Migrating to new firmware #3
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- Define NHORIZON locally to avoid dependency issues - Remove half-space constraint code causing undefined behavior - Pass 0 for unused state constraint slacks in TinyMPC init - Set en_traj=false for hover mode, en_cstr_states=0, max_iter=2 - Simplified to match proven working old controller structure
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End-to-end TinyMPC for hover and figure-8