Importing external MPC library

[zafer4481]

Hi I'm implementing an onboard MPC controller. For this I would like to make use of an external library to solve some optimization problems:

https://github.com/osqp/osqp

Does anyone one know how I could integrate this library with the crazyflie firmware? Such that I can make use of these solver functions in combination with the controller of the crazyflie (especially in stabilizer.c)

[krichardsson]

I think you can use ibdw1000 as a template, search for it in the source tree

1. Make sure the files are in the file tree. One option is to copy them into a directory somewhere, the other is to use git submodules (see https://git-scm.com/book/en/v2/Git-Tools-Submodules)
2. Make header files are available to the compiler by modifying https://github.com/bitcraze/crazyflie-firmware/blob/master/Makefile#L46
3. Tell Kbuild which files to compile by modifying or adding Kbuild files. If you add the lib to the vendor directory using git submodules, you should add the files in https://github.com/bitcraze/crazyflie-firmware/blob/master/vendor/Kbuild