control-toolbox · ocots · Aug 29, 2025 · Aug 29, 2025 · Aug 29, 2025 · Aug 29, 2025
diff --git a/docs/src/tutorial-solve.md b/docs/src/tutorial-solve.md
@@ -148,7 +148,7 @@ for i in 1:n # state
 end
 
 for i in 1:n # costate
-    plot!(plt[n+i], t, t -> p(t)[i]; color=2, linestyle=:dash, label=:none)
+    plot!(plt[n+i], t, t -> -p(t)[i]; color=2, linestyle=:dash, label=:none)
 end
 
 for i in 1:m # control

diff --git a/ext/Descriptions/quadrotor.md b/ext/Descriptions/quadrotor.md
diff --git a/ext/JuMPModels/quadrotor.jl b/ext/JuMPModels/quadrotor.jl
diff --git a/ext/MetaData/quadrotor.jl b/ext/MetaData/quadrotor.jl
diff --git a/ext/OptimalControlModels/quadrotor.jl b/ext/OptimalControlModels/quadrotor.jl
diff --git a/test/Project.toml b/test/Project.toml
@@ -14,6 +14,7 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 [compat]
 Aqua = "0.8"
 CTBase = "0.16"
+CTDirect = "0.16"
 Interpolations = "0.15, 0.16"
 Ipopt = "1"
 JuMP = "1"

diff --git a/test/figures/init/beam.pdf b/test/figures/init/beam.pdf
diff --git a/test/figures/init/bioreactor.pdf b/test/figures/init/bioreactor.pdf
diff --git a/test/figures/init/cart_pendulum.pdf b/test/figures/init/cart_pendulum.pdf
diff --git a/test/figures/init/chain.pdf b/test/figures/init/chain.pdf
diff --git a/test/figures/init/dielectrophoretic_particle.pdf b/test/figures/init/dielectrophoretic_particle.pdf
diff --git a/test/figures/init/double_oscillator.pdf b/test/figures/init/double_oscillator.pdf
diff --git a/test/figures/init/ducted_fan.pdf b/test/figures/init/ducted_fan.pdf
diff --git a/test/figures/init/electric_vehicle.pdf b/test/figures/init/electric_vehicle.pdf
diff --git a/test/figures/init/glider.pdf b/test/figures/init/glider.pdf
diff --git a/test/figures/init/insurance.pdf b/test/figures/init/insurance.pdf
diff --git a/test/figures/init/jackson.pdf b/test/figures/init/jackson.pdf
diff --git a/test/figures/init/moonlander.pdf b/test/figures/init/moonlander.pdf
diff --git a/test/figures/init/robbins.pdf b/test/figures/init/robbins.pdf
diff --git a/test/figures/init/robot.pdf b/test/figures/init/robot.pdf
diff --git a/test/figures/init/rocket.pdf b/test/figures/init/rocket.pdf
diff --git a/test/figures/init/space_shuttle.pdf b/test/figures/init/space_shuttle.pdf
diff --git a/test/figures/init/steering.pdf b/test/figures/init/steering.pdf
diff --git a/test/figures/init/truck_trailer.pdf b/test/figures/init/truck_trailer.pdf
diff --git a/test/figures/init/vanderpol.pdf b/test/figures/init/vanderpol.pdf
diff --git a/test/figures/solution/beam.pdf b/test/figures/solution/beam.pdf
diff --git a/test/figures/solution/bioreactor.pdf b/test/figures/solution/bioreactor.pdf
diff --git a/test/figures/solution/cart_pendulum.pdf b/test/figures/solution/cart_pendulum.pdf
diff --git a/test/figures/solution/chain.pdf b/test/figures/solution/chain.pdf
diff --git a/test/figures/solution/dielectrophoretic_particle.pdf b/test/figures/solution/dielectrophoretic_particle.pdf
diff --git a/test/figures/solution/double_oscillator.pdf b/test/figures/solution/double_oscillator.pdf
diff --git a/test/figures/solution/ducted_fan.pdf b/test/figures/solution/ducted_fan.pdf
diff --git a/test/figures/solution/electric_vehicle.pdf b/test/figures/solution/electric_vehicle.pdf
diff --git a/test/figures/solution/glider.pdf b/test/figures/solution/glider.pdf
diff --git a/test/figures/solution/insurance.pdf b/test/figures/solution/insurance.pdf
diff --git a/test/figures/solution/jackson.pdf b/test/figures/solution/jackson.pdf
diff --git a/test/figures/solution/moonlander.pdf b/test/figures/solution/moonlander.pdf
diff --git a/test/figures/solution/robbins.pdf b/test/figures/solution/robbins.pdf
diff --git a/test/figures/solution/robot.pdf b/test/figures/solution/robot.pdf
diff --git a/test/figures/solution/rocket.pdf b/test/figures/solution/rocket.pdf
diff --git a/test/figures/solution/space_shuttle.pdf b/test/figures/solution/space_shuttle.pdf
diff --git a/test/figures/solution/steering.pdf b/test/figures/solution/steering.pdf
diff --git a/test/figures/solution/truck_trailer.pdf b/test/figures/solution/truck_trailer.pdf
diff --git a/test/figures/solution/vanderpol.pdf b/test/figures/solution/vanderpol.pdf