Consume calibrated STDC danger maps

.gitignore

@@ -3,3 +3,9 @@ build/
 *.tmp
 *.o
 *:Zone.Identifier
+.DS_Store
+__pycache__/
+*.py[cod]
+.cf_cache/
+apps/controller_tinympc_eigen/sim_runs/
+apps/controller_tinympc_eigen/tools/debug_runs/

.gitmodules

@@ -3,7 +3,7 @@
 	url = https://gitlab.com/libeigen/eigen.git
 [submodule "TinyMPC"]
 	path = TinyMPC
-	url = https://github.com/moisesmata/TinyMPC
+	url = https://github.com/TinyMPC/TinyMPC.git
 [submodule "crazyflie-firmware"]
 	path = crazyflie-firmware
-	url = https://github.com/moisesmata/crazyflie-firmware.git
+	url = https://github.com/cookacola/crazyflie-firmware.git

apps/controller_tinympc_eigen/.gitignore

@@ -1,3 +1,4 @@
 bin/*
 cf2.*
 build/*
+.cf_cache/

apps/controller_tinympc_eigen/Makefile

@@ -38,6 +38,37 @@ EXTRA_CFLAGS += -DEIGEN_INITIALIZE_MATRICES_BY_ZERO
 EXTRA_CFLAGS += -DEIGEN_NO_MALLOC
 EXTRA_CFLAGS += -DNDEBUG
 EXTRA_CFLAGS += -Wno-unused-result
+# The capture-time state channel uses a dedicated UART1 DMA sender task.
+EXTRA_CFLAGS += -DENABLE_UART1_DMA
+
+# Select the compiled stored reference.  The default remains the conservative
+# circle; the four acrobatic choices enable reference-centered quaternion-error
+# TinyMPC and include per-motor feedforward in the trajectory header.
+TINYMPC_TRAJECTORY ?= circle
+TINYMPC_STORED_LTV ?= 0
+ifeq ($(TINYMPC_TRAJECTORY),roll_flip_360)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_ROLL_FLIP_360=1
+else ifeq ($(TINYMPC_TRAJECTORY),front_flip_360)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_FRONT_FLIP_360=1
+else ifeq ($(TINYMPC_TRAJECTORY),backflip_360)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_BACKFLIP_360=1
+else ifeq ($(TINYMPC_TRAJECTORY),barrel_roll_forward_360)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_BARREL_ROLL_FORWARD_360=1
+else ifeq ($(TINYMPC_TRAJECTORY),straight)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_STRAIGHT=1
+else ifeq ($(TINYMPC_TRAJECTORY),figure8)
+EXTRA_CFLAGS += -DTINYMPC_TRAJECTORY_FIGURE8=1
+else ifneq ($(TINYMPC_TRAJECTORY),circle)
+$(error Unsupported TINYMPC_TRAJECTORY '$(TINYMPC_TRAJECTORY)')
+endif
+ifeq ($(TINYMPC_STORED_LTV),1)
+ifeq ($(TINYMPC_TRAJECTORY),circle)
+$(error TINYMPC_STORED_LTV=1 requires an acrobatic TINYMPC_TRAJECTORY)
+endif
+EXTRA_CFLAGS += -DTINYMPC_USE_STORED_LTV=1
+else ifneq ($(TINYMPC_STORED_LTV),0)
+$(error TINYMPC_STORED_LTV must be 0 or 1)
+endif
 #
 # We override the default OOT_CONFIG here, we could also name our config
 # to oot-config and that would be the default.
@@ -47,3 +78,8 @@ OOT_CONFIG := $(CURDIR)/app-config
 OOT_USES_CXX := 1
 
 include $(CRAZYFLIE_BASE)/tools/make/oot.mk
+
+# The upstream OOT `cload` target only transfers the existing binary.  Make
+# flashing safe after a source update: build the app first so `make cload`
+# cannot silently reinstall a stale cf21bl.bin lacking new parameters/logs.
+cload: all

apps/controller_tinympc_eigen/README.md

@@ -1,18 +1,50 @@
 # TinyMPC Eigen Controller
 
-This is the supported out-of-tree TinyMPC controller on `main`.
+This is the supported out-of-tree TinyMPC controller on `main`. It has been further modified to use Nanocockpit's aideck drivers to facilitate better communication with the aideck and aid in vision tasks.
 
 ## Build
 
 Run the build from this directory:
 
+Note: In order to use the new drivers, you must set `CONFIG_DECK_AI=n` in your app's app-config/oot-config to dropthe old aideck.c and CPX from the build. The old CPX protocol will no longer work as communication between STM and GAP8.
+
 ```bash
 make clean
 make
 ```
 
 The generated firmware artifacts are written to `build/`.
 
