debug: do not convert P̂_0 if isnothing

Author: franckgaga

src/controller/construct.jl

@@ -91,7 +91,8 @@ function ControllerWeights(
         model::SimModel{NT}, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt=Inf, Ewt=0
     ) where {NT<:Real}
     validate_weights(model, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt, Ewt)
-    return ControllerWeights{NT}(NT.(M_Hp), NT.(N_Hc), NT.(L_Hp), Cwt, Ewt)
+    M_Hp, N_Hc, L_Hp = NT.(M_Hp), NT.(N_Hc), NT.(L_Hp)
+    return ControllerWeights{NT}(M_Hp, N_Hc, L_Hp, Cwt, Ewt)
 end
 
 "Validate predictive controller weight and horizon specified values."

src/estimator/construct.jl

@@ -53,7 +53,7 @@ struct KalmanCovariances{
     invQ̂_He::Hermitian{NT, Q̂C}
     invR̂_He::Hermitian{NT, R̂C}
     function KalmanCovariances{NT}(
-        model, i_ym, nint_u, nint_ym, Q̂::Q̂C, R̂::R̂C, P̂_0=nothing, He=1
+        Q̂::Q̂C, R̂::R̂C, P̂_0, He
     ) where {NT<:Real, Q̂C<:AbstractMatrix{NT}, R̂C<:AbstractMatrix{NT}}
         if isnothing(P̂_0)
             P̂_0 = zeros(NT, 0, 0)
@@ -104,7 +104,9 @@ function KalmanCovariances(
         model::SimModel{NT}, i_ym, nint_u, nint_ym, Q̂, R̂, P̂_0=nothing, He=1
     ) where {NT<:Real}
     validate_kfcov(model, i_ym, nint_u, nint_ym, Q̂, R̂, P̂_0)
-    return KalmanCovariances{NT}(model, i_ym, nint_u, nint_ym, NT.(Q̂), NT.(R̂), NT.(P̂_0), He)
+    Q̂, R̂ = NT.(Q̂), NT.(R̂)
+    !isnothing(P̂_0) && (P̂_0 .= NT.(P̂_0))
+    return KalmanCovariances{NT}(Q̂, R̂, P̂_0, He)
 end
 
 """

test/3_test_predictive_control.jl

@@ -822,7 +822,6 @@ end
     preparestate!(nmpc11, y, [0])
     moveinput!(nmpc11, [10], [0])
     ΔU_diff = diff(getinfo(nmpc11)[:U])
-    println(ΔU_diff)
     @test ΔU_diff[[2, 4, 5, 7, 8, 9]] ≈ zeros(6) atol=1e-9
 
     @test_nowarn ModelPredictiveControl.info2debugstr(info)