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index ad46d45bb3..fd5218f0b5 100644
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index 168d37885c..2dcf15d088 100644
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deleted file mode 100644
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--- a/pyextra/acados_template/acados_ocp_solver_fast.py
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index dbc1aa7f77..e11faa4751 100644
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--- a/pyextra/acados_template/c_templates_tera/model.in.h
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diff --git a/pyextra/acados_template/utils.py b/pyextra/acados_template/utils.py
index 5262d962d7..1f2680c9ba 100644
--- a/pyextra/acados_template/utils.py
+++ b/pyextra/acados_template/utils.py
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3172aa8e2130b7d411bc330e0b7b3038ee0896db22bcdee9ef045392f03ea6ce
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diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index f402e6e15e..64eada95c1 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -43,11 +43,19 @@ generated_files = [
   f'{gen}/lat_cost/lat_cost_y_0_fun.h',
 ] + build_files
 
+acados_dir = '#third_party/acados'
+source_list = ['lat_mpc.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_dir}/aarch64/lib/libacados.so',
+  f'{acados_dir}/x86_64/lib/libacados.so',
+  f'{acados_dir}/larch64/lib/libacados.so',
+]
+
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
-             ["lat_mpc.py"],
+             source_list,
              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 1b4d5283a8..a1037f040b 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -11,18 +11,19 @@ from selfdrive.modeld.constants import T_IDXS
 if __name__ == '__main__':  # generating code
   from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  # from pyextra.acados_template import AcadosOcpSolverFast
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
 
 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
-JSON_FILE = "acados_ocp_lat.json"
+JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
 X_DIM = 4
 P_DIM = 2
+MODEL_NAME = 'lat'
+ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
 def gen_lat_model():
   model = AcadosModel()
-  model.name = 'lat'
+  model.name = MODEL_NAME
 
   # set up states & controls
   x_ego = SX.sym('x_ego')
@@ -58,7 +59,7 @@ def gen_lat_model():
   return model
 
 
-def gen_lat_mpc_solver():
+def gen_lat_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_lat_model()
 
@@ -103,7 +104,7 @@ def gen_lat_mpc_solver():
   ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
   ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
   ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
   ocp.solver_options.qp_solver_iter_max = 1
   ocp.solver_options.qp_solver_cond_N = 1
 
@@ -117,7 +118,7 @@ def gen_lat_mpc_solver():
 
 class LateralMpc():
   def __init__(self, x0=np.zeros(X_DIM)):
-    self.solver = AcadosOcpSolverFast('lat', N)
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset(x0)
 
   def reset(self, x0=np.zeros(X_DIM)):
@@ -173,5 +174,6 @@ class LateralMpc():
 
 
 if __name__ == "__main__":
-  ocp = gen_lat_mpc_solver()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
+  ocp = gen_lat_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index b19401339c..cd764114c4 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -50,11 +50,19 @@ generated_files = [
   f'{gen}/long_cost/long_cost_y_0_fun.h',
 ] + build_files
 
+acados_dir = '#third_party/acados'
+source_list = ['long_mpc.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_dir}/aarch64/lib/libacados.so',
+  f'{acados_dir}/x86_64/lib/libacados.so',
+  f'{acados_dir}/larch64/lib/libacados.so',
+]
+
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
-             ["long_mpc.py"],
+             source_list,
              f"cd {Dir('.').abspath} && python3 long_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 094e4ce1b1..94d7ae80ea 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -11,14 +11,14 @@ from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 if __name__ == '__main__':  # generating code
   from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  # from pyextra.acados_template import AcadosOcpSolver as AcadosOcpSolverFast
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
 
 from casadi import SX, vertcat
 
+MODEL_NAME = 'long'
 LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
-JSON_FILE = "acados_ocp_long.json"
+JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
 
 SOURCES = ['lead0', 'lead1', 'cruise']
 
@@ -38,6 +38,7 @@ A_CHANGE_COST = 200.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .5
 LIMIT_COST = 1e6
+ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
 
 # Fewer timestamps don't hurt performance and lead to
@@ -65,7 +66,7 @@ def desired_follow_distance(v_ego, v_lead):
 
 def gen_long_model():
   model = AcadosModel()
-  model.name = 'long'
+  model.name = MODEL_NAME
 
   # set up states & controls
   x_ego = SX.sym('x_ego')
@@ -97,7 +98,7 @@ def gen_long_model():
   return model
 
 
-def gen_long_mpc_solver():
+def gen_long_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_long_model()
 
@@ -172,7 +173,7 @@ def gen_long_mpc_solver():
   ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
   ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
   ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
   ocp.solver_options.qp_solver_cond_N = 1
 
