The code in mav_nonlinear_mpc/solver_using_cpp can be used to replace the folder mav_nonlinear_mpc/solver and you can rebuild the NMPC without matlab and it will work on both ubuntu 14 and 16. Follow the instructions in the attached readme in the top of this new folder how to setup and generate the controller.
Looks good, thanks.
I think you need to generate the new solver under solver directory, then it can be used directly by the controller without the need of modifying he main CMakeLists.
The code in mav_nonlinear_mpc/solver_using_cpp can be used to replace the folder mav_nonlinear_mpc/solver and you can rebuild the NMPC without matlab and it will work on both ubuntu 14 and 16. Follow the instructions in the attached readme in the top of this new folder how to setup and generate the controller.