Quadrotor SO(3) MPC — Fatrop in WASM
sim time s
tilt°
|p| m
|v| m/s
|ω| rad/s
solve ms
control25 Hz · sim 50 Hz
push0.0 N
loading solver…
⚙ parameters
Left-drag on the quad to push it where you grab it — an off-center grab also spins it.
Shift+left-drag to spin it hard (drag ↔ yaw, ↕ roll).
Right-drag orbit · scroll zoom · R reset · or use the buttons below
Controller + rigid-body sim run entirely client-side (Emscripten/WASM).
drag the drone to push · 1 finger = orbit · pinch = zoom