each have +/- 0.5 effectiveness for roll torque (instead of +/- 1.0, or 2.0, etc.), I have concluded that the maximum roll torque that can be generated with those actuators then equal 1.0 (= +1 x +0.5 + (-1) x (-0.5)), which relates back to the first question on how absolute value gets derived.
Would love to hear your thoughts on these two points!
Note: Seems like this issue is related to the normalization situation in PX4ās control allcoation:
