Control
in the loop.

Ten gates. Endless laps.
An FPV quad with control in the loop.

SPEED0.0 m/s

LAP1

GATE1 / 10

TIME0.00 s

BEST—

MPC SOLVE—

Loading physics…

GIVE IT A PUSH

Flight pathsreferenceactualprediction

Diagnostics & control pipeline

Offline spline → 25 Hz tracking MPC → 125 Hz geometric flight controller → rotor mixer → 250 Hz MuJoCo

Waiting for measurements…

Collisions 0 · Resets 0

Timings measure this device. Lap time uses simulation time; a slow device may run below real time.

W/S forward/back · A/D bank & turn · Q/E rotate
Shift+A/D strafe · R/F altitude
Space pause · Backspace reset

ALTITUDE / YAW

FORWARD / TURN

Starting MuJoCo physics…

Controlin the loop.