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This repository contains a library for Model Predictive Control (MPC) using an affine model and the OSQP solver.

PX4 Autopilot Software

A C++ driver to read UBLOX packets

Project to build collision avoidance using velocity obstacles in C++.

Generate a smooth trajectory using a set of basis functions.

Research code for simulating vtol uavs

Whirlybird lab student solution templates

Matlab, Simulink, and Python solutions to example case studies A, B, and C from the control book.

VRPN ROS2 Client

This project generates uniform B-splines in python. Both clamped and open uniform B-splines. The matrix method is used for B-splines up to the fifth order (or degree), which enables rapid evaluation. This also computes the analytical derivatives.

Infrastructure ROS packages for the hummingbird