Casadi opti stack to acados

Hi all!

I have implemented an optimal control problem solution in Casadi MATLAB interface based on the multiple-shooting racecar example.

I now want to generate a real-time MPC C code algorithm using this problem structure. Can anyone give me some guidance or point to some relevant examples?

Thanks!
Sam

Hello Sam,
How is formulated your optimal control problem in Casadi?
Is it a time optimal problem, trajectory tracking or something else?