Yang, this is really well done. I work with Rust and robotics all day, and would have never imagine seeing all this in one file. It is a great learning tool. If you complete the MPC controller it can also be a great learning tool for training AI pilots.
Do you have some suggestion for me to complete the MPC controller? Anything can help! For example: reference rust repo, optimization engine, optimization algorithm (linear / nonlinear). For nonlinear I am deciding between panoc and admm.
It is hard to demonstrate MPC in a simplistic way, but I want to take the challenge!
