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

Please check README.md in each folder

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