   # More iterations take too much time and less lead to inaccurate convergence in
@@ -195,7 +196,7 @@ class LongitudinalMpc:
     self.source = SOURCES[2]
 
   def reset(self):
-    self.solver = AcadosOcpSolverFast('long', N)
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.v_solution = np.zeros(N+1)
     self.a_solution = np.zeros(N+1)
     self.prev_a = np.array(self.a_solution)
@@ -388,5 +389,6 @@ class LongitudinalMpc:
 
 
 if __name__ == "__main__":
-  ocp = gen_long_mpc_solver()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
+  ocp = gen_long_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/third_party/acados/aarch64/lib/libacados.so b/third_party/acados/aarch64/lib/libacados.so
index b03254e75c..df9e2cabbd 100755
--- a/third_party/acados/aarch64/lib/libacados.so
+++ b/third_party/acados/aarch64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a42119de38b56c672e473edd8860e2e75c3e2793961b631634f8dc6f6f6618e5
-size 575769
+oid sha256:a4d51bdef2544ba6c3b7cf119f464b29b48f4759f96490ec3561ae5fc1200cf9
+size 571865
diff --git a/third_party/acados/aarch64/lib/libblasfeo.so b/third_party/acados/aarch64/lib/libblasfeo.so
index 4cdda5e7fe..a70e8de17d 100755
--- a/third_party/acados/aarch64/lib/libblasfeo.so
+++ b/third_party/acados/aarch64/lib/libblasfeo.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:567bfcb693ce73c8faa847ddd3798037f611c8ebfcecddce4da2140f22b191af
-size 694193
+oid sha256:802d85593bac49cbf325a7a05b3c2dd909f09843e462e4eea526faaad7cc33a8
+size 694257
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index 888a067a48..96aa23419b 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -13,19 +13,19 @@ elif [ -f /EON ]; then
 fi
 
 if [ ! -d acados_repo/ ]; then
-  #git clone https://github.com/acados/acados.git $DIR/acados
-  git clone https://github.com/commaai/acados.git $DIR/acados_repo
+  git clone https://github.com/acados/acados.git $DIR/acados_repo
+  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
 fi
 cd acados_repo
 git fetch
-git checkout 92b85c61f7358a1b08b7cd30aeb9d32ad15942e8
+git checkout 105e06df87f06ea02df4af825867c946b31defdd
 git submodule update --recursive --init
 
 # build
 mkdir -p build
 cd build
 cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
-make -j4 install
+make -j20 install
 
 INSTALL_DIR="$DIR/$ARCHNAME"
 rm -rf $INSTALL_DIR
@@ -33,8 +33,10 @@ mkdir -p $INSTALL_DIR
 
 rm $DIR/acados_repo/lib/*.json
 
+rm -rf $DIR/include
 cp -r $DIR/acados_repo/include $DIR
 cp -r $DIR/acados_repo/lib $INSTALL_DIR
+rm -rf $DIR/../../pyextra/acados_template
 cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
 #pip3 install -e $DIR/acados/interfaces/acados_template
 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
index 64939b9ed1..4a7f19a07e 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
@@ -234,11 +234,7 @@ typedef struct ocp_nlp_out
 
     // NOTE: the inequalities are internally organized in the following order:
     // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-    int sqp_iter;
-    int qp_iter;
     double inf_norm_res;
-    double total_time;
 
     void *raw_memory; // Pointer to allocated memory, to be used for freeing
 
@@ -274,11 +270,16 @@ typedef struct ocp_nlp_opts
     double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
     int reuse_workspace;
     int num_threads;
+    int print_level;
 
     // TODO: move to separate struct?
     ocp_nlp_globalization_t globalization;
+    int full_step_dual;
+    int line_search_use_sufficient_descent;
+    int globalization_use_SOC;
     double alpha_min;
     double alpha_reduction;
+    double eps_sufficient_descent;
 } ocp_nlp_opts;
 
 //
@@ -316,6 +317,8 @@ typedef struct ocp_nlp_res
 acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
 //
 ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
+//
+void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
 
 /************************************************
  * memory
@@ -351,7 +354,7 @@ typedef struct ocp_nlp_memory
     bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
     struct blasfeo_dvec *sim_guess;
 
-	int *sqp_iter; // pointer to iteration number
+    int *sqp_iter; // pointer to iteration number
 
 } ocp_nlp_memory;
 
@@ -375,8 +378,12 @@ typedef struct ocp_nlp_workspace
     void **cost;         // cost_workspace
     void **constraints;  // constraints_workspace
 
-	ocp_nlp_out *tmp_nlp_out;
-	ocp_nlp_out *weight_merit_fun;
+    // for globalization: -> move to module?!
+    ocp_nlp_out *tmp_nlp_out;
+    ocp_nlp_out *weight_merit_fun;
+    struct blasfeo_dvec tmp_nxu;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec dxnext_dy;
 
