Horatio

• WIP Control system for propulsive landing - to be paired with controller physics model repo.

Current control architecture

• Multiphase Successive convexification MPC -> kalman disturbance filtering tracking MPC -> PID actuators

Current relight method

• To allow optimal relight solving whilst remaining a convex optimisation process a multiphase temporal dialation approach has been taken.

Next changes

• Implementing a finite state machine for KDF MPC layer to allow parameter changes across phases

• Integrate dynamics model into MPC controllers, can only be done when the dynamics model is complete

• Cleaning code and optimisation in heavy areas

• integrate sensor models and EKF built by electronics into the loop

• Allow interfacing with real hardware (PWM signals for servos)

• Implement control logic into simulink for testing