Changing MPC parameters after using code generation

[estevaoms]

Hi. Using the Python mpc example I was able to generate a C code using code generator.

After compile the source code, it generates an executable. How can I modify the example, in C code, in a way I can be able to modify the initial condition of the MPC? And how can I print the actions of the controller?

Thanks

[imciner2]

You can look at the documentation for the C interface for the functions that are available: https://osqp.org/docs/release-0.6.3/interfaces/C.html#c-interface.

In general, for embedded code the functions you'll probably use the most would be:

• osqp_warm_start* - Change where the initial point the solver starts from on the next run
• osqp_update_* - Update various parts of the problem (e.g. lower/upper bounds, linear portion of the cost, etc.)
• osqp_update_P/osqp_update_A - Update the matrices (only available if you enable embedded mode 2, matrix update)
• osqp_update_rho - Change the rho parameter (only available if you enable embedded mode 2, matrix update)
  If you want to change the settings, you can edit the settings struct of the solver directly (note though that not all settings are updatable in embedded mode, such as vectorized rho or scaling).

[estevaoms]

Thanks!!!!