Hi everybody,
I am working on a MPC controller which needs a timed control input. Is there an option to let acados solve a problem for some time interval and if no solution was found in the given time, just abandon the current calculation? Is this possible or would this just result in a longer computation time for the next time step, as no warm start can be performed?
a solver timeout for SQP is implemented in this PR. Note that it uses a heuristic to estimate the time required for the next SQP iteration, which means you might still get some violations of the maximum time.