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debug: do not warn cond(H̃) in NonLinMPC if Ewt≠0 #264

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Merged
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Oct 2, 2025
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debug: do not warn cond(H̃) in NonLinMPC if Ewt≠0 #264

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2 changes: 1 addition & 1 deletion src/controller/construct.jl
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Expand Up @@ -586,7 +586,7 @@ at [`relaxŶ`](@ref), [`relaxΔU`](@ref) and [`relaxU`](@ref) documentation, re
vector ``\mathbf{q̃}`` and scalar ``r`` need recalculation each control period ``k``, see
[`initpred!`](@ref). ``r`` does not impact the minima position. It is thus useless at
optimization but required to evaluate the minimal ``J`` value. A `@warn` will be displayed
if the condition number `cond(H̃) ≥ warn_cond` and `transcription` is a `SingleShooting`
if the condition number `cond(H̃) > warn_cond` and `transcription` is a `SingleShooting`
(`warn_cond=Inf` for no warning).
"""
function init_quadprog(
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3 changes: 2 additions & 1 deletion src/controller/nonlinmpc.jl
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Expand Up @@ -103,7 +103,8 @@ struct NonLinMPC{
Eŝ, Fŝ, Gŝ, Jŝ, Kŝ, Vŝ, Bŝ,
gc!, nc
)
H̃ = init_quadprog(model, transcription, weights, Ẽ, P̃Δu, P̃u)
warn_cond = iszero(weights.E) ? 1e6 : Inf # condition number warning only if Ewt==0
H̃ = init_quadprog(model, transcription, weights, Ẽ, P̃Δu, P̃u; warn_cond)
# dummy vals (updated just before optimization):
q̃, r = zeros(NT, size(H̃, 1)), zeros(NT, 1)
Ks, Ps = init_stochpred(estim, Hp)
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