"Flip into the future": I've designed a NMPC to execute a flip maneuver with a simulated multicopter (16 motors, 800 kg).
The simulation is drawing the prediction horizon in blue (this is a bit jumpy as the flip has three different stages: climb, flip and return to home). pic.twitter.com/wNEzS8QL2f

— Jan Zwiener (@jnz_jan) March 24, 2024