├── .fig └── thumbnail.jpg ├── .github └── workflows │ ├── ros_build_test.yml │ └── ros_package_build.yml ├── .gitignore ├── .gitmodules ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg ├── mpc_controller.cfg └── se3_controller.cfg ├── config ├── private │ ├── emergency_controller.yaml │ ├── failsafe_controller.yaml │ ├── midair_activation_controller.yaml │ ├── mpc_controller.yaml │ └── se3_controller.yaml └── public │ ├── emergency_controller.yaml │ ├── failsafe_controller.yaml │ ├── midair_activation_controller.yaml │ ├── mpc_controller.yaml │ └── se3_controller.yaml ├── include ├── common.h ├── mpc_controller.h └── pid.hpp ├── lib └── MpcControllerSolver │ ├── arm64 │ └── libMpcControllerSolver.so │ └── x64 │ └── libMpcControllerSolver.so ├── package.xml ├── plugins.xml ├── scripts └── get_public_params.py ├── src ├── common.cpp ├── failsafe_controller.cpp ├── midair_activation_controller.cpp ├── mpc_controller.cpp └── se3_controller.cpp └── test ├── CMakeLists.txt ├── compile_tests.sh ├── failsafe_controller ├── CMakeLists.txt ├── config │ └── hw_api │ │ ├── hw_api_acceleration_hdg.yaml │ │ ├── hw_api_acceleration_hdg_rate.yaml │ │ ├── hw_api_actuators.yaml │ │ ├── hw_api_attitude.yaml │ │ ├── hw_api_attitude_rate.yaml │ │ ├── hw_api_control_group.yaml │ │ ├── hw_api_position.yaml │ │ ├── hw_api_velocity_hdg.yaml │ │ └── hw_api_velocity_hdg_rate.yaml ├── failsafe_controller.test └── test.cpp ├── gather_coverage.sh ├── modalities ├── CMakeLists.txt ├── config │ ├── custom_config_mpc_controller.yaml │ ├── custom_config_se3_controller.yaml │ └── hw_api │ │ ├── hw_api_acceleration_hdg.yaml │ │ ├── hw_api_acceleration_hdg_rate.yaml │ │ ├── hw_api_actuators.yaml │ │ ├── hw_api_attitude.yaml │ │ ├── hw_api_attitude_rate.yaml │ │ ├── hw_api_control_group.yaml │ │ ├── hw_api_position.yaml │ │ ├── hw_api_velocity_hdg.yaml │ │ └── hw_api_velocity_hdg_rate.yaml ├── modalities.test └── test.cpp └── run_tests.sh /.fig/thumbnail.jpg: 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