Jaeyoung Lim

@brunopinto900 I have been wanting to add a model predictive controller to this repo, but haven't had time yet. It would definitely be very interesting if we can have more...

@brunopinto900 The PR got stale while the rest of the code progressed :smile: Also I didn't need it therefore, the code just got obsolete

@brunopinto900 Why not :wink:

@brunopinto900 Yes, it was working are you using the PR branch directly? A lot have changed since then in both the simulation side and px4

@brunopinto900 I don't remember anymore. We would have to fix it if it is unstable :smile:

@shubham-shahh Do you have a log? I suspect it has something to do with the feedforward references that is being passed

@shubham-shahh When passing a trajectory to the controller, normally it is better to send velocity, acceleration alongside the position so that the controller can deal with setpoints changing dynamically. It...

@shubham-shahh Have you tried removing yaw and yaw rate?

> Hi @Jaeyoung-Lim, I tried your suggestion and turned off yaw and yaw rate, it worked fine but that is not the desired behaviour, since copter's heading plays a vital...

@shubham-shahh Sorry for the late reply, I think the current implementation of this repo assumes that you have either a yaw rate reference or a yaw reference. You can also...