Changes left on Teacher Computer after completetion of thesis, this commit was performed by Paul.

pps_ws/src/d_fall_pps/param/Crazyflie.db

-1,PPS_CF01,0/0/2M/E7E7E7E701,0,-0.62,-0.63,-0.2,0.7,0.83,1.2
+1,PPS_CF02,0/8/2M/E7E7E7E702,0,-1.11,-1.09,-0.2,5.14,1.05,1.2

pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp

@@ -202,7 +202,7 @@ VectorXtype x0;
 
 std::mutex MPC_mutex;
 
-int N = 10;
+int N = 2;
 
 
 // ROS Publisher for debugging variables
@@ -521,8 +521,8 @@ void do_MPC(int* publish_rate)
         MPC_mutex.unlock();
 
         // Do the MPC step:
-        // U_0 = mympc_varying_another_ADP(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
-        U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
+        U_0 = mympc_varying_another_ADP(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
+        // U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
         VectorUtype u = U_0.tail(4); // this is the input to apply next
 
         // prediction of next N states: