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crazyflie_nmpc, a real-time NMPC for position control of the Crazyflie

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Welcome to the crazyflie_nmpc wiki!

This ROS stack contains the implementation of a position controller for the Crazyflie 2.1 based on NMPC with time delay compensation and bounds enforcement on the actuators. Due to the limited computational resources onboard, an offboard high-level position controller is proposed using the recently released high-performance software package acados which exploits the state-of-the-art algorithms for NMPC, such as the real-time iteration (RTI) scheme and Gauss-Newton Hessian approximation. The quadratic problems (QPs) arising in the NMPC problem are solved with HPIPM, an interior-point solver, based on the linear algebra library BLASFEO which is hand optimized for most recent CPU architectures.