 } ocp_nlp_workspace;
 
@@ -392,6 +399,8 @@ ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims
  * function
  ************************************************/
 
+void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
 //
 void ocp_nlp_initialize_qp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
@@ -409,7 +418,8 @@ void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, oc
            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
 //
 double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
+            int check_early_termination);
 //
 double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
index 45dac20a25..f2128a8574 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
@@ -84,6 +84,7 @@ typedef struct
     /* memory */
     acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
     void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
     struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
     struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
     void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
index 8d2b6ecc13..c085e00d5d 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
@@ -65,11 +65,6 @@ extern "C" {
  * options
  ************************************************/
 
-typedef struct
-{
-    int dummy;
-} ocp_nlp_reg_noreg_opts;
-
 //
 acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
 //
@@ -84,12 +79,6 @@ void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opt
 /************************************************
  * memory
  ************************************************/
-
-typedef struct
-{
-    int dummy;
-} ocp_nlp_reg_noreg_memory;
-
 //
 acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
 //
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
index 81a4afd030..5e4fc810d9 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
@@ -68,7 +68,6 @@ typedef struct
     int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
     bool warm_start_first_qp; // to set qp_warm_start in first iteration
     int rti_phase;       // only phase 0 at the moment 
-    int print_level;     // verbosity
     int initialize_t_slacks;  // 0-false or 1-true
 
 } ocp_nlp_sqp_opts;
@@ -107,6 +106,7 @@ typedef struct
     double time_sim;
     double time_sim_la;
     double time_sim_ad;
+    double time_solution_sensitivities;
 
     // statistics
     double *stat;
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
index 6f16594d2b..af22c06a17 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
@@ -64,7 +64,6 @@ typedef struct
     int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
     bool warm_start_first_qp; // to set qp_warm_start in first iteration
     int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-    int print_level;     // verbosity
 
 } ocp_nlp_sqp_rti_opts;
 
@@ -100,6 +99,7 @@ typedef struct
     double time_reg;
     double time_tot;
     double time_glob;
+    double time_solution_sensitivities;
 
     // statistics
     double *stat;
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
index 2993447dbd..f8568afb26 100644
--- a/third_party/acados/include/acados/utils/print.h
+++ b/third_party/acados/include/acados/utils/print.h
@@ -69,28 +69,32 @@ void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
 void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
 
 // ocp qp
+// TODO: move printing routines below that print qp structures to HPIPM!
 void print_ocp_qp_dims(ocp_qp_dims *dims);
 
 // void print_dense_qp_dims(dense_qp_dims *dims);
 
 void print_ocp_qp_in(ocp_qp_in *qp_in);
 
+void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
+
 void print_ocp_qp_out(ocp_qp_out *qp_out);
 
+void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
+
+void print_ocp_qp_res(ocp_qp_res *qp_res);
+
+void print_dense_qp_in(dense_qp_in *qp_in);
 // void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
 
 // void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
 
-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
 // void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
 
 // void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
 
 // void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
 
-void print_dense_qp_in(dense_qp_in *qp_in);
-
 void print_qp_info(qp_info *info);
 
 // void acados_warning(char warning_string[]);
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
index b6b893024b..0ec82a437a 100644
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h
@@ -107,13 +107,13 @@ typedef enum
 
 
 /// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan
+typedef struct ocp_nlp_plan_t
 {
     /// QP solver configuration.
-    ocp_qp_solver_plan ocp_qp_solver_plan;
+    ocp_qp_solver_plan_t ocp_qp_solver_plan;
 
     /// Simulation solver configuration for each stage.
-    sim_solver_plan *sim_solver_plan;
+    sim_solver_plan_t *sim_solver_plan;
 
     /// Nlp solver type.
     ocp_nlp_solver_t nlp_solver;
@@ -133,7 +133,7 @@ typedef struct ocp_nlp_plan
     /// Horizon length.
     int N;
 
-} ocp_nlp_plan;
+} ocp_nlp_plan_t;
 
 
 /// Structure to store the state/configuration for the non-linear programming solver
@@ -151,7 +151,7 @@ typedef struct ocp_nlp_solver
 /// default/invalid state.
 ///
 /// \param N Horizon length
-ocp_nlp_plan *ocp_nlp_plan_create(int N);
+ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
 
 /// Destructor for plan struct, frees memory.
 ///
@@ -162,7 +162,7 @@ void ocp_nlp_plan_destroy(void* plan_);
 /// Constructs an nlp configuration struct from a plan.
 ///
 /// \param plan The plan (user nlp configuration).
-ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan plan);
+ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
 
