fixing adaptive rho code gen

Author: ishaanamahajan

examples/quadrotor_hover_code_generation.m

@@ -11,7 +11,7 @@
 addpath(fullfile(repoRoot, 'build'));
 
 % Enable or disable adaptive rho
-ENABLE_ADAPTIVE_RHO = true;   % Set true to enable adaptive rho
+ENABLE_ADAPTIVE_RHO = false;   % Set true to enable adaptive rho
 
 % Quadrotor system matrices (12 states, 4 inputs)
 rho_value = 5.0;

src/TinyMPC.m

@@ -91,6 +91,13 @@ function setup(obj, A, B, Q, R, N, varargin)
 
             if status == 0
                 obj.is_setup = true;
+                
+                % Push settings to C++ layer (including adaptive_rho settings)
+                tinympc_matlab('update_settings', obj.settings.abs_pri_tol, obj.settings.abs_dua_tol, ...
+                    obj.settings.max_iter, obj.settings.check_termination, obj.settings.en_state_bound, ...
+                    obj.settings.en_input_bound, obj.settings.adaptive_rho, obj.settings.adaptive_rho_min, ...
+                    obj.settings.adaptive_rho_max, obj.settings.adaptive_rho_enable_clipping, false);
+                
                 if opts.verbose, fprintf('TinyMPC solver setup successful (nx=%d, nu=%d, N=%d)\n', obj.nx, obj.nu, obj.N); end
             else
                 error('TinyMPC:SetupFailed', 'Setup failed with status %d', status);