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darnstrom merged 1 commit into from
May 4, 2026
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Update crazyflie example #104

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100 changes: 65 additions & 35 deletions src/mpc_examples.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -449,39 +449,69 @@ function _build_mpc_example(::Val{:ballplate}, Np, Nc; settings=nothing, kwargs.
end

function _build_mpc_example(::Val{:crazyflie}, Np, Nc; settings=nothing, kwargs...)
F = [1.0 0.0 0.0 0.0000000 0.0009810 0.0000000 0.0100000 0.0000000 0.0000000 0.0000000 0.0000016 0.0000000;
0.0 1.0 0.0 -0.0009810 0.0000000 0.0000000 0.0000000 0.0100000 0.0000000 -0.0000016 0.0000000 0.0000000;
0.0 0.0 1.0 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0100000 0.0000000 0.0000000 0.0000000;
0.0 0.0 0.0 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0050000 0.0000000 0.0000000;
0.0 0.0 0.0 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0050000 0.0000000;
0.0 0.0 0.0 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0050000;
0.0 0.0 0.0 0.0000000 0.1962000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0004905 0.0000000;
0.0 0.0 0.0 -0.1962000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 -0.0004905 0.0000000 0.0000000;
0.0 0.0 0.0 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000;
0.0 0.0 0.0 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000;
0.0 0.0 0.0 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000;
0.0 0.0 0.0 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000]
G = [-0.0000011 0.0000012 0.0000011 -0.0000012;
0.0000011 0.0000012 -0.0000011 -0.0000012;
0.0002102 0.0002102 0.0002102 0.0002102;
-0.0068839 -0.0075809 0.0068916 0.0075732;
-0.0069177 0.0076070 0.0069392 -0.0076285;
0.0004937 -0.0001806 -0.0006961 0.0003830;
-0.0004524 0.0004975 0.0004538 -0.0004989;
0.0004502 0.0004958 -0.0004507 -0.0004953;
0.0420429 0.0420429 0.0420429 0.0420429;
-2.7535461 -3.0323404 2.7566264 3.0292601;
-2.7670702 3.0427842 2.7756950 -3.0514090;
0.1974771 -0.0722364 -0.2784376 0.1531969]

Q = 1 ./ ([0.1; 0.1; 0.1; 0.5; 0.5; 0.03; 0.5; 0.5; 0.5; 0.7; 0.7; 0.2].^2)
R = 1 ./ (([0.5; 0.5; 0.5; 0.5] / 6).^2)
Ts = 1e-2
u0 = [0.5833333520642209, 0.5833333520642209, 0.5833333520642209, 0.5833333520642209]

mpc = MPC(F, G; Ts, Np, Nc)
set_bounds!(mpc, umin = -u0, umax = ones(4) - u0)
set_objective!(mpc; Q, R, Rr = 0)
mass = get(kwargs, :mass, 0.035)
arm_length= get(kwargs, :arm_length, 0.046/1.414213562)
J = get(kwargs, :J,[1.66e-5 0.83e-6 0.72e-6;
0.83e-6 1.66e-5 1.8e-6;
0.72e-6 1.8e-6 2.93e-5])
thrustToTorque = get(kwargs,:thrustToTorque, 0.0008)
kt = get(kwargs,:kt, 2.245365e-6*65536) #thrust coefficient (PWM scale: 2^16-1)

diagonal_intertia = get(kwargs,:diagonal_intertia,true)
diagonal_intertia && (J=Diagonal(J))

g = 9.81
km = kt*thrustToTorque # moment coefficient

function cf_dynamics(x,u,d)
# auxiliary functions
hat(v) = [0 -v[3] v[2];v[3] 0 -v[1];-v[2] v[1] 0]
L(q) = [q[1] -q[2:4]'; q[2:4] q[1]*I+hat(q[2:4])]
T = cat(I(1),-I(3),dims=(1,2))
H = [zeros(1,3); I]
qtoQ(q) = H'*T*L(q)*T*L(q)*H

# Extract states
r = x[1:3]
q = x[4:6]
v = x[7:9]
ω = x[10:12]

qe = [1-q'*q;q] # true quaternion
Q = qtoQ(qe)

ṙ = v
q̇ = 0.5*L(qe)*H*ω

v̇ = [0; 0; -g] + (1/mass)*Q*[zeros(2,4); kt*ones(1,4)]*u

Cu = [(arm_length*kt)*[-1 -1 1 1; -1 1 1 -1]; km*[-1 1 -1 1]];
ω̇ = J\(-hat(ω)*J*ω + Cu*u)

return [ṙ; q̇[2:4]; v̇; ω̇]
end

# Steady state when hovering
x0 = zeros(12)
u0 = (mass*g/kt/4)*ones(4)

# Start setting up MPC
Ts = get(kwargs,:Ts,1/500)
model = LinearMPC.Model(cf_dynamics,(x,u,d)->x,x0,u0,Ts)

mpc = LinearMPC.MPC(model;Np,Nc);
mpc.settings.reference_tracking = false;

Q =[156.25, 156.25, 400, # position
2.777778, 2.777778, 1111.11111, #angle
4,4,4, # velocity
4,4,25] # angular velocity
R = 50*[1,1,1,1]
set_objective!(mpc;Q=Q,R=R, Rr=0);

set_bounds!(mpc,umin = zeros(4), umax=ones(4));
set_terminal_cost!(mpc);
set_prestabilizing_feedback!(mpc);

if isnothing(settings)
mpc.settings.reference_tracking = false
Expand All @@ -490,8 +520,8 @@ function _build_mpc_example(::Val{:crazyflie}, Np, Nc; settings=nothing, kwargs.
end

range = ParameterRange(mpc)
range.xmax[:] .= 5
range.xmin[:] .= -5
range.xmax[:] .= 1
range.xmin[:] .=-1

x0 = zeros(12)
x0[4] = 0.1
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