Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Test mpc on an MCU #42

Merged
merged 14 commits into from
Apr 11, 2019
Merged

Test mpc on an MCU #42

merged 14 commits into from
Apr 11, 2019

Conversation

avikde
Copy link
Owner

@avikde avikde commented Apr 11, 2019

To test performance

@avikde
Copy link
Owner Author

avikde commented Apr 11, 2019 •
edited
Loading

Doesn't look good so far.

  • picked the mpc quadrotor example, and it doesn't solve and reaches max
  • 4 iters takes about 440 ms in debug mode, 2 iters 220 ms, etc.
  • N=5 2 iter 124 ms, 4 iter 216 ms
  • fPIC caused a hard fault

Actual hover problem:

  • 4 iter: 149ms, 10 iter: 339 ms, 30 iter: 811ms (25 iter solved inaccurate)

@avikde
Copy link
Owner Author

avikde commented Apr 11, 2019

Conclusion: ~10-100x realtime with debug code.

@avikde avikde merged commit 0597b10 into master Apr 11, 2019
@avikde avikde deleted the codegen branch April 11, 2019 14:47
This was referenced Apr 17, 2019
Merged
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
1 participant
@avikde