├── .gitignore ├── LICENSE ├── README.md ├── mpc_msgs ├── CMakeLists.txt ├── package.xml └── srv │ └── SetPose.srv └── px4_mpc ├── package.xml ├── px4_mpc ├── __init__.py ├── config │ ├── astrobee_tuning.yaml │ ├── config.rviz │ ├── quadrotor_tuning.yaml │ └── trajectory_quat.txt ├── controllers │ ├── __init__.py │ ├── multirotor_rate_mpc.py │ ├── spacecraft_direct_allocation_mpc.py │ ├── spacecraft_rate_mpc.py │ └── spacecraft_wrench_mpc.py ├── launch │ ├── mpc_quadrotor_launch.py │ └── mpc_spacecraft_launch.py ├── models │ ├── __init__.py │ ├── multirotor_rate_model.py │ ├── spacecraft_direct_allocation_model.py │ ├── spacecraft_rate_model.py │ └── spacecraft_wrench_model.py ├── mpc_quadrotor.py ├── mpc_spacecraft.py ├── rviz_pos_marker.py ├── simulation │ ├── __init__.py │ └── basic_environment.py ├── test │ ├── test_copyright.py │ ├── test_flake8.py │ ├── test_pep257.py │ └── test_setpoints.py ├── test_multirotor_rate_closedloop.py ├── test_multirotor_rate_ocp.py └── 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