From bfe46369fbdecc26cbb87371743c285433dec9ea Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Mon, 18 May 2026 22:53:10 +0200
Subject: [PATCH 01/14] Improve heuristic for selecting rho for DR-DAQP

---
 src/utils.c | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/utils.c b/src/utils.c
index f626351..e796f31 100644
--- a/src/utils.c
+++ b/src/utils.c
@@ -472,19 +472,29 @@ int daqp_update_avi(DAQPAVI* avi, DAQPProblem* p){
     // Setup matrices Hsym, Hs_rho, and H_rho, LU_H
     int i,j,disp;
     c_float val;
+    c_float min_diag = DAQP_INF;
+    c_float max_row_sum = 0.0;
+    c_float fro_norm_sq = 0.0;
     avi->rho = 0.0;
     for (i = 0, disp=0; i < n; i++) {
+        c_float row_sum = 0.0;
         for (j = 0; j < n; j++, disp++) {
             val = (p->H[disp] + p->H[j * n + i]) * 0.5;
             avi->Hsym[disp] = val;
             avi->Hs_rho[disp] = val;
             avi->H_rho[disp] = p->H[disp];
             avi->LU_H[disp] = p->H[disp];
-            avi->rho += p->H[disp] * p->H[disp];
+            row_sum += (val < 0.0) ? -val : val;
+            fro_norm_sq += p->H[disp] * p->H[disp];
+            if(i == j && val < min_diag) min_diag = val;
         }
+        if(row_sum > max_row_sum) max_row_sum = row_sum;
     }
     // Regularization
-    avi->rho = sqrt(avi->rho)/2;
+    if(min_diag > 0.0 && max_row_sum > 0.0)
+        avi->rho = sqrt(min_diag * max_row_sum);
+    else
+        avi->rho = sqrt(fro_norm_sq)/2;
     for(i=0,disp=0; i<n;i++){
         avi->Hs_rho[disp] += avi->rho;
         avi->H_rho[disp] += avi->rho;

From a0ce56faeb360569201f8419784c52f8a1ca874a Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 00:04:30 +0200
Subject: [PATCH 02/14] Add option for custom rho in avi

---
 docs/docs/settings.md                       |  1 +
 include/constants.h                         |  1 +
 include/types.h                             |  1 +
 include/utils.h                             |  2 +-
 interfaces/daqp-eigen/CMakeLists.txt        |  2 +
 interfaces/daqp-eigen/daqp.cpp              |  5 ++
 interfaces/daqp-eigen/daqp.hpp              |  1 +
 interfaces/daqp-eigen/tests/09_avi_rho.cpp  | 68 +++++++++++++++++++++
 interfaces/daqp-julia/src/types.jl          |  1 +
 interfaces/daqp-julia/test/core_tests.jl    |  5 +-
 interfaces/daqp-matlab/daqpmex.c            |  7 +++
 interfaces/daqp-matlab/test/core_test.m     |  9 +++
 interfaces/daqp-python/daqp.pxd             |  2 +
 interfaces/daqp-python/daqp.pyx             | 12 +++-
 interfaces/daqp-python/test/example_test.py |  5 +-
 src/api.c                                   |  1 +
 src/avi.c                                   | 43 +++++++++++++
 src/utils.c                                 | 42 +------------
 18 files changed, 160 insertions(+), 48 deletions(-)
 create mode 100644 interfaces/daqp-eigen/tests/09_avi_rho.cpp

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index d5bc7cd..adeb3ca 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,6 +29,7 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
+| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
diff --git a/include/constants.h b/include/constants.h
index 8b02018..fed80cd 100644
--- a/include/constants.h
+++ b/include/constants.h
@@ -22,6 +22,7 @@ extern "C" {
 #define DAQP_DEFAULT_ETA 1e-6
 #define DAQP_DEFAULT_ITER_LIMIT 10000
 #define DAQP_DEFAULT_RHO_SOFT 1e-6
+#define DAQP_DEFAULT_RHO_AVI (-1.0)
 #define DAQP_DEFAULT_REL_SUBOPT 0
 #define DAQP_DEFAULT_ABS_SUBOPT 0
 #define DAQP_DEFAULT_SING_TOL (3.7e-11)
diff --git a/include/types.h b/include/types.h
index 4855522..0efbcfb 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,6 +64,7 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
+    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
diff --git a/include/utils.h b/include/utils.h
index b5fec10..e9b466b 100644
--- a/include/utils.h
+++ b/include/utils.h
@@ -17,7 +17,7 @@ void daqp_normalize_Rinv(DAQPWorkspace *work);
 int daqp_normalize_M(DAQPWorkspace *work);
 int daqp_check_unconstrained(DAQPWorkspace* work, const int mask);
 
-int daqp_update_avi(DAQPAVI *avi, DAQPProblem *problem);
+int daqp_update_avi(DAQPAVI *avi, DAQPProblem *problem, DAQPSettings *settings);
 int daqp_lu(c_float* A, int* P, int n);
 void daqp_lu_solve(c_float* LU, int* P, c_float* b, c_float* x, int n);
 
diff --git a/interfaces/daqp-eigen/CMakeLists.txt b/interfaces/daqp-eigen/CMakeLists.txt
index 76344cb..fd87af4 100644
--- a/interfaces/daqp-eigen/CMakeLists.txt
+++ b/interfaces/daqp-eigen/CMakeLists.txt
@@ -20,6 +20,7 @@ add_executable(05_warmstart tests/05_warmstart.cpp)
 add_executable(06_general_hessian tests/06_general_hessian.cpp)
 add_executable(07_symmetrize_hessian tests/07_symmetrize_hessian.cpp)
 add_executable(08_unconstrained_check tests/08_unconstrained_check.cpp)
+add_executable(09_avi_rho tests/09_avi_rho.cpp)
 
 set(TARGETS
     00_basic_qp
@@ -31,6 +32,7 @@ set(TARGETS
     06_general_hessian
     07_symmetrize_hessian
     08_unconstrained_check
+    09_avi_rho
 )
 
 foreach(TARGET ${TARGETS})
diff --git a/interfaces/daqp-eigen/daqp.cpp b/interfaces/daqp-eigen/daqp.cpp
index bd13a51..9dffb4c 100644
--- a/interfaces/daqp-eigen/daqp.cpp
+++ b/interfaces/daqp-eigen/daqp.cpp
@@ -380,6 +380,11 @@ void DAQP::set_rho_soft(double val) {
     is_solved_ = false;
 }
 
