PX4 MPC Offboard Control

Model Predictive Control (MPC) based offboard controller for PX4 autopilot via MAVROS.

Features

• ✅ Pure MPC implementation with quadratic programming (QP) solver
• ✅ MAVROS interface (works with Pixhawk 1/2/4 without uXRCE-DDS)
• ✅ Attitude + thrust control (no PX4 position controller)
• ✅ Waypoint following with custom publisher
• ✅ Data logging for analysis
• ✅ Tested on hardware (Pixhawk + GPS)

Dependencies

ROS2 Packages

sudo apt install ros-humble-mavros ros-humble-mavros-extras