![dspace control desk dspace control desk](https://d3i71xaburhd42.cloudfront.net/01115405abf06560133eb89fa1c31e48883a06f4/7-Figure8-1.png)
Then, in this test_compile_usr.mk file, I add Path names for user include files, USER_INCLUDES_PATH = "\include" "\src" "\interfaces\simulink".Then, in this test_compile_usr.mk file, I add the directory to these above files, USER_SRCS_DIR = "\src".Then, in this test_compile_usr.mk file, I add, USER SRCS = OQPinterface.cpp SolutionAnalysis?.cpp SQProblemSchur.cpp SparseSolver?.cpp SQProblem.cpp QProblem.cpp QProblemB.cpp Bounds.cpp Constraints.cpp SubjectTo?.cpp Indexlist.cpp Flipper.cpp Utils.cpp Options.cpp Matrices.cpp BLASReplacement.cpp LAPACKReplacement.cpp MessageHandling?.cpp.
![dspace control desk dspace control desk](https://ars.els-cdn.com/content/image/1-s2.0-S2314717216301118-gr7.jpg)
in this test_compile_usr.mk file, I add USER BUILD CPP APPL = ON at the top,.Then I uncomment the compiler flag DSPACE, line 45 within /include/qpOASES/Types.hpp, and compile the simulink model for the first time, which generates a test_compile_usr.mk file. copy the s-function in /interfaces/simulink/example_SQProblem.mdl, in a new created, test_compile.slx(I give the name) simulink model.in /interfaces/simulink, run make command by choosing Microsoft Windows SDK 7.1 (C++) c++ compiler in matlab.in /interfaces/matlab, run make command by choosing Microsoft Windows SDK 7.1 (C++) c++ compiler in matlab.then compile by make command in cygwin64 terminal
#Dspace control desk install
install qpOASES by comment line 35 and and uncomment line 36 in make.mk file in /.
![dspace control desk dspace control desk](https://d2368tcediwknr.cloudfront.net/video/products/FMI/dSPACE-FMI1_ASM_1280x720_2015-04_English.png)
I copy the s-function example in /interfaces/simulink/example_SQProblem.mdl for a MPC control. Microsoft Windows SDK 7.1 (C++) c++ compiler in matlab I am using cygwin64, Matlab R2015a, dSPACE ds1007, dSPACE ControlDesk? 5.4. Hello, I am a beginer of installing qpOASES.