debug: NonLinMPC construction

franckgaga · franckgaga · commit 996436cd1da0 · 2025-05-12T11:46:05.000-04:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -306,8 +306,8 @@ function NonLinMPC(
     )
 end
 
-default_estimator(model::SimModel; kwargs...) = UnscentedKalmanFilter(model, kwargs...)
-default_estimator(model::LinModel; kwargs...) = SteadyKalmanFilter(model, kwargs...)
+default_estimator(model::SimModel; kwargs...) = UnscentedKalmanFilter(model; kwargs...)
+default_estimator(model::LinModel; kwargs...) = SteadyKalmanFilter(model; kwargs...)
 
 """
     NonLinMPC(estim::StateEstimator; <keyword arguments>)

Original file line number	Diff line number	Diff line change
`@@ -306,8 +306,8 @@ function NonLinMPC(`
`306`	`306`	`)`
`307`	`307`	`end`
`308`	`308`
`309`		`-default_estimator(model::SimModel; kwargs...) = UnscentedKalmanFilter(model, kwargs...)`
`310`		`-default_estimator(model::LinModel; kwargs...) = SteadyKalmanFilter(model, kwargs...)`
	`309`	`+default_estimator(model::SimModel; kwargs...) = UnscentedKalmanFilter(model; kwargs...)`
	`310`	`+default_estimator(model::LinModel; kwargs...) = SteadyKalmanFilter(model; kwargs...)`
`311`	`311`
`312`	`312`	`"""`
`313`	`313`	`NonLinMPC(estim::StateEstimator; <keyword arguments>)`