+void DAQP::set_rho_avi(double val) {
+    settings_.rho_avi = val;
+    is_solved_ = false;
+}
+
 void DAQP::set_rel_subopt(double val) {
     settings_.rel_subopt = val;
     is_solved_ = false;
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index 9579edd..494e5bc 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,6 +101,7 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
+    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
diff --git a/interfaces/daqp-eigen/tests/09_avi_rho.cpp b/interfaces/daqp-eigen/tests/09_avi_rho.cpp
new file mode 100644
index 0000000..1696049
--- /dev/null
+++ b/interfaces/daqp-eigen/tests/09_avi_rho.cpp
@@ -0,0 +1,68 @@
+#include <cmath>
+#include "api.h"
+
+static double automatic_rho(const double* H, int n) {
+    double min_diag = DAQP_INF;
+    double max_row_sum = 0.0;
+    double fro_norm_sq = 0.0;
+
+    for (int i = 0; i < n; ++i) {
+        double row_sum = 0.0;
+        for (int j = 0; j < n; ++j) {
+            const double hij = H[i * n + j];
+            const double sym = 0.5 * (hij + H[j * n + i]);
+            row_sum += std::abs(sym);
+            fro_norm_sq += hij * hij;
+            if (i == j && sym < min_diag)
+                min_diag = sym;
+        }
+        if (row_sum > max_row_sum)
+            max_row_sum = row_sum;
+    }
+
+    if (min_diag > 0.0 && max_row_sum > 0.0)
+        return std::sqrt(min_diag * max_row_sum);
+    return std::sqrt(fro_norm_sq) / 2.0;
+}
+
+int main() {
+    constexpr int n = 2;
+    constexpr int m = 2;
+    constexpr int ms = 0;
+
+    double H[4] = {1.0, 1.75, 0.0, 1.0};
+    double f[2] = {2.0, 2.0};
+    double A[4] = {1.0, 0.0, 0.0, 1.0};
+    double bupper[2] = {1.0, 1.0};
+    double blower[2] = {-1.0, -1.0};
+    int sense[2] = {0, 0};
+    DAQPProblem qp = {n, m, ms, H, f, A, bupper, blower, sense, nullptr, 0, 1};
+
+    DAQPWorkspace work = {0};
+    int exitflag = setup_daqp(&qp, &work, nullptr);
+    if (exitflag < 0)
+        return 1;
+
+    const double expected_auto = automatic_rho(H, n);
+    const double auto_tol = 1e-12 * (expected_auto > 1.0 ? expected_auto : 1.0);
+    const bool auto_ok = std::abs(work.avi->rho - expected_auto) <= auto_tol;
+    free_daqp_workspace(&work);
+    free_daqp_ldp(&work);
+
+    DAQPSettings settings;
+    daqp_default_settings(&settings);
+    settings.rho_avi = 0.25;
+
+    DAQPWorkspace work_override = {0};
+    work_override.settings = &settings;
+    exitflag = setup_daqp(&qp, &work_override, nullptr);
+    if (exitflag < 0)
+        return 1;
+
+    const bool override_ok = std::abs(work_override.avi->rho - settings.rho_avi) <= 1e-15;
+    work_override.settings = nullptr;
+    free_daqp_workspace(&work_override);
+    free_daqp_ldp(&work_override);
+
+    return (auto_ok && override_ok) ? 0 : 1;
+}
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index de679c5..04abe6b 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,6 +93,7 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
+    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
diff --git a/interfaces/daqp-julia/test/core_tests.jl b/interfaces/daqp-julia/test/core_tests.jl
index 9a56d3d..3824bc3 100644
--- a/interfaces/daqp-julia/test/core_tests.jl
+++ b/interfaces/daqp-julia/test/core_tests.jl
@@ -136,9 +136,11 @@ end
     # Test access settings
     s = settings(d)
     @test s.primal_tol==1e-6
-    settings(d,Dict(:primal_tol=>1e-5))
+    @test s.rho_avi==-1
+    settings(d,Dict(:primal_tol=>1e-5, :rho_avi=>0.25))
     s = settings(d)
     @test s.primal_tol==1e-5
+    @test s.rho_avi==0.25
 
     # Update existing model with new problem
     xref,H,f,A,bupper,blower,sense = generate_test_QP(n,m,ms,nAct,kappa)
@@ -509,4 +511,3 @@ end
     end
     @test tquad < 10*tsetup #Should be orders of magnitude faster
 end
-
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index ea362bd..51ad8bc 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,6 +24,7 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
+  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
@@ -181,8 +182,11 @@ void mexFunction( int nlhs, mxArray *plhs[],
 		mxSetField(s, 0, "eps_prox", mxCreateDoubleScalar(work->settings->eps_prox));
 		mxSetField(s, 0, "eta_prox", mxCreateDoubleScalar(work->settings->eta_prox));
 		mxSetField(s, 0, "rho_soft", mxCreateDoubleScalar(work->settings->rho_soft));
+		mxSetField(s, 0, "rho_avi", mxCreateDoubleScalar(work->settings->rho_avi));
 		mxSetField(s, 0, "abs_subopt", mxCreateDoubleScalar(work->settings->abs_subopt));
 		mxSetField(s, 0, "rel_subopt", mxCreateDoubleScalar(work->settings->rel_subopt));
+		mxSetField(s, 0, "sing_tol", mxCreateDoubleScalar(work->settings->sing_tol));
+		mxSetField(s, 0, "refactor_tol", mxCreateDoubleScalar(work->settings->refactor_tol));
 		mxSetField(s, 0, "time_limit", mxCreateDoubleScalar(work->settings->time_limit));
 		plhs[0] = s;
 	  }
@@ -200,8 +204,11 @@ void mexFunction( int nlhs, mxArray *plhs[],
 	  work->settings->eps_prox = (c_float)mxGetScalar(mxGetField(s, 0, "eps_prox"));
 	  work->settings->eta_prox= (c_float)mxGetScalar(mxGetField(s, 0, "eta_prox"));
 	  work->settings->rho_soft= (c_float)mxGetScalar(mxGetField(s, 0, "rho_soft"));
+	  work->settings->rho_avi= (c_float)mxGetScalar(mxGetField(s, 0, "rho_avi"));
 	  work->settings->abs_subopt= (c_float)mxGetScalar(mxGetField(s, 0, "abs_subopt"));
 	  work->settings->rel_subopt= (c_float)mxGetScalar(mxGetField(s, 0, "rel_subopt"));
+	  work->settings->sing_tol= (c_float)mxGetScalar(mxGetField(s, 0, "sing_tol"));
+	  work->settings->refactor_tol= (c_float)mxGetScalar(mxGetField(s, 0, "refactor_tol"));
 	  work->settings->time_limit= (c_float)mxGetScalar(mxGetField(s, 0, "time_limit"));
 	}
 	else if (!strcmp("update", cmd)) {
diff --git a/interfaces/daqp-matlab/test/core_test.m b/interfaces/daqp-matlab/test/core_test.m
index ed8fe1a..c340869 100644
--- a/interfaces/daqp-matlab/test/core_test.m
+++ b/interfaces/daqp-matlab/test/core_test.m
@@ -63,6 +63,15 @@ function prox_random_feasible_QPs(testCase)
             fprintf('=============================================================\n')
         end
 
