Error on the s-function block

[casto]

Hi, i have a problem when using the s-function generated in simulink.
Similar to the NLP problem example, i made a Constrained Sindy version using Acados, now i want to set up the simulink part.
When i create the s-function block and add the correct file it returns me that output 6 is wrong, the problem is that i have only 5 outputs.

This is the code in matlab:

clear all

clc

is_parametric = 1;

import casadi.*; % Import CasADi library

load(‘Theta.txt’)

load(‘dXdt.txt’)

Theta=Theta(1:100,:);

dXdt=dXdt(1:100);

% Step 2: Define problem variables

eps=casadi.SX.sym(‘eps’,7);

if is_parametric

dXdt = SX.sym(‘dXdt’,size(dXdt));

end

if is_parametric

Theta = SX.sym(‘Theta’,size(Theta));

end

% Cost function with regularization

lambda = 1e-3; % Regularization term

f = abs((Theta * eps - dXdt)’ * (Theta * eps - dXdt));

% Constraint bounds

g = [eps(1);eps(2);eps(3);eps(4);eps(5);eps(6);eps(7)];

glb = [0.001;50;-5000;70000;-700000;-0.05;-0.001];

gub = [0.002;100;-3000;100000;-500000;-0.01;0];

% Step 3: Model setup

model = AcadosModel();

model.name = ‘prova_sindy’;

model.x = eps;

model.f_expl_expr = casadi.SX.zeros(length(model.x),1);

if is_parametric

model.p = vertcat(Theta(:),dXdt(:));

end

% Cost and constraints

ocp = AcadosOcp();

ocp.name = ‘nlp_solver’;

ocp.model = model;

ocp.cost.cost_type_e = ‘EXTERNAL’;

ocp.model.cost_expr_ext_cost_e = f;

ocp.model.con_h_expr_e = g;

ocp.constraints.lh_e = glb;

ocp.constraints.uh_e = gub;

ocp.cost.cost_type_0 = ‘EXTERNAL’;

ocp.model.cost_expr_ext_cost_0 = 0;

ocp.cost.cost_type = ‘EXTERNAL’;

ocp.model.cost_expr_ext_cost = 0;

% Solver options

ocp.solver_options.tf = 1;

ocp.solver_options.N_horizon = 1;

ocp.solver_options.nlp_solver_type = ‘SQP_RTI’;

ocp.solver_options.nlp_solver_max_iter = 1000;

ocp.solver_options.nlp_solver_tol_stat = 1e-6;

ocp.solver_options.nlp_solver_tol_eq = 1e-6;

ocp.solver_options.nlp_solver_tol_comp = 1e-6;

simulink_opts = get_acados_simulink_opts;

ocp.simulink_opts = simulink_opts;

% Solver creation

ocp_solver = AcadosOcpSolver(ocp);

%% Compile Sfunctions

cd c_generated_code

make_sfun

This the output from the Command Window:

Successfully created sfunction:
acados_solver_sfunction_prova_sindy.mexw64

Note: Usage of Sfunction is as follows:
Inputs are:

1. parameters - concatenated for all stages 0 to N, size [1600]
2. lh_e, size [7]
3. uh_e, size [7]

Outputs are:

1. acados solver status (0 = SUCCESS)
2. KKT residual
3. x1, state at node 1
4. CPU time
5. SQP iterations

And this the error:

I also have another question, why is x_init in the input not present?