Change model parameters

Hello,
I am using the Matlab interface.
Once I’ve generated C code, can I change model parameters in the C interface?
In my case, I’ve created a simple quadrotor model. In order to use my MPC controller for more than one quadrotor. I want to change some parameters like the mass directly in the C interface. Thus, I don’t have to regenerate C code from Matlab interface.
Can I do that?
Thanks in advance

In the generated C code, there is the function:
int <model_name>_acados_update_params(nlp_solver_capsule * capsule, int stage, double *p, int np)
which is there exactly for this purpose.

Cheers!