Hi,
in acados, the solve() function does not require a preparation by default.
It carries out the full SQP[-RTI] solve.
However, the acados SQP-RTI method does allow to split preparation and feedback phase. By setting rti_phase.
Here, rti_phase = 0; means full (preparation + feedback)
rti_phase = 1; means only preparation step
rti_phase = 2; means only feedback step
Best,
Jonathan