error: ocp_nlp_constraints_bgh_compute_fun: not implemented yet for nz>0,

For MHE problem, I tried to exert state constraints (on manifold, such as ca.dot(q,q)-1=0) for all stages, but it seems only terminal constraints can work, otherwise the above error appears

Commenting to follow along, also worth having a look at:

```
Moving Horizon Estimation for Inertial Motion
Tracking
Algorithms and Industrial Applications
Fabian GIRRBACH
```

specifically section 5.2 discusses quaternion and options to stabilize it.

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Hi

welcome to the acados forum!

Can you provide a few more details regarding your problem formulation? Are you using algebraic variables and with globalization? This combination is not really tested (yet).

Either you try without globalization or you comment the check here:

Best, Katrin

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thanks for your replies, but emmm I wonder why the acados does not work for the problem I constructed

thanks for your reply, and I succeeded in solving without globalization

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