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Created with Raphaël 2.2.02May130Apr27262524232019181716131092Mar22Feb10Jan8629Dec2827262218161054130Nov292726242322211918171512111095432131Oct2825232218171310927Sep2621201987654129Aug28252422211716151420Jun19986130May29262423221918161512118542128Apr27Started adding input constraintsFixed some bugs: U_tray was not correctly updated. Added saturation. Change of setpoint correct sign now.fixed setpoint problem, everything prepared for first unbounded MPC trialadded measurement of time, rmoved debugging promptsFixed some small bugs, tested loop with only first MPC step, result is the same as with MATLABLoop is closed now. Need to test it and properly update x0 with the setpointadded MPC variables initializationAdded QShortcut header to GUIscommented a bit for future workAdded wrapper function, cleaned, C gurobi interface ready for next stepsAdded motors off and crtl C to close to both GUIs, needs testingFinally, first working version of GUROBI solving the opt problem as Matlab doesadded different trials to solve a simple QP. Having problems and do not know whyFirst draft of trying to shape the problem as gurobi input in Cadded C libraries gurobi. Tested with dummy exampleAdded first part of unconstrained MPC. Need to try it feeding it to gurobiadded funRbar and funQbar. Testedadded funSxSuSg_varying_affineMade Eigen optional in CmakeListadded euler method function, also testedAdapted CMakeList to onlz compile ViconDataPublisher when the DataStreamSDK library is availableMerge branch 'demo_controller' of https://gitlab.ethz.ch/D-FaLL/PandS-System/D-FaLL-System into demo_controllerStarted on making the Parameter Service more generic, compiled and tested, still needs full implementaitonadded a lot of matrix functions that linearize/discretize/form the matrices linearized along a trayectory. Need to do next the SxSuSg functionfirst implementation of MPC function with eigen: linearization_fast_euler_6_statesMerge branch 'MPC_dev' into demo_controllerSystem prepared to start developing MPC controller. Included estimation part and crazyflie_angle_mode part. Need to clean a bit and test it in the real system, but it should workstarted changes in MPC controllerRenamed the pps_install and pps_wiki foldersAdded and connected setpoint changes for demo,student,mpc controllersMerge branch 'MPC_dev' into demo_controllerAdded switching between four controller to PPSClientConnected all four controller (safe,demo,student,mpc) to the parameter serviceRemoved coordinator GUI due to decision to change coordinator architectureUpdated student GUI code for the new enable and load yaml buttonsSmall error in student GUI .ui fileAdded enable and load yaml buttoms to guiAdded Student and MPC yaml to Parameter ServiceAdded Eigen library to CMakeLists.txt It needs to be installed before handAdded a nodes folder in the src and inlcude folder