 /// Desctructor of the nlp configuration.
 ///
@@ -372,6 +372,14 @@ void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *
 //
 void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
+/// Computes the residuals.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
 //
 void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
 
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
index a567ebeb35..2582f142da 100644
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ b/third_party/acados/include/acados_c/ocp_qp_interface.h
@@ -105,7 +105,7 @@ typedef enum {
 typedef struct
 {
     ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan;
+} ocp_qp_solver_plan_t;
 
 
 /// Linear ocp configuration.
@@ -127,7 +127,7 @@ void ocp_qp_xcond_solver_config_initialize_from_plan(
 /// Constructs a qp solver config and Initializes with default values.
 ///
 /// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan plan);
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
 
 /// Destructor for config struct, frees memory.
 ///
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
index cc47b62ed4..92969e8017 100644
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ b/third_party/acados/include/acados_c/sim_interface.h
@@ -57,7 +57,7 @@ typedef enum
 typedef struct
 {
     sim_solver_t sim_solver;
-} sim_solver_plan;
+} sim_solver_plan_t;
 
 
 
@@ -74,7 +74,7 @@ typedef struct
 
 /* config */
 //
-sim_config *sim_config_create(sim_solver_plan plan);
+sim_config *sim_config_create(sim_solver_plan_t plan);
 //
 void sim_config_destroy(void *config);
 
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
index 7a9415a59d..d4d805c3e4 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
@@ -185,9 +185,14 @@ void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec
 void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
 // y <= alpha*x
 void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// z[idx] += alpha * x
 void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z[idx] <= alpha * x
 void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z <= alpha * x[idx]
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
 
 void blasfeo_dveccl(int m,
 	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
index 448234044a..1e007fa89e 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
@@ -182,6 +182,8 @@ void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi,
 void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
 void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
 void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
 
 void blasfeo_ref_dveccl(int m,
 	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
index 539268849c..f43f5e83ce 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
@@ -127,6 +127,8 @@ float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
 void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
 void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
 void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
 void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
index f6e16a9577..998e1d8999 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
@@ -128,6 +128,8 @@ float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
 void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
 void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
index 68de91c9b5..fc411f9883 100644
--- a/third_party/acados/larch64/lib/libacados.so
+++ b/third_party/acados/larch64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9303c7ff72999cc1e799faf24b715112326eefefb842240d4da19beb8caba1d7
-size 484904
+oid sha256:08d73672735c9bf05babda079627e3b93c593954a8b164f529c422cf9867d791
+size 489256
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
index 57d8062895..a6f0ccecb8 100644
--- a/third_party/acados/larch64/lib/libblasfeo.so
+++ b/third_party/acados/larch64/lib/libblasfeo.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:654deb9f5c9cca7c6c049f8cffc9eae40052d7971489690929b5efded4b9d9da
-size 730608
+oid sha256:1e0cbc45c14340834991e617cd28045b8cac34bd094c73f3c4a0b3506ce3cdbe
+size 726592
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
index 7b47f82fa3..5c853a661c 100644
--- a/third_party/acados/x86_64/lib/libacados.so
+++ b/third_party/acados/x86_64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:304b272189540640455e2003b6b124ce134edbc537d9f7e266939a6163e3965c
-size 521320
+oid sha256:5b84ad639a00b9ad35e502588a96145b9914ef0fc24262b3e9bfcdbcd655d9ae
+size 534128
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
index 5901f058dc..3dd1ba44cd 100644
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ b/third_party/acados/x86_64/lib/libblasfeo.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7eed704b395c5ab6eeff9e4188ee4f883889c666adcea7743cf2bdcef535f533
-size 1265064
+oid sha256:2361e3efae8404b728e631bcaaa1f686158e0b62e19b6237d01c2efa17147c21
+size 1265168
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
index a81e9c2080..65d0f14062 100644
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ b/third_party/acados/x86_64/lib/libhpipm.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:58abc1d388507fbab4c92483b58a4a2dd985877cd0b568c3135436cadc8f616e
+oid sha256:559bb84f78448803ef2b455cfb53aff95e283eb452c5e132afc5e663510802a0
 size 1572648
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
index 01a5fcdb80..43865f9db7 100644
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8b684fe7a70461124d492e99ffe8e7858c9d6708ffeefec121653ac3aaa945c
+oid sha256:6452b56b86528616695f44752d975d26c93a0692246a8ca313fc969effec75ca
 size 262824
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
index f5253b4739..d1e156f860 100755
--- a/third_party/acados/x86_64/t_renderer
+++ b/third_party/acados/x86_64/t_renderer
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 7377848
+oid sha256:703e96a35b87eeace4b4558266a4d715742e28f17be0c02a6fcc3ea975d050f6
+size 15186136