4. Backward CompatibilityĀ¶

From version 4.2.0, the following code-generation options can be used for reverting to previous FORCESPRO behaviours:

  • legacyNetworkConnections = 1. From version 4.2.0, a new communication method is used to connect to the codegen service for safety and stability reasons. Use this option to use the legacy method of communication (see MATLAB network communications).

  • platform = 'Speedgoat-Legacy-x86'. From version 4.2.0, use this option for Mobile Speedgoat platforms on earlier versions of MATLAB (MATLAB versions < 2018b). From version 4.2.0, the option platform = 'Speedgoat-x86' supports MATLAB versions <2020b and >=2018b. The option platform = 'Speedgoat-QNX' supports MATLAB 2020b and later.

From version 4.1.0, the following code-generation options can be used for reverting to previous FORCESPRO behaviours:

  • separateCasadiFiles = 1. From version 4.1.0, the old _model files are all gathered in a single _casadi file. To enable the old behaviour, ie splitted model files, please set separateCasadiFiles = 1.

  • size_one_param_as_array = 1. From version 4.1.0, when using the PDIP_NLP method only, all parameters of size one are treated as scalars by default in order to be compatible with the Matlab coder. This option enables users to revert to the previous behaviour, ie scalar parameters as arrays of size one.