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License: Other
NMPC system for UAV control
License: Other
Currently the maximum number of iterations for qpDUNES is set to 100. Currently, the first iteration takes around 15, and each successive iteration takes around 3. However, for a particularly demanding or unachievable reference trajectory, it may use all 100 iterations before giving up, leading to potentially very non-deterministic calculation times.
Currently there's no limit to the rate of change of calculated control inputs. It shouldn't be a problem when everything's behaving normally, but it would help the solver take things like throttle ramp rates into account to improve the solution, and would add an extra safeguard against uncontrolled oscillation if the QP is unable to be solved for whatever reason.
It would be good to be able to specify constraints as non-linear functions of the state and control vectors. However, qpDUNES documentation seems to suggest that this isn't supported at the moment.
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