Hi

My goals are:

1.Run a Simulink model using the S-function

2.Online Change reference y_ref and y_ref_e;

(https://github.com/acados/acados/blob/master/examples/acados_matlab_octave/getting_started/minimal_example_ocp.m)

https://github.com/acados/acados/blob/master/examples/acados_matlab_octave/getting_started/simulink_model_closed_loop.slx

It’s compiled. But，some questions:

1.the Input of the S-function，I cannot match the inputs in minimal_example_ocp.m.

mabe this:

ocp.set(‘init_x’, x_traj_init);

ocp.set(‘init_u’, u_traj_init);

ocp.set(‘init_pi’, zeros(nx, N))

```
% change values for specific shooting node using:
% ocp.set('field', value, optional: stage_index)
ocp.set('constr_lbx', x0, 0)
this can update x0.
but y_ref and y_ref_e?, I cannot find how to set.
```

- N = 20，nx = 4 ,nu = 1;but y_ref = zeros(100,1) y_ref_e = zeros(4,1),I cannot understand. I think y_ref = zeros(5,1)?

Thanks a lot,

gaofei