Hello!
I’m fairly new to acados so apologies if this question has been answered before, I did some of my own googling and wasn’t able to find a satisfying answer. I’m running into a maximum iterations reached error when using acados to solve a non linear MPC problem. Increasing the iterations doesn’t help either. Is the solver failing because res_stat and res_eq is high? Here is the complete error.
ocp_nlp_sqp: maximum iterations reached
iter res_stat res_eq res_ineq res_comp qp_stat qp_iter alpha
0 0.000000e+00 7.788073e+01 3.000000e+02 0.000000e+00 0 0 0.000000e+00
1 1.548480e+03 3.365143e-01 5.684342e-14 1.083229e-07 0 6 1.000000e+00
2 2.758227e+02 5.281221e-01 5.684342e-14 1.044176e-13 0 6 1.000000e+00
3 1.400006e+01 5.247059e-01 5.684342e-14 3.368880e-14 0 3 1.000000e+00
4 1.870858e+00 5.215322e-01 5.684342e-14 4.833471e-08 0 2 1.000000e+00
5 4.167990e+02 5.908782e-01 5.684342e-14 4.132986e-10 0 5 1.000000e+00
6 2.129191e+01 1.860341e-01 5.684342e-14 3.433437e-14 0 3 1.000000e+00
7 2.955405e+00 5.391566e-01 5.684342e-14 1.265885e-09 0 2 1.000000e+00
8 2.992665e+00 8.335625e-01 5.684342e-14 1.905326e-08 0 2 1.000000e+00
9 2.228391e+02 9.758249e-01 1.093129e-11 3.133572e-09 0 5 1.000000e+00
10 2.025071e+01 1.878825e-01 5.684342e-14 3.474697e-14 0 3 1.000000e+00
11 5.131356e+00 5.458181e-01 5.684342e-14 3.593991e-08 0 2 1.000000e+00
12 3.936921e+00 5.493414e-01 5.684342e-14 2.122980e-08 0 2 1.000000e+00
13 1.671269e+01 5.842249e-01 5.684342e-14 5.857477e-10 0 5 1.000000e+00
14 2.695810e+00 9.036539e-01 5.684342e-14 3.017808e-08 0 2 1.000000e+00
15 5.322427e+01 1.011345e+00 5.684342e-14 2.897485e-09 0 6 1.000000e+00
16 6.817016e+00 1.865127e-01 5.684342e-14 3.429445e-14 0 3 1.000000e+00
17 2.266691e+00 5.409040e-01 5.684342e-14 1.787956e-08 0 2 1.000000e+00
18 1.329002e+00 5.546146e-01 5.684342e-14 1.200503e-08 0 2 1.000000e+00
19 3.305903e+00 5.919410e-01 5.684342e-14 4.225661e-10 0 4 1.000000e+00
20 2.018248e+00 5.573069e-01 5.684342e-14 8.131902e-09 0 2 1.000000e+00
21 2.949703e+00 5.910472e-01 5.684342e-14 6.579816e-14 0 5 1.000000e+00
22 2.017430e+00 5.577237e-01 5.684342e-14 1.989042e-08 0 2 1.000000e+00
23 2.017430e+00 5.917009e-01 5.684342e-14 6.587697e-14 0 5 1.000000e+00
24 2.017733e+00 5.583378e-01 5.684342e-14 1.898735e-08 0 2 1.000000e+00
25 2.951407e+00 5.921468e-01 5.684342e-14 6.574953e-14 0 5 1.000000e+00
26 2.017951e+00 5.588060e-01 5.684342e-14 2.147687e-08 0 2 1.000000e+00
27 3.448983e+00 5.924580e-01 5.684342e-14 6.564106e-14 0 5 1.000000e+00
28 2.018051e+00 5.591323e-01 5.684342e-14 2.224119e-08 0 2 1.000000e+00
29 4.504332e+00 5.927108e-01 5.684342e-14 6.557170e-14 0 5 1.000000e+00
30 2.018123e+00 5.593660e-01 5.684342e-14 2.230580e-08 0 2 1.000000e+00
31 5.870383e+00 5.928931e-01 5.684342e-14 6.550014e-14 0 5 1.000000e+00
32 2.320835e+00 5.594919e-01 5.684342e-14 2.246365e-08 0 2 1.000000e+00
33 7.315824e+00 5.930268e-01 5.684342e-14 6.544288e-14 0 5 1.000000e+00
34 2.938240e+00 5.595318e-01 5.684342e-14 2.478570e-08 0 2 1.000000e+00
35 9.663576e+00 5.931363e-01 5.684342e-14 6.537358e-14 0 5 1.000000e+00
36 5.594472e+00 5.594415e-01 5.684342e-14 4.879607e-08 0 2 1.000000e+00
37 1.505811e+01 5.788469e-01 5.684342e-14 1.806125e-13 0 5 1.000000e+00
38 7.977368e+00 5.587114e-01 5.684342e-14 1.668425e-07 0 2 1.000000e+00
39 2.153476e+01 5.783031e-01 5.684342e-14 6.184036e-14 0 5 1.000000e+00
40 1.033966e+01 5.583928e-01 5.684342e-14 3.843733e-07 0 2 1.000000e+00
41 2.673167e+01 5.775846e-01 5.684342e-14 6.146428e-14 0 5 1.000000e+00
42 1.334661e+01 5.575513e-01 5.684342e-14 7.960506e-07 0 2 1.000000e+00
43 3.418048e+01 5.761443e-01 5.684342e-14 1.679993e-13 0 5 1.000000e+00
44 1.732976e+01 5.565679e-01 5.684342e-14 3.247780e-14 0 3 1.000000e+00
45 4.178034e+01 5.735335e-01 5.684342e-14 1.289726e-12 0 5 1.000000e+00
46 2.201299e+01 5.551765e-01 5.684342e-14 3.241362e-14 0 3 1.000000e+00
47 4.987896e+01 5.706088e-01 5.684342e-14 1.532898e-07 0 6 1.000000e+00
48 2.746877e+01 5.528288e-01 5.684342e-14 3.241992e-14 0 3 1.000000e+00
49 5.550762e+01 5.667231e-01 5.684342e-14 3.902812e-13 0 6 1.000000e+00
Exception: acados acados_ocp_solver returned status 2
Can I check which constraints were not able to be resolved? If there are any other solver statistics I should inspect, please let me know.
Thank you!