+## Generate TinyMPC firmware parameters
+
+The controller consumes a fixed-size specialization generated from the current
+upstream TinyMPC checkout. `TinyMPC` at the repository root must point to that
+checkout, and Python must have `autograd` and `numpy` installed.
+
+From `apps/controller_tinympc_eigen`, run:
+
+```bash
+python3 tools/firmware_codegen/tinympc_to_crazyflie_adapter.py
+make
+```
+
+The adapter prompts for the Crazyflie type, attached decks, propeller guards,
+horizon, model timestep, solve rate, ADMM iteration cap, half-space capacity,
+and constrained portion of the horizon. Press Enter to accept any displayed
+default. It then:
+
+1. builds and linearizes the selected Crazyflie dynamics with Autograd;
+2. calls current TinyMPC through `tools/firmware_codegen/tinympc_cpp_bridge.cpp` to precompute
+   the Riccati and affine caches; and
+3. writes `src/tinympc_generated_params.h` for the STM32 build.
+
+The generated header is the source of truth for the runtime horizon, prediction
+timestep, solve rate, iteration cap, A/B/f model, Q/R costs, bounds, hover input,
+and solver caches. Do not edit it manually. Regenerate it whenever the vehicle
+configuration or solver parameters change, then rebuild and check the reported
+flash/RAM use before flying. The embedded half-space store supports at most 25
+horizon knots; the adapter rejects larger configurations.
+
 ## Flash
 
 ```bash
@@ -23,4 +55,100 @@ CLOAD_CMDS="-w radio://0/80/2M/E7E7E7E7E7" make cload
 
 - The controller uses the Crazyflie out-of-tree app/controller build flow.
 - `en_traj` in `src/controller_tinympc.cpp` is a compile-time flag, not a runtime Crazyflie parameter.
-- On `main`, `en_traj` defaults to `false`, so the controller follows commander/setpoints unless you explicitly turn the baked trajectory back on in source.
+- On `main`, `en_traj` currently defaults to `true`, so the compiled trajectory
+  is active after the controller handoff. Set it to `false` in source when the
+  controller should follow commander/setpoints instead.
+
+### Local MPC frame
+
+Each solve uses a local NWU frame anchored at the current position and yaw.
+States, references, and obstacle planes are transformed into this frame. The
+ordinary racing path sends TinyMPC's first optimized input directly to the
+motors. Acrobatic stored-LTV builds do the same; there is no secondary
+attitude, rate, or position controller.
+Trajectory headers store:
+
+```text
+[p_W(3), q_WB(wxyz), v_W(3), omega_B(3)]
+```
+
+The quaternion is converted to local Rodrigues coordinates for the 12-state
+MPC. Reference yaw is derived and unwrapped online from the quaternion sequence.
+Regenerate the headers with:
+
+```bash
+python3 tools/firmware_codegen/generate_crazyflie_trajectory.py
+```
+
+### Acrobatic TinyMPC build
+
+The roll and flip trajectories use a reference-centered quaternion-error chart,
+stored per-motor command feedforward, and horizon-wise offline LTV matrices.
+The LTV state is the 12-state tracking error plus four normalized rotor-RPM
+errors. It includes the measured 64.9 ms rotor response, RPM-to-thrust/torque
+curves, and the firmware's nominal Crazyflie inertia. TinyMPC runs at
+50 Hz with the usual 20-knot horizon and five ADMM iterations, then sends all
+four optimized motor commands directly to PWM. No online relinearization,
+Riccati pass, or high-rate corrective cascade is used.
+
+```bash
+python3 tools/pybullet_simulation/generate_acrobatic_trajectories.py \
+  --firmware-header-dir src/trajectories/50hz
+make TINYMPC_TRAJECTORY=roll_flip_360 TINYMPC_STORED_LTV=1
+# Substitute front_flip_360, backflip_360, or barrel_roll_forward_360.
+```
+
+Regenerate one fully offline trajectory-linearized model sequence with:
+
+```bash
+python3 tools/pybullet_simulation/generate_stored_ltv.py \
+  sim/trajectories/acrobatics/roll_flip_360.csv \
+  --out sim_runs/stored_ltv_models/roll_flip_360.npz \
+  --firmware-header src/trajectories/50hz/ltv/stored_ltv_roll_flip_360_50hz.h
+make TINYMPC_TRAJECTORY=roll_flip_360 TINYMPC_STORED_LTV=1
+```
+
+Omitting `TINYMPC_STORED_LTV=1` deliberately selects the original 12-state
+fixed hover matrices and is retained as a negative-control build.
+
+The generator performs nonlinear differentiation and the time-varying Riccati
+pass on the host. Firmware only indexes stored `A/B/affine/P_affine/K/Hinv` data; it
+never relinearizes, factors a Hessian, or runs a Riccati recursion onboard.
+
+Run the stressed headless validation before producing firmware:
+
+```bash
+python3 tools/pybullet_simulation/run_acrobatic_suite.py \
+  --out sim_runs/tier3_tinympc_suite --controller tinympc-acro \
+  --profile realistic-v1 --overwrite
+```
+
+Plain `make` still selects the conservative circle trajectory. The acrobatic
+build is experimental and must be validated on a restrained test stand before
+free flight. A current stationary-flip image uses about 79% flash, 87% RAM,
+and 85% CCM; the longer barrel-roll image is close to the flash limit.
+
+### Independent CrazySim/MuJoCo validation
+
+For a second physics implementation that executes this controller inside the
+Crazyflie firmware SITL, use the repository-local CrazySim harness:
+
+```bash
+tools/crazysim_mujoco/run.sh \
+  --trajectory backflip_360 \
+  --stored-ltv 1 \
+  --out apps/controller_tinympc_eigen/sim_runs/crazysim/backflip_ltv \
+  --overwrite
+```
+
+It pins and patches its dependency under `tools/crazysim_mujoco/.deps`, builds
+in Docker, and writes MuJoCo ground truth, controller logs, crash metrics, and a
+four-panel validation plot. The harness couples the POSIX firmware tick to the
+measured physics rate and rejects timing-invalid runs. The revised backflip
+passed three clock-valid clean repetitions plus individual sensor-noise and
+Flow-deck trials. A severe combined plant/estimator/weather stress completes
+without contact from 2.0 m, although its lateral drift remains too large for
+racing. The fixed hover-matrix negative control crashes without completing the
+rotation. See
+`docs/crazysim_direct_motor_robustness_2026-08-19.md` for the results and
+`tools/crazysim_mujoco/README.md` for the fidelity boundary.