+        function settings_roundtrip(testCase)
+            d = daqp();
+            s = d.settings();
+            testCase.verifyEqual(s.rho_avi,-1);
+            d.settings('rho_avi',0.25);
+            s = d.settings();
+            testCase.verifyEqual(s.rho_avi,0.25);
+        end
+
         function random_feasible_LPs(testCase)
             % Test on randomly generated feasible LPs
             rng('default');
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index 817b4e0..d109f3f 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,6 +32,7 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
+        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -98,6 +99,7 @@ cdef extern from "constants.h":
     cdef double DAQP_DEFAULT_ETA
     cdef int DAQP_DEFAULT_ITER_LIMIT
     cdef double DAQP_DEFAULT_RHO_SOFT
+    cdef double DAQP_DEFAULT_RHO_AVI
     cdef double  DAQP_DEFAULT_REL_SUBOPT
     cdef double  DAQP_DEFAULT_ABS_SUBOPT
     cdef double  DAQP_DEFAULT_SING_TOL
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index d6a94f6..baa997e 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -73,6 +73,7 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
           iter_limit =  DAQP_DEFAULT_ITER_LIMIT, fval_bound = DAQP_INF,
           eps_prox= DAQP_DEFAULT_EPS_PROX, eta_prox = DAQP_DEFAULT_ETA,
           rho_soft = DAQP_DEFAULT_RHO_SOFT,
+          rho_avi = DAQP_DEFAULT_RHO_AVI,
           rel_subopt = DAQP_DEFAULT_REL_SUBOPT, abs_subopt = DAQP_DEFAULT_ABS_SUBOPT,
           sing_tol = DAQP_DEFAULT_SING_TOL, refactor_tol = DAQP_DEFAULT_REFACTOR_TOL,
           time_limit = 0,
@@ -123,6 +124,9 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
         Break points that define prioritized constraints
     is_avi:
         flag for interpreting the problem as an AVI (relevant for asymmetric H)
+    rho_avi:
+        Overrides the automatic AVI regularization parameter when positive.
+        The default ``-1`` keeps the automatic choice based on the Hessian.
     primal_start:
         Initial guess of primal iterate (used for warm starting). Sets the initial
         active set based on which constraints are nearly active at this iterate, and
@@ -201,7 +205,7 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
             time_limit]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
@@ -582,8 +586,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
-        ``time_limit``.
+        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
+        ``refactor_tol``, ``time_limit``.
         """
         if self._work.settings == NULL:
             return {}
@@ -600,6 +604,7 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
+            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
@@ -624,6 +629,7 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
+        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
diff --git a/interfaces/daqp-python/test/example_test.py b/interfaces/daqp-python/test/example_test.py
index e786ff5..b58bced 100644
--- a/interfaces/daqp-python/test/example_test.py
+++ b/interfaces/daqp-python/test/example_test.py
@@ -190,15 +190,18 @@ def test_model_settings_get(self):
         self.assertIn('primal_tol', s)
         self.assertIn('eps_prox', s)
         self.assertIn('time_limit', s)
+        self.assertIn('rho_avi', s)
         self.assertEqual(s['time_limit'], 0.0)
+        self.assertEqual(s['rho_avi'], -1.0)
 
     def test_model_settings_set(self):
         """settings setter updates only the specified keys."""
         d = daqp.Model()
         original_primal_tol = d.settings['primal_tol']
-        d.settings = {'iter_limit': 42, 'time_limit': 5.0}
+        d.settings = {'iter_limit': 42, 'time_limit': 5.0, 'rho_avi': 0.25}
         self.assertEqual(d.settings['iter_limit'], 42)
         self.assertAlmostEqual(d.settings['time_limit'], 5.0)
+        self.assertAlmostEqual(d.settings['rho_avi'], 0.25)
         # Other settings should be unchanged
         self.assertAlmostEqual(d.settings['primal_tol'], original_primal_tol)
 
diff --git a/src/api.c b/src/api.c
index 8ef4754..3f8284d 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,6 +477,7 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
+    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
diff --git a/src/avi.c b/src/avi.c
index 1c70f8d..ffd5e3c 100644
--- a/src/avi.c
+++ b/src/avi.c
@@ -1,6 +1,7 @@
 #include "avi.h"
 #include "daqp.h"
 #include "utils.h"
+#include <math.h>
 
 // Solve AVI
 int daqp_solve_avi(DAQPWorkspace *work) {
@@ -218,3 +219,45 @@ int daqp_check_optimal_avi(DAQPWorkspace* work){
     // All checks passed -> optimal KKT point found
     return 1;
 }
+
+int daqp_update_avi(DAQPAVI* avi, DAQPProblem* p, DAQPSettings* settings) {
+    const int n = p->n;
+    int i, j, disp;
+    c_float val;
+    c_float min_diag = DAQP_INF;
+    c_float max_row_sum = 0.0;
+    c_float fro_norm_sq = 0.0;
+
+    avi->rho = 0.0;
+    for (i = 0, disp = 0; i < n; i++) {
+        c_float row_sum = 0.0;
+        for (j = 0; j < n; j++, disp++) {
+            val = (p->H[disp] + p->H[j * n + i]) * 0.5;
+            avi->Hsym[disp] = val;
+            avi->Hs_rho[disp] = val;
+            avi->H_rho[disp] = p->H[disp];
+            avi->LU_H[disp] = p->H[disp];
+            row_sum += (val < 0.0) ? -val : val;
+            fro_norm_sq += p->H[disp] * p->H[disp];
+            if(i == j && val < min_diag) min_diag = val;
+        }
+        if(row_sum > max_row_sum) max_row_sum = row_sum;
+    }
+
+    if(settings != NULL && settings->rho_avi > 0.0)
+        avi->rho = settings->rho_avi;
+    else if(min_diag > 0.0 && max_row_sum > 0.0)
+        avi->rho = sqrt(min_diag * max_row_sum);
+    else
+        avi->rho = sqrt(fro_norm_sq) / 2;
+
+    for(i = 0, disp = 0; i < n; i++) {
+        avi->Hs_rho[disp] += avi->rho;
+        avi->H_rho[disp] += avi->rho;
+        disp += n + 1;
+    }
+
+    daqp_lu(avi->LU_H, avi->P_H, n);
+    daqp_lu(avi->H_rho, avi->P_H2, n);
+    return 1;
+}
diff --git a/src/utils.c b/src/utils.c
index e796f31..19719f9 100644
--- a/src/utils.c
+++ b/src/utils.c
@@ -41,7 +41,7 @@ int daqp_update_ldp(const int mask, DAQPWorkspace *work, DAQPProblem* qp){
         if(work->avi == NULL)
             error_flag = daqp_update_Rinv(work, qp->H, qp->problem_type==2 ? 1 : 0);
         else{
-            daqp_update_avi(work->avi,qp);
+            daqp_update_avi(work->avi, qp, work->settings);
             error_flag = daqp_update_Rinv(work, work->avi->Hs_rho,0);
         }
         if(error_flag<0)
@@ -467,46 +467,6 @@ int daqp_check_unconstrained(DAQPWorkspace* work, const int mask){
     return 1;
 }
 
