TinyMPC Crazyflie

main ships a single supported out-of-tree controller: apps/controller_tinympc_eigen.

The experimental task-based and PSD obstacle-avoidance controller has been split out of the default path. Preserve or continue that work on the research/eigen-task-psd branch instead of main.

Build The Supported Controller

1. Clone the repository with submodules:

git clone --recursive git@github.com:A2R-Lab/tinympc-crazyflie.git
cd tinympc-crazyflie

2. Build from the controller app directory, not from the repository root:

cd apps/controller_tinympc_eigen
make clean
make

3. Flash from the same directory:

CLOAD_CMDS="-w radio://0/80/2M/E7E7E7E7E7" make cload

Notes

• controller_tinympc_eigen is the supported controller on main.
• The controller build wraps the Crazyflie firmware build system automatically.
• On macOS, the app Makefile auto-detects GNU coreutils and gnu-sed shims when Homebrew provides them.
• Trajectory playback in controller_tinympc_eigen is controlled by the compile-time en_traj flag in src/controller_tinympc.cpp.