You can find more detailed info on the opensource repos for PX4 and Zephyr and Cognipilot model predictive control.
https://docs.px4.io/main/en/flight_controller/nxp_mr_vmu_rt1176.html
https://docs.zephyrproject.org/latest/boards/nxp/vmu_rt1170/doc/index.html
https://github.com/CogniPilot/cerebri/tree/67a15513df0f27fc04706473b949f2242496138c/app/rdd2
(Note Cognipilot Brave Bennu is in pre-release pending high speed IMU data enablement in Zephyr. The Stub to current code that works with the Reference drone "rdd" is here. Follow the same installation instructions as MR-B3RB but select RDD as platform to model)
https://brave.cognipilot.org/cerebri/boards/nxp_vmu_rt1170/
