NMPC

[svigerske]

Issue created by migration from Trac.

Original creator: davidglr

Original creation time: 2017-10-09 15:16:09

Assignee: ferreau

Version: 3.2.1

Keywords: simulink real-time windows target,simulink

Hello,

For the solution of a QP problem in context of NMPC with the method shown in http://ieeexplore.ieee.org/document/7798752/ requiring updates of H,g,A,lbA,ubA... , I am using the qpOASES simulink interface.

The simulink model simulation manages to solve the optimization problem, and therefore my designed controller operates adequately. However, when building, generating code and downloading it to the target, there are errors found and it is not possible to execute. I am currently using the Simulink Real-Time Windows Target (rtwin).

The following settings are already configured:
Model Configuration Parameters>Custom Code>Additional directories:
-Include directories:Added the include directories for qpOASES.
-Source files: Added the source files such as mentioned in qpOASES
User Manual 6.7, 6.8.

On file Types.hpp:
-enabled NO_SNPRINTF (line 41)
-enabled debug: DEBUG (line 55)
-disabled console outputs: SUPRESSANYOUTPUT (line 58)

It is unclear whether I need to configure additional settings further to be able to download to target. By doing these steps, I was able to build. However there is a message during the code generation process that mentions that the S-Function QPOASES_SQProblem cannot be dowloaded, and mentions it should be a .tlc format.

I greatly appreciate your support.

Best regards,

David Garcia Luna