Merge branch 'debug_mhe' into bench_cont_2

Author: franckgaga

src/estimator/mhe/execute.jl

@@ -472,6 +472,7 @@ function set_warmstart_mhe!(V̂, X̂0, estim::MovingHorizonEstimator{NT}, Z̃var
     # will be inevitably different at the following time step.
     Z̃s[nx̃+Nk*nŵ+1:end] .= 1
     JuMP.set_start_value.(Z̃var, Z̃s)
+    return Z̃s
 end
 
 "Correct the covariance estimate at arrival using `covestim` [`StateEstimator`](@ref)."

src/general.jl

@@ -49,7 +49,8 @@ function limit_solve_time(optim::GenericModel, Ts)
         JuMP.set_time_limit_sec(optim, Ts)
     catch err
         if isa(err, MOI.UnsupportedAttribute{MOI.TimeLimitSec})
-            @warn "Solving time limit is not supported by the optimizer."
+            @warn "Solving time limit is not supported by the $(JuMP.solver_name(optim)) "*
+                  "optimizer."
         else
             rethrow()
         end

test/3_test_predictive_control.jl

@@ -19,7 +19,7 @@
     @test mpc6.weights.L_Hp ≈ Diagonal(diagm(repeat(Float64[0, 1], 15)))
     @test mpc6.weights.L_Hp isa Hermitian{Float64, Diagonal{Float64, Vector{Float64}}}
     mpc7 = @test_logs(
-        (:warn, "Solving time limit is not supported by the optimizer."), 
+        (:warn, "Solving time limit is not supported by the DAQP optimizer."), 
         LinMPC(model, optim=JuMP.Model(DAQP.Optimizer))
     )
     @test solver_name(mpc7.optim) == "DAQP"