Add new Outputs to Simulink S-Function

Feature Requests implemented
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Hi there :wave:,

same as this post(Include slack variables in s-function outputs - #2 by FreyJo) I would like to include the slack variables t as an output to my S-Function, as they are not available in the simulink_opts.

I looked at this: Simulink: add options for S functions by FreyJo · Pull Request #690 · acados/acados · GitHub, but I did not get what I have to change in order to include the additional outputs in my s-function.

Is there an easy way of doing this?

Thanks Jannis

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Hi Jannis,

the t slacks have been removed from acados in Remove `t` slacks from `ocp_nlp_out` by FreyJo · Pull Request #1148 · acados/acados · GitHub

If you want to add a Simulink output option yourself, I think that this commit is a good reference: Simulink interface: add initialization functionalities and tests by FreyJo · Pull Request #1158 · acados/acados · GitHub

Note that I updated the Simulink examples to use the new Matlab interface in Update Simulink examples to be based on new interface by FreyJo · Pull Request #1228 · acados/acados · GitHub

Best,
Jonathan