RoboticExplorationLab / mcu-solver-benchmarks

Benchmarking solvers on microcontrollers (MCU), within TinyMPC project

mcu-solver-benchmarks

Benchmarking solvers on microcontrollers (MCU), within TinyMPC project

Installation

• Python >= 3.9
• OSQP v1 from source
• CVXPYGEN
• CVXGEN
• PlatformIO as VSCode extension

How to use

1. Move to qp_mpc_problem dir
2. Config and run gen_mpc_problem.py
3. Config and run move_to_mcu_dir.py
4. Upload and run the program with your MCU via PlatformIO

Ready-to-run program

• Problem
  • Random QP-MPC with input constraints
  • Safety filter
  • Rocket landing
• Solver
  • HPIPM (safety filter/random QP-MPC)
  • OSQP (safety filter/random QP-MPC)
  • ECOS (all problems)
  • SCS (all problems)
  • TinyMPC (all problems)
• MCU
  • STM32 (Adafruit feather board)
  • Teensy