Feature Requests

prioritize Feature requests that are somewhat a priority are gathered here. longterm Feature requests that are not high priority will be recategorized here. implemented

Topic	Replies	Views	Activity
About the Feature Requests category Feature Requests	0	783	January 13, 2020
Issues install Clarabel in MATLAB Feature Requests matlab	1	52	March 6, 2026
Inquire if acados supports user-defined outputs Feature Requests	1	84	November 4, 2025
Any Acados Ros2 feature ideas? Feature Requests	1	115	November 2, 2025
Generate (Embedded) Code from a simulink model that includes an ACADOS sfunction Feature Requests	1	141	October 20, 2025
ROS2 template-based interface Feature Requests	4	189	September 15, 2025
Update OSQP to version 1.0 (beta) Feature Requests	3	472	April 23, 2025
Casadi external() functions in optimization Feature Requests interfaces , casadi	3	413	November 28, 2024
Get full QP residual from Python implemented constraints	5	1685	October 17, 2024
Sparse parameter updates from Matlab/Simulink implemented	3	423	October 17, 2024
Avoiding unnecessary code generation Feature Requests interfaces , matlab	3	595	October 17, 2024
Support for discrete implicit dynamics longterm	0	185	September 16, 2024
Set HPIPM mode implemented interfaces , python	5	1605	October 16, 2024
Add new Outputs to Simulink S-Function implemented interfaces , windows , matlab	1	409	August 29, 2024
Z_init in simulink opts Feature Requests	2	386	June 7, 2024
Better control of optimization options for libraries (HPIPM, ACADOS and BLASFEO) Feature Requests	2	478	March 26, 2024
Acados templated MEX solver support for Windows implemented interfaces , matlab	2	900	March 26, 2024
Possibility to add output functions to acados Feature Requests	1	421	March 25, 2024
Discrete Dynamics or Variable Sampling Time implemented	7	2445	July 21, 2023
Matlab: Removing dependency on OS env PATH variable for gcc implemented matlab , windows	3	706	December 5, 2022
Acados integrators in casadi implemented	1	1091	November 3, 2022
Time optimal formulation Feature Requests time_optimal	13	4777	November 2, 2021
Include slack variables in s-function outputs Feature Requests interfaces , matlab , simulink	1	605	November 2, 2021
Add CPU time output to Integrator s-Function Feature Requests matlab	2	1050	September 2, 2021
External objective function with algebraic variables Feature Requests	2	1266	August 23, 2021
Extend S-function to handle MHE Problems implemented constraints , matlab , simulink	5	1700	March 25, 2021
GNSF exact Hessian longterm	1	918	December 7, 2020
External stage cost integration methods Feature Requests	0	608	December 7, 2020
Thread Safe version implemented	7	2049	November 27, 2020
Getting costs, constraints, yref, etc. after solver creation Feature Requests python	1	967	November 23, 2020