-int daqp_update_avi(DAQPAVI* avi, DAQPProblem* p){
-    const int n = p->n;
-    // Setup matrices Hsym, Hs_rho, and H_rho, LU_H
-    int i,j,disp;
-    c_float val;
-    c_float min_diag = DAQP_INF;
-    c_float max_row_sum = 0.0;
-    c_float fro_norm_sq = 0.0;
-    avi->rho = 0.0;
-    for (i = 0, disp=0; i < n; i++) {
-        c_float row_sum = 0.0;
-        for (j = 0; j < n; j++, disp++) {
-            val = (p->H[disp] + p->H[j * n + i]) * 0.5;
-            avi->Hsym[disp] = val;
-            avi->Hs_rho[disp] = val;
-            avi->H_rho[disp] = p->H[disp];
-            avi->LU_H[disp] = p->H[disp];
-            row_sum += (val < 0.0) ? -val : val;
-            fro_norm_sq += p->H[disp] * p->H[disp];
-            if(i == j && val < min_diag) min_diag = val;
-        }
-        if(row_sum > max_row_sum) max_row_sum = row_sum;
-    }
-    // Regularization
-    if(min_diag > 0.0 && max_row_sum > 0.0)
-        avi->rho = sqrt(min_diag * max_row_sum);
-    else
-        avi->rho = sqrt(fro_norm_sq)/2;
-    for(i=0,disp=0; i<n;i++){
-        avi->Hs_rho[disp] += avi->rho;
-        avi->H_rho[disp] += avi->rho;
-        disp += n+1;
-    }
-
-    // Factorize H and H_rho
-    daqp_lu(avi->LU_H, avi->P_H, n);
-    daqp_lu(avi->H_rho, avi->P_H2, n);
-    return 1;
-}
-
 int daqp_lu(c_float* A, int* P, int n) {
     c_float max_val,pA;
     for (int i = 0; i < n; i++) P[i] = i; // Initialize permutation vector

From 33b3ec2a415043f8211a0d6656095f7d353ef0a9 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 00:05:24 +0200
Subject: [PATCH 03/14] Bump version

---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d7c38d..cf5bddd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.4)
+project(daqp VERSION 0.8.5)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index f1ef628..bbb2ada 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.5',
+        version='0.8.6',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From 9c199ef9ac57aad68387c68a1e1cb57e0c105243 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 00:36:46 +0200
Subject: [PATCH 04/14] Make new rho_avi last field in setting struct

---
 docs/docs/settings.md              |  2 +-
 include/types.h                    |  2 +-
 interfaces/daqp-eigen/daqp.hpp     |  2 +-
 interfaces/daqp-julia/src/types.jl |  2 +-
 interfaces/daqp-matlab/daqpmex.c   |  4 ++--
 interfaces/daqp-python/daqp.pxd    |  2 +-
 interfaces/daqp-python/daqp.pyx    | 12 ++++++------
 src/api.c                          |  2 +-
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index adeb3ca..421b6ce 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,12 +29,12 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
-| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
 | `refactor_tol` | Tolerance for refactoring the LDL' factorization before terminating | 1e-9 |
 | `time_limit` | Maximum wall-clock time in seconds before terminating (0 means no limit) | 0 |
+| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 
 
 ## Exit flags 
diff --git a/include/types.h b/include/types.h
index 0efbcfb..437d1bb 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,7 +64,6 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
-    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
@@ -72,6 +71,7 @@ typedef struct{
     c_float sing_tol;
     c_float refactor_tol;
     c_float time_limit;
+    c_float rho_avi;
 }DAQPSettings;
 
 
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index 494e5bc..c291aaf 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,12 +101,12 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
-    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
     void set_refactor_tol(double val);
     void set_time_limit(double val);
+    void set_rho_avi(double val);
 
     // Getters for result
     Eigen::VectorXd get_primal();
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index 04abe6b..16f988a 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,7 +93,6 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
-    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
@@ -101,6 +100,7 @@ struct DAQPSettings
     sing_tol::Cdouble
     refactor_tol::Cdouble
     time_limit::Cdouble
+    rho_avi::Cdouble
 end
 function DAQPSettings()
     settings = Ref{DAQPBase.DAQPSettings}()
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index 51ad8bc..e44c8f5 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,12 +24,12 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
-  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
   "refactor_tol",
-  "time_limit"
+  "time_limit",
+  "rho_avi"
 };
 
 
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index d109f3f..8153fa3 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,7 +32,6 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
-        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -40,6 +39,7 @@ cdef extern from "types.h":
         double sing_tol;
         double refactor_tol;
         double time_limit;
+        double rho_avi;
 
     ctypedef struct DAQPWorkspace:
         int n
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index baa997e..d592891 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -205,8 +205,8 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
-            time_limit]
+            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            time_limit, rho_avi]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
     if primal_start is None and dual_start is None:
@@ -586,8 +586,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
-        ``refactor_tol``, ``time_limit``.
+        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
+        ``time_limit``, ``rho_avi``.
         """
         if self._work.settings == NULL:
             return {}
@@ -604,12 +604,12 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
-            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
             'refactor_tol': s.refactor_tol,
             'time_limit':   s.time_limit,
+            'rho_avi':      s.rho_avi,
         }
 
