"SpaceX uses CVXGEN (Mattingley and Boyd 2012) to generate customized flight code, which enables very high-speed onboard convex optimization."
This is actually a great example of a true NASA spinoff, btw. Lars Blackmore was at JPL before moving to SpaceX. Landing on Mars and landing a first stage back on Earth aren't the same problem, but they're close enough for the work to transfer.
https://www.nap.edu/read/23659/chapter/10
https://www.nap.edu/download/23659
"SpaceX uses CVXGEN (Mattingley and Boyd 2012) to generate customized flight code, which enables very high-speed onboard convex optimization."
This is actually a great example of a true NASA spinoff, btw. Lars Blackmore was at JPL before moving to SpaceX. Landing on Mars and landing a first stage back on Earth aren't the same problem, but they're close enough for the work to transfer.