SQP fails in racecar example

Hi,

I just noticed that the racecar example only works with the RTI scheme but not with a full SQP iteration. Are there further parameters required to set? Thanks!

All the best!

Hi,

yes, there are some known convergence issues in this race car problem.
Some changes to make this problem work with SQP can be found here.
I was not able to fix this entirely, so sometimes, the simulation just continues with the solution obtained after maximum number of iterations is reached.

Cheers,
Jonathan

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Hi Jonathan,

Thanks a lot for this fast reply! In case of convergence issues it would be nice to have debug functionalities. (like the one from casadi opti class - show infeasibilities) is there something planned for acados?

All the best!

Hi @fach23,

You can get the full horizon of the states and controls variables from the solver, so you can “debug” quite well.
It is explained in this post: Full horizon and cost function value from S-function

You can get the Slack Variable values as well, I did not try this out though:

Maybe this helps you a bit!
Greets, Alex

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