     @settings.setter
@@ -629,12 +629,12 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
-        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
         if 'refactor_tol' in new_settings: s.refactor_tol = new_settings['refactor_tol']
         if 'time_limit'   in new_settings: s.time_limit   = new_settings['time_limit']
+        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
 
 
 @cython.boundscheck(False)
diff --git a/src/api.c b/src/api.c
index 3f8284d..502b11f 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,7 +477,6 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
-    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
@@ -485,6 +484,7 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->sing_tol = DAQP_DEFAULT_SING_TOL;
     settings->refactor_tol = DAQP_DEFAULT_REFACTOR_TOL;
     settings->time_limit = 0;
+    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 }
 
 /* Remove redundant constraints*/

From d061c01d069b360cdb522a9771e077c8b046e80c Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:01:55 +0200
Subject: [PATCH 05/14] Revert "Make new rho_avi last field in setting struct"

This reverts commit 9c199ef9ac57aad68387c68a1e1cb57e0c105243.
---
 docs/docs/settings.md              |  2 +-
 include/types.h                    |  2 +-
 interfaces/daqp-eigen/daqp.hpp     |  2 +-
 interfaces/daqp-julia/src/types.jl |  2 +-
 interfaces/daqp-matlab/daqpmex.c   |  4 ++--
 interfaces/daqp-python/daqp.pxd    |  2 +-
 interfaces/daqp-python/daqp.pyx    | 12 ++++++------
 src/api.c                          |  2 +-
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index 421b6ce..adeb3ca 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,12 +29,12 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
+| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
 | `refactor_tol` | Tolerance for refactoring the LDL' factorization before terminating | 1e-9 |
 | `time_limit` | Maximum wall-clock time in seconds before terminating (0 means no limit) | 0 |
-| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 
 
 ## Exit flags 
diff --git a/include/types.h b/include/types.h
index 437d1bb..0efbcfb 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,6 +64,7 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
+    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
@@ -71,7 +72,6 @@ typedef struct{
     c_float sing_tol;
     c_float refactor_tol;
     c_float time_limit;
-    c_float rho_avi;
 }DAQPSettings;
 
 
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index c291aaf..494e5bc 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,12 +101,12 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
+    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
     void set_refactor_tol(double val);
     void set_time_limit(double val);
-    void set_rho_avi(double val);
 
     // Getters for result
     Eigen::VectorXd get_primal();
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index 16f988a..04abe6b 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,6 +93,7 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
+    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
@@ -100,7 +101,6 @@ struct DAQPSettings
     sing_tol::Cdouble
     refactor_tol::Cdouble
     time_limit::Cdouble
-    rho_avi::Cdouble
 end
 function DAQPSettings()
     settings = Ref{DAQPBase.DAQPSettings}()
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index e44c8f5..51ad8bc 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,12 +24,12 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
+  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
   "refactor_tol",
-  "time_limit",
-  "rho_avi"
+  "time_limit"
 };
 
 
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index 8153fa3..d109f3f 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,6 +32,7 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
+        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -39,7 +40,6 @@ cdef extern from "types.h":
         double sing_tol;
         double refactor_tol;
         double time_limit;
-        double rho_avi;
 
     ctypedef struct DAQPWorkspace:
         int n
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index d592891..baa997e 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -205,8 +205,8 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
-            time_limit, rho_avi]
+            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            time_limit]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
     if primal_start is None and dual_start is None:
@@ -586,8 +586,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
-        ``time_limit``, ``rho_avi``.
+        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
+        ``refactor_tol``, ``time_limit``.
         """
         if self._work.settings == NULL:
             return {}
@@ -604,12 +604,12 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
+            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
             'refactor_tol': s.refactor_tol,
             'time_limit':   s.time_limit,
-            'rho_avi':      s.rho_avi,
         }
 
     @settings.setter
@@ -629,12 +629,12 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
+        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
         if 'refactor_tol' in new_settings: s.refactor_tol = new_settings['refactor_tol']
         if 'time_limit'   in new_settings: s.time_limit   = new_settings['time_limit']
-        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
 
 
 @cython.boundscheck(False)
diff --git a/src/api.c b/src/api.c
index 502b11f..3f8284d 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,6 +477,7 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
+    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
@@ -484,7 +485,6 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->sing_tol = DAQP_DEFAULT_SING_TOL;
     settings->refactor_tol = DAQP_DEFAULT_REFACTOR_TOL;
     settings->time_limit = 0;
-    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 }
 
 /* Remove redundant constraints*/

From ee78cc20197c8991faf413ca642b222280bb8448 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:02:06 +0200
Subject: [PATCH 06/14] Revert "Bump version"

This reverts commit 33b3ec2a415043f8211a0d6656095f7d353ef0a9.
---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cf5bddd..0d7c38d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.5)
+project(daqp VERSION 0.8.4)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index bbb2ada..f1ef628 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.6',
+        version='0.8.5',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From 78bc371aff50f59f9860fef44f7185c048a4a837 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:02:16 +0200
Subject: [PATCH 07/14] Reapply "Bump version"

This reverts commit ee78cc20197c8991faf413ca642b222280bb8448.
---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d7c38d..cf5bddd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.4)
+project(daqp VERSION 0.8.5)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index f1ef628..bbb2ada 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.5',
+        version='0.8.6',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From 1b3c73ea6808acf7bef2abf17b4567bae06f643b Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:08 +0200
Subject: [PATCH 08/14] Revert "Reapply "Bump version""

This reverts commit 78bc371aff50f59f9860fef44f7185c048a4a837.
---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cf5bddd..0d7c38d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.5)
+project(daqp VERSION 0.8.4)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index bbb2ada..f1ef628 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.6',
+        version='0.8.5',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From a80d1f4017461cc1b507b2eaa8c9044b478ac219 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:10 +0200
Subject: [PATCH 09/14] Reapply "Bump version"

This reverts commit ee78cc20197c8991faf413ca642b222280bb8448.
---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d7c38d..cf5bddd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.4)
+project(daqp VERSION 0.8.5)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index f1ef628..bbb2ada 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.5',
+        version='0.8.6',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From daae6c9da56c1e5d604c4d2069ef2ddcc13d71d1 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:11 +0200
Subject: [PATCH 10/14] Reapply "Make new rho_avi last field in setting struct"

