hkpolyu-uav/qr_mpc

qr_mpc's Issues

The param for mpc

Hi, I ran your code and I noticed that there is a large tracking error when the speed is faster, what should I do to reduce the error? I also found that the value of the matrix q related to u is very large, I think the value of q should be smaller than p, but when I change q to smaller the drone can't be controlled well, why is that?

no include file

when I change the 18th line in CMakeLists.txt of qr_mpc, I can't find "include" in "acados".And when I catkin_make,the errors always are "couldn't find the h file",such as "60 | #include "acados/ocp_nlp/ocp_nlp_constraints_common.h"

Please help me,I really really need your help.

Sorry!! I encountered a new problem！

Sorry, I encountered another error during catkin_make, as follows: fatal error: quadrotor_model/quadrotor_model.h. Then I returned to CMakeLists.txt to check. According to the content of line 20, I did not find quadrotor_model.h under the quadrotor_model file. .And I reinstalled qr_mpc and followed the tutorial again, but the problem still exists. I wonder if it is because of the "python3 generate_c_code.py" command. After execution, the quadrotor_model.h is not generated in the quadrotor_model folder under scripts.

Sorry to bother you again, looking forward to your reply.Please!!!