  This paper presents a method for path-following for quadcopter trajectories
in real time. Non-Linear Guidance Logic is used to find the intercepts of the
subsequent destination. Trajectory tracking is implemented by formulating the
trajectory of the quadcopter using its jerk, in discrete time, and then solving
a convex optimization problem on each decoupled axis. Based on the maximum
possible thrust and angular rates of the quadcopter, feasibility constraints
for the quadcopter have been derived. In this report we describe the design and
implementation of explicit MPC controllers where the controllers were executed
on a computer using sparse solvers to control the vehicle in hovering flight.
