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           _    _     ______    _____    ______   
    ___   | || | ||  /_   _//  |  ___|| |      \\ 
   /   || | || | ||  `-| |,-   | ||__   |  --  // 
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   \__ ||  \____//     |_||    |_____|| |______// 
    -|_||   `---`      `-`'    `-----`  `------`  
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Text this: An MPC-based position controller for a tilt-rotor tricopter VTOL UAV