ACADOS Integrator s-function for Simulink

User Questions
,
1

Hi,

I understand that the s-function created from make_sfun is the OCP solver and the s-function created from make_sfun_sim is the integrator.
For the OCP solver s-function i understand that i can configure options by doing something like:

simulink_opts = get_acados_simulink_opts;
simulink_opts.samplingtime = ‘-1’; %inherited

My question is how do I configure options such as sampling time for the integrator s-function? In my simulink model I am getting an error that says the sample time of the integrator s-function block must be inherited (-1).
Ultimately what I am trying to do is have an integrator in a for loop to generated a sequence of reference states that of which each stages of the MPC horizon can take as reference

Best,
SJ

2

[update]
I now belive that using integrator s-function is not the correct approach.
Basically what i am trying to do is have something like the following implemeted in Simulink:

for (int i = 0; i < N; ++i)
    rk4_step_acados_rhs(&x_guess_[i*nx_], &u_guess_[i*nu_],
                        /*p*/ nullptr, Ts_, nx_,
                        &x_guess_[(i+1)*nx_]);

so that i can feed it in to my OCP solver s-function as reference points for every stages in the next step of solver iteration.