Add catapult MPC and controller class
We want to shoot with the MPC, but we want to decelerate and reset with
a more traditional controller. So, transition to the MPC, and back to a
profiled subsystem.
This makes some tweaks to the solver to get it to converge more
reliably. There's apparently a scale factor which was scaling down the
cost matrices based on the initial p matrix, causing it to not solve
reliably... Good fun.
Change-Id: I721eeaf0b214f8f03cad3112acbef1477671e533
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/third_party/osqp/include/glob_opts.h b/third_party/osqp/include/glob_opts.h
index e2b5b24..7a22848 100644
--- a/third_party/osqp/include/glob_opts.h
+++ b/third_party/osqp/include/glob_opts.h
@@ -144,7 +144,7 @@
# include <R_ext/Print.h>
# define c_print Rprintf
# else /* ifdef MATLAB */
-# define c_print printf
+# define c_print(...) fprintf(stderr, __VA_ARGS__)
# endif /* c_print configuration */
/* error printing function */