├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md ├── mav_control_interface ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── mav_control_interface │ │ ├── deadzone.h │ │ ├── mav_control_interface.h │ │ ├── mpc_queue.h │ │ ├── position_controller_interface.h │ │ ├── rc_interface.h │ │ └── rc_interface_aci.h ├── package.xml ├── resource │ ├── mav_state_machine.svg │ └── state_machine.pdf └── src │ ├── mav_control_interface.cpp │ ├── mav_control_interface_impl.cpp │ ├── mav_control_interface_impl.h │ ├── mpc_queue.cpp │ ├── parameters.cpp │ ├── parameters.h │ ├── position_controller_interface.cpp │ ├── rc_interface.cpp │ ├── rc_interface_aci.cpp │ ├── state_machine.cpp │ ├── state_machine.h │ └── test_node.cpp ├── mav_disturbance_observer ├── CMakeLists.txt ├── README.md ├── cfg │ └── KFDisturbanceObserver.cfg ├── include │ └── mav_disturbance_observer │ │ └── KF_disturbance_observer.h ├── msg │ └── ObserverState.msg ├── package.xml ├── resources │ ├── disturbance_observer_firefly.yaml │ ├── disturbance_observer_hummingbird.yaml │ └── disturbance_observer_neo11.yaml └── src │ └── KF_disturbance_observer.cpp ├── mav_linear_mpc ├── CMakeLists.txt ├── cfg │ └── LinearMPC.cfg ├── include │ └── mav_linear_mpc │ │ ├── linear_mpc.h │ │ ├── linear_mpc_node.h │ │ └── steady_state_calculation.h ├── launch │ ├── mav_linear_mpc.launch │ ├── mav_linear_mpc_sim.launch │ └── mav_linear_mpc_sim_msf.launch ├── lib │ ├── ldl.c │ ├── matrix_support.c │ ├── solver.c │ ├── solver.h │ ├── util.c │ └── variables_definition.c ├── package.xml ├── resources │ ├── linear_mpc_firefly.yaml │ ├── linear_mpc_hummingbird.yaml │ └── msf_parameters_sim.yaml └── src │ ├── linear_mpc.cpp │ ├── linear_mpc_node.cpp │ └── steady_state_calculation.cpp ├── mav_lowlevel_attitude_controller ├── CMakeLists.txt ├── README.md ├── cfg │ └── PIDAttitude.cfg ├── include │ └── mav_lowlevel_attitude_controller │ │ ├── PID_attitude_controller.h │ │ └── PID_attitude_controller_node.h ├── launch │ ├── PID_attitude_controller.launch │ └── mav_lowlevel_controller.launch ├── package.xml ├── resources │ ├── PID_attitude_firefly.yaml │ ├── PID_attitude_hummingbird.yaml │ └── PID_attitude_neo11.yaml └── src │ ├── PID_attitude_controller.cc │ └── PID_attitude_controller_node.cc └── mav_nonlinear_mpc ├── CMakeLists.txt ├── cfg └── NonLinearMPC.cfg ├── cmake └── FindOpenBLAS.cmake ├── include └── mav_nonlinear_mpc │ ├── nonlinear_mpc.h │ └── nonlinear_mpc_node.h ├── launch ├── mav_nonlinear_mpc.launch └── mav_nonlinear_mpc_sim.launch ├── package.xml ├── resources ├── nonlinear_mpc_firefly.yaml ├── nonlinear_mpc_hummingbird.yaml └── nonlinear_mpc_neo11.yaml ├── solver ├── Makefile ├── acado_auxiliary_functions.c ├── acado_auxiliary_functions.h ├── acado_common.h ├── acado_integrator.c ├── acado_qpoases_interface.cpp ├── acado_qpoases_interface.hpp ├── acado_solver.c ├── acado_solver_mex.c ├── make_acado_solver.m ├── nmpc_solver_setup.m ├── qpoases │ ├── EXAMPLES │ │ ├── example1.cpp │ │ └── example1b.cpp │ ├── INCLUDE │ │ ├── Bounds.hpp │ │ ├── Constants.hpp │ │ ├── Constraints.hpp │ │ ├── CyclingManager.hpp │ │ ├── EXTRAS │ │ │ └── SolutionAnalysis.hpp │ │ ├── Indexlist.hpp │ │ ├── MessageHandling.hpp │ │ ├── QProblem.hpp │ │ ├── QProblemB.hpp │ │ ├── SubjectTo.hpp │ │ ├── Types.hpp │ │ └── Utils.hpp │ ├── LICENSE.txt │ ├── README.txt │ ├── SRC │ │ ├── Bounds.cpp │ │ ├── Bounds.ipp │ │ ├── Constraints.cpp │ │ ├── Constraints.ipp │ │ ├── CyclingManager.cpp │ │ ├── CyclingManager.ipp │ │ ├── EXTRAS │ │ │ └── SolutionAnalysis.cpp │ │ ├── Indexlist.cpp │ │ ├── Indexlist.ipp │ │ ├── MessageHandling.cpp │ │ ├── MessageHandling.ipp │ │ ├── QProblem.cpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.cpp │ │ ├── QProblemB.ipp │ │ ├── SubjectTo.cpp │ │ ├── SubjectTo.ipp │ │ ├── Utils.cpp │ │ └── Utils.ipp │ └── VERSIONS.txt └── test.c ├── solver_made_from_cpp ├── CMakeLists.txt ├── README.md ├── cmake │ └── FindACADO.cmake ├── nmpc_solver_setup.cpp └── qpoases │ ├── 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