Generate C code for aircraft MPC problem

% specify dynamics (sampled with 50 ms sampling time)
MPC.Adyn = [0.9993 -3.0083 -0.1131 -1.6081;
           -0.0000  0.9862  0.0478  0.0000;
            0.0000  2.0833  1.0089 -0.0000;
            0.0000  0.0526  0.0498  1.0000];
MPC.Bdyn = [-0.0804 -0.6347;-0.0291 -0.0143;
            -0.8679 -0.0917;-0.0216 -0.0022];

% specify cost
MPC.Q = diag([0,100,0,100]);
MPC.R = 0.01*eye(2);

% indicate that linear cost is parametric
MPC.gt = 1;

% specify soft state constraints
MPC.Cx = [0 1 0 0;0 0 0 1];
MPC.X.Ub = [0.5;100];
MPC.X.Lb = -[0.5;100];
MPC.X.soft = [1e5;1e5];

% specify hard input constraints
MPC.Cu = eye(2);
MPC.U.Ub = [25;25];
MPC.U.Lb = -[25;25];

% control horizon
MPC.N = 10;

% decrease optimality tolerance
opts.rel_tol = 1e-4;

% run code generator
[QP_reform,alg_data] = run_code_gen_MPC(MPC,opts);

Checking data....done!
Checking algorithm options....done!
Selecting remaining algorithm options....done!
Reformulating problem....done!
Computing preconditioner....
-----------------------------------------------------------------
iter  | rel prim-res | rel prim-tol | rel dual-res | rel dual-tol
-----------------------------------------------------------------
    50| 1.0585129e-03|      2.00e-05| 6.8133752e-04|     2.00e-05
   100| 1.8951557e-04|      2.00e-05| 3.0141207e-03|     2.00e-05
   150| 6.6607830e-06|      2.00e-05| 1.2941782e-03|     2.00e-05
   200| 2.8744147e-05|      2.00e-05| 3.6638739e-04|     2.00e-05
   250| 1.6035187e-05|      2.00e-05| 4.5949274e-05|     2.00e-05
   300| 5.6701208e-06|      2.00e-05| 2.1109536e-05|     2.00e-05
   350| 1.2492392e-06|      2.00e-05| 1.8529015e-05|     2.00e-05
done!
Generating algorithm data....done!
Generating C code...done!
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C code generated with options (in opts struct):

               rel_tol: 1.0000e-04
    sparsity_threshold: 0.6500
           alpha_relax: 1.8500
              max_iter: 2000
    check_opt_interval: 10
               restart: 1
             precision: 'double'
          precond_Hess: 'K11'
                   rho: 1
                     t: 1
           no_math_lib: 0
      min_cond_rel_tol: 2.0000e-05
                   alg: 'FGMdual'
                reform: 'original'
                 dense: 0
               precond: 'min_cond_nbr'
          min_cond_alg: 'ADMM'

Change any of these option using the function change_opts()
-----------------------------------------------------------
Generated files: QPgen.h (header file)
                 QPgen.c (main C file with solver qp())
                 qp_mex.c (mex gateway-file)
                 qp_mex.mex* (compiled mex-file)
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Usage MATLAB: [sol,iter] = qp_mex(gt,bt);
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Usage C:
 - compile QPgen.c
 - solve using function qp(gt,bt) with declaration:
void qp(double *sol, int *iter, double *gt,double *bt);
-----------------------------------------------------------
Input dimensions: size(gt) = 60x1, size(bt) = 4x1
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Output dimensions: size(sol) = 60x1, size(iter) = 1x1
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