After much exploration, it seems like may have finally located the source for my status errors. Let me begin by stating what I am trying to do. I am trying to create a sequence of controllers, for a sequence of tasks. But since I want to transition from one task to the next without delay, I am initializing all controllers with my initial state, at the beginning of the task sequence. This has the consequence, that when initialized the controllers besides the first one, can be initialized with an infeasible state.
The tasks are of course designed to be smoothly transitionable, and when a task terminates, I start the next task with the actual state, with:
acados_solver.set(0, “lbx”, x0)
acados_solver.set(0, “ubx”, x0)
But it seems like if the controller is once initialized in an infeasible state, even though the current initial state is correct, does not compute. Is this a true assumption?