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Welcome to the crazyflie_nmpc wiki!
This ROS stack contains the implementation of an efficient position controller for the Crazyflie 2.1 based on real-time NMPC with time-delay compensation and bounds enforcement on the actuators. Due to the limited computational resources onboard, an offboard control architecture is proposed. It is implemented using the recently released high-performance software package acados, which exploits the real-time iteration (RTI) scheme with Gauss-Newton Hessian approximation. The quadratic problems (QPs) arising in the NMPC formulation are solved with HPIPM, an interior-point method solver, built upon the linear algebra library BLASFEO, hand-optimized for the multiple CPU architectures.
Disclaimer: This stack is for use with the real Crazyflie only. There is no support for simulation.