This reverts commit d061c01d069b360cdb522a9771e077c8b046e80c.
---
 docs/docs/settings.md              |  2 +-
 include/types.h                    |  2 +-
 interfaces/daqp-eigen/daqp.hpp     |  2 +-
 interfaces/daqp-julia/src/types.jl |  2 +-
 interfaces/daqp-matlab/daqpmex.c   |  4 ++--
 interfaces/daqp-python/daqp.pxd    |  2 +-
 interfaces/daqp-python/daqp.pyx    | 12 ++++++------
 src/api.c                          |  2 +-
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index adeb3ca..421b6ce 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,12 +29,12 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
-| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
 | `refactor_tol` | Tolerance for refactoring the LDL' factorization before terminating | 1e-9 |
 | `time_limit` | Maximum wall-clock time in seconds before terminating (0 means no limit) | 0 |
+| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 
 
 ## Exit flags 
diff --git a/include/types.h b/include/types.h
index 0efbcfb..437d1bb 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,7 +64,6 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
-    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
@@ -72,6 +71,7 @@ typedef struct{
     c_float sing_tol;
     c_float refactor_tol;
     c_float time_limit;
+    c_float rho_avi;
 }DAQPSettings;
 
 
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index 494e5bc..c291aaf 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,12 +101,12 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
-    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
     void set_refactor_tol(double val);
     void set_time_limit(double val);
+    void set_rho_avi(double val);
 
     // Getters for result
     Eigen::VectorXd get_primal();
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index 04abe6b..16f988a 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,7 +93,6 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
-    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
@@ -101,6 +100,7 @@ struct DAQPSettings
     sing_tol::Cdouble
     refactor_tol::Cdouble
     time_limit::Cdouble
+    rho_avi::Cdouble
 end
 function DAQPSettings()
     settings = Ref{DAQPBase.DAQPSettings}()
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index 51ad8bc..e44c8f5 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,12 +24,12 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
-  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
   "refactor_tol",
-  "time_limit"
+  "time_limit",
+  "rho_avi"
 };
 
 
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index d109f3f..8153fa3 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,7 +32,6 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
-        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -40,6 +39,7 @@ cdef extern from "types.h":
         double sing_tol;
         double refactor_tol;
         double time_limit;
+        double rho_avi;
 
     ctypedef struct DAQPWorkspace:
         int n
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index baa997e..d592891 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -205,8 +205,8 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
-            time_limit]
+            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            time_limit, rho_avi]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
     if primal_start is None and dual_start is None:
@@ -586,8 +586,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
-        ``refactor_tol``, ``time_limit``.
+        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
+        ``time_limit``, ``rho_avi``.
         """
         if self._work.settings == NULL:
             return {}
@@ -604,12 +604,12 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
-            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
             'refactor_tol': s.refactor_tol,
             'time_limit':   s.time_limit,
+            'rho_avi':      s.rho_avi,
         }
 
     @settings.setter
@@ -629,12 +629,12 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
-        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
         if 'refactor_tol' in new_settings: s.refactor_tol = new_settings['refactor_tol']
         if 'time_limit'   in new_settings: s.time_limit   = new_settings['time_limit']
+        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
 
 
 @cython.boundscheck(False)
diff --git a/src/api.c b/src/api.c
index 3f8284d..502b11f 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,7 +477,6 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
-    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
@@ -485,6 +484,7 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->sing_tol = DAQP_DEFAULT_SING_TOL;
     settings->refactor_tol = DAQP_DEFAULT_REFACTOR_TOL;
     settings->time_limit = 0;
+    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 }
 
 /* Remove redundant constraints*/

From 75de2cb780c296a77451a05db1acb086818e74e6 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:12 +0200
Subject: [PATCH 11/14] Revert "Make new rho_avi last field in setting struct"

This reverts commit 9c199ef9ac57aad68387c68a1e1cb57e0c105243.
---
 docs/docs/settings.md              |  2 +-
 include/types.h                    |  2 +-
 interfaces/daqp-eigen/daqp.hpp     |  2 +-
 interfaces/daqp-julia/src/types.jl |  2 +-
 interfaces/daqp-matlab/daqpmex.c   |  4 ++--
 interfaces/daqp-python/daqp.pxd    |  2 +-
 interfaces/daqp-python/daqp.pyx    | 12 ++++++------
 src/api.c                          |  2 +-
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index 421b6ce..adeb3ca 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,12 +29,12 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
+| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
 | `refactor_tol` | Tolerance for refactoring the LDL' factorization before terminating | 1e-9 |
 | `time_limit` | Maximum wall-clock time in seconds before terminating (0 means no limit) | 0 |
-| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 
 
 ## Exit flags 
diff --git a/include/types.h b/include/types.h
index 437d1bb..0efbcfb 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,6 +64,7 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
+    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
@@ -71,7 +72,6 @@ typedef struct{
     c_float sing_tol;
     c_float refactor_tol;
     c_float time_limit;
-    c_float rho_avi;
 }DAQPSettings;
 
 
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index c291aaf..494e5bc 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,12 +101,12 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
+    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
     void set_refactor_tol(double val);
     void set_time_limit(double val);
-    void set_rho_avi(double val);
 
     // Getters for result
     Eigen::VectorXd get_primal();
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index 16f988a..04abe6b 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,6 +93,7 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
+    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
@@ -100,7 +101,6 @@ struct DAQPSettings
     sing_tol::Cdouble
     refactor_tol::Cdouble
     time_limit::Cdouble
-    rho_avi::Cdouble
 end
 function DAQPSettings()
     settings = Ref{DAQPBase.DAQPSettings}()
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index e44c8f5..51ad8bc 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,12 +24,12 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
+  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
   "refactor_tol",
-  "time_limit",
-  "rho_avi"
+  "time_limit"
 };
 
 
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index 8153fa3..d109f3f 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,6 +32,7 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
+        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -39,7 +40,6 @@ cdef extern from "types.h":
         double sing_tol;
         double refactor_tol;
         double time_limit;
-        double rho_avi;
 
     ctypedef struct DAQPWorkspace:
         int n
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index d592891..baa997e 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -205,8 +205,8 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
-            time_limit, rho_avi]
+            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            time_limit]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
     if primal_start is None and dual_start is None:
@@ -586,8 +586,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
-        ``time_limit``, ``rho_avi``.
+        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
+        ``refactor_tol``, ``time_limit``.
         """
         if self._work.settings == NULL:
             return {}
@@ -604,12 +604,12 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
+            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
             'refactor_tol': s.refactor_tol,
             'time_limit':   s.time_limit,
-            'rho_avi':      s.rho_avi,
         }
 
     @settings.setter
@@ -629,12 +629,12 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
+        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
         if 'refactor_tol' in new_settings: s.refactor_tol = new_settings['refactor_tol']
         if 'time_limit'   in new_settings: s.time_limit   = new_settings['time_limit']
-        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
 
 
 @cython.boundscheck(False)
diff --git a/src/api.c b/src/api.c
index 502b11f..3f8284d 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,6 +477,7 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
+    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
@@ -484,7 +485,6 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->sing_tol = DAQP_DEFAULT_SING_TOL;
     settings->refactor_tol = DAQP_DEFAULT_REFACTOR_TOL;
     settings->time_limit = 0;
-    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 }
 
 /* Remove redundant constraints*/

From dab45244132198085fc37132c6f9198786a96412 Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:14 +0200
Subject: [PATCH 12/14] Revert "Bump version"

This reverts commit 33b3ec2a415043f8211a0d6656095f7d353ef0a9.
---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cf5bddd..0d7c38d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.5)
+project(daqp VERSION 0.8.4)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index bbb2ada..f1ef628 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.6',
+        version='0.8.5',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',

From 5ca035dde793df5eb241b6f439597abe0c535e5f Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:03:15 +0200
Subject: [PATCH 13/14] Revert "Add option for custom rho in avi"

This reverts commit a0ce56faeb360569201f8419784c52f8a1ca874a.
---
 docs/docs/settings.md                       |  1 -
 include/constants.h                         |  1 -
 include/types.h                             |  1 -
 include/utils.h                             |  2 +-
 interfaces/daqp-eigen/CMakeLists.txt        |  2 -
 interfaces/daqp-eigen/daqp.cpp              |  5 --
 interfaces/daqp-eigen/daqp.hpp              |  1 -
 interfaces/daqp-eigen/tests/09_avi_rho.cpp  | 68 ---------------------
 interfaces/daqp-julia/src/types.jl          |  1 -
 interfaces/daqp-julia/test/core_tests.jl    |  5 +-
 interfaces/daqp-matlab/daqpmex.c            |  7 ---
 interfaces/daqp-matlab/test/core_test.m     |  9 ---
 interfaces/daqp-python/daqp.pxd             |  2 -
 interfaces/daqp-python/daqp.pyx             | 12 +---
 interfaces/daqp-python/test/example_test.py |  5 +-
 src/api.c                                   |  1 -
 src/avi.c                                   | 43 -------------
 src/utils.c                                 | 42 ++++++++++++-
 18 files changed, 48 insertions(+), 160 deletions(-)
 delete mode 100644 interfaces/daqp-eigen/tests/09_avi_rho.cpp

diff --git a/docs/docs/settings.md b/docs/docs/settings.md
index adeb3ca..d5bc7cd 100644
--- a/docs/docs/settings.md
+++ b/docs/docs/settings.md
@@ -29,7 +29,6 @@ Table of contents
 | `eps_prox` | Regularization parameter used for proximal-point iterations | 1e-6|
 | `eta_prox` | Tolerance that determines if a fix-point has been reached during proximal-point iterations | 1e-6|
 | `rho_soft` | Weight used for soft constraints (higher enables more violations) | 1e-6|
-| `rho_avi` | Regularization parameter for AVIs. `-1` means automatic selection | -1 |
 | `rel_subopt` | Allowed relative suboptimality in branch and bound | 0 |
 | `abs_subopt` | Allowed absolute suboptimality in branch and bound | 0 |
 | `sing_tol` | Tolerance for checking if the LDL' factorization is singular| 3.7e-11 |
diff --git a/include/constants.h b/include/constants.h
index fed80cd..8b02018 100644
--- a/include/constants.h
+++ b/include/constants.h
@@ -22,7 +22,6 @@ extern "C" {
 #define DAQP_DEFAULT_ETA 1e-6
 #define DAQP_DEFAULT_ITER_LIMIT 10000
 #define DAQP_DEFAULT_RHO_SOFT 1e-6
-#define DAQP_DEFAULT_RHO_AVI (-1.0)
 #define DAQP_DEFAULT_REL_SUBOPT 0
 #define DAQP_DEFAULT_ABS_SUBOPT 0
 #define DAQP_DEFAULT_SING_TOL (3.7e-11)
diff --git a/include/types.h b/include/types.h
index 0efbcfb..4855522 100644
--- a/include/types.h
+++ b/include/types.h
@@ -64,7 +64,6 @@ typedef struct{
     c_float eta_prox;
 
     c_float rho_soft;
-    c_float rho_avi;
 
     c_float rel_subopt;
     c_float abs_subopt;
diff --git a/include/utils.h b/include/utils.h
index e9b466b..b5fec10 100644
--- a/include/utils.h
+++ b/include/utils.h
@@ -17,7 +17,7 @@ void daqp_normalize_Rinv(DAQPWorkspace *work);
 int daqp_normalize_M(DAQPWorkspace *work);
 int daqp_check_unconstrained(DAQPWorkspace* work, const int mask);
 
-int daqp_update_avi(DAQPAVI *avi, DAQPProblem *problem, DAQPSettings *settings);
+int daqp_update_avi(DAQPAVI *avi, DAQPProblem *problem);
 int daqp_lu(c_float* A, int* P, int n);
 void daqp_lu_solve(c_float* LU, int* P, c_float* b, c_float* x, int n);
 
diff --git a/interfaces/daqp-eigen/CMakeLists.txt b/interfaces/daqp-eigen/CMakeLists.txt
index fd87af4..76344cb 100644
--- a/interfaces/daqp-eigen/CMakeLists.txt
+++ b/interfaces/daqp-eigen/CMakeLists.txt
@@ -20,7 +20,6 @@ add_executable(05_warmstart tests/05_warmstart.cpp)
 add_executable(06_general_hessian tests/06_general_hessian.cpp)
 add_executable(07_symmetrize_hessian tests/07_symmetrize_hessian.cpp)
 add_executable(08_unconstrained_check tests/08_unconstrained_check.cpp)
-add_executable(09_avi_rho tests/09_avi_rho.cpp)
 
 set(TARGETS
     00_basic_qp
@@ -32,7 +31,6 @@ set(TARGETS
     06_general_hessian
     07_symmetrize_hessian
     08_unconstrained_check
-    09_avi_rho
 )
 
 foreach(TARGET ${TARGETS})
diff --git a/interfaces/daqp-eigen/daqp.cpp b/interfaces/daqp-eigen/daqp.cpp
index 9dffb4c..bd13a51 100644
--- a/interfaces/daqp-eigen/daqp.cpp
+++ b/interfaces/daqp-eigen/daqp.cpp
@@ -380,11 +380,6 @@ void DAQP::set_rho_soft(double val) {
     is_solved_ = false;
 }
 
-void DAQP::set_rho_avi(double val) {
-    settings_.rho_avi = val;
-    is_solved_ = false;
-}
-
 void DAQP::set_rel_subopt(double val) {
     settings_.rel_subopt = val;
     is_solved_ = false;
diff --git a/interfaces/daqp-eigen/daqp.hpp b/interfaces/daqp-eigen/daqp.hpp
index 494e5bc..9579edd 100644
--- a/interfaces/daqp-eigen/daqp.hpp
+++ b/interfaces/daqp-eigen/daqp.hpp
@@ -101,7 +101,6 @@ class DAQP {
     void set_eps_prox(double val);
     void set_eta_prox(double val);
     void set_rho_soft(double val);
-    void set_rho_avi(double val);
     void set_rel_subopt(double val);
     void set_abs_subopt(double val);
     void set_sing_tol(double val);
diff --git a/interfaces/daqp-eigen/tests/09_avi_rho.cpp b/interfaces/daqp-eigen/tests/09_avi_rho.cpp
deleted file mode 100644
index 1696049..0000000
--- a/interfaces/daqp-eigen/tests/09_avi_rho.cpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#include <cmath>
-#include "api.h"
-
-static double automatic_rho(const double* H, int n) {
-    double min_diag = DAQP_INF;
-    double max_row_sum = 0.0;
-    double fro_norm_sq = 0.0;
-
-    for (int i = 0; i < n; ++i) {
-        double row_sum = 0.0;
-        for (int j = 0; j < n; ++j) {
-            const double hij = H[i * n + j];
-            const double sym = 0.5 * (hij + H[j * n + i]);
-            row_sum += std::abs(sym);
-            fro_norm_sq += hij * hij;
-            if (i == j && sym < min_diag)
-                min_diag = sym;
-        }
-        if (row_sum > max_row_sum)
-            max_row_sum = row_sum;
-    }
-
-    if (min_diag > 0.0 && max_row_sum > 0.0)
-        return std::sqrt(min_diag * max_row_sum);
-    return std::sqrt(fro_norm_sq) / 2.0;
-}
-
-int main() {
-    constexpr int n = 2;
-    constexpr int m = 2;
-    constexpr int ms = 0;
-
-    double H[4] = {1.0, 1.75, 0.0, 1.0};
-    double f[2] = {2.0, 2.0};
-    double A[4] = {1.0, 0.0, 0.0, 1.0};
-    double bupper[2] = {1.0, 1.0};
-    double blower[2] = {-1.0, -1.0};
-    int sense[2] = {0, 0};
-    DAQPProblem qp = {n, m, ms, H, f, A, bupper, blower, sense, nullptr, 0, 1};
-
-    DAQPWorkspace work = {0};
-    int exitflag = setup_daqp(&qp, &work, nullptr);
-    if (exitflag < 0)
-        return 1;
-
-    const double expected_auto = automatic_rho(H, n);
-    const double auto_tol = 1e-12 * (expected_auto > 1.0 ? expected_auto : 1.0);
-    const bool auto_ok = std::abs(work.avi->rho - expected_auto) <= auto_tol;
-    free_daqp_workspace(&work);
-    free_daqp_ldp(&work);
-
-    DAQPSettings settings;
-    daqp_default_settings(&settings);
-    settings.rho_avi = 0.25;
-
-    DAQPWorkspace work_override = {0};
-    work_override.settings = &settings;
-    exitflag = setup_daqp(&qp, &work_override, nullptr);
-    if (exitflag < 0)
-        return 1;
-
-    const bool override_ok = std::abs(work_override.avi->rho - settings.rho_avi) <= 1e-15;
-    work_override.settings = nullptr;
-    free_daqp_workspace(&work_override);
-    free_daqp_ldp(&work_override);
-
-    return (auto_ok && override_ok) ? 0 : 1;
-}
diff --git a/interfaces/daqp-julia/src/types.jl b/interfaces/daqp-julia/src/types.jl
index 04abe6b..de679c5 100644
--- a/interfaces/daqp-julia/src/types.jl
+++ b/interfaces/daqp-julia/src/types.jl
@@ -93,7 +93,6 @@ struct DAQPSettings
     eta_prox::Cdouble
 
     rho_soft::Cdouble
-    rho_avi::Cdouble
 
     rel_subopt::Cdouble
     abs_subopt::Cdouble
diff --git a/interfaces/daqp-julia/test/core_tests.jl b/interfaces/daqp-julia/test/core_tests.jl
index 3824bc3..9a56d3d 100644
--- a/interfaces/daqp-julia/test/core_tests.jl
+++ b/interfaces/daqp-julia/test/core_tests.jl
@@ -136,11 +136,9 @@ end
     # Test access settings
     s = settings(d)
     @test s.primal_tol==1e-6
-    @test s.rho_avi==-1
-    settings(d,Dict(:primal_tol=>1e-5, :rho_avi=>0.25))
+    settings(d,Dict(:primal_tol=>1e-5))
     s = settings(d)
     @test s.primal_tol==1e-5
-    @test s.rho_avi==0.25
 
     # Update existing model with new problem
     xref,H,f,A,bupper,blower,sense = generate_test_QP(n,m,ms,nAct,kappa)
@@ -511,3 +509,4 @@ end
     end
     @test tquad < 10*tsetup #Should be orders of magnitude faster
 end
+
diff --git a/interfaces/daqp-matlab/daqpmex.c b/interfaces/daqp-matlab/daqpmex.c
index 51ad8bc..ea362bd 100644
--- a/interfaces/daqp-matlab/daqpmex.c
+++ b/interfaces/daqp-matlab/daqpmex.c
@@ -24,7 +24,6 @@ const char* SETTINGS_FIELDS[] = {
   "eps_prox",
   "eta_prox",
   "rho_soft",
-  "rho_avi",
   "abs_subopt",
   "rel_subopt",
   "sing_tol",
@@ -182,11 +181,8 @@ void mexFunction( int nlhs, mxArray *plhs[],
 		mxSetField(s, 0, "eps_prox", mxCreateDoubleScalar(work->settings->eps_prox));
 		mxSetField(s, 0, "eta_prox", mxCreateDoubleScalar(work->settings->eta_prox));
 		mxSetField(s, 0, "rho_soft", mxCreateDoubleScalar(work->settings->rho_soft));
-		mxSetField(s, 0, "rho_avi", mxCreateDoubleScalar(work->settings->rho_avi));
 		mxSetField(s, 0, "abs_subopt", mxCreateDoubleScalar(work->settings->abs_subopt));
 		mxSetField(s, 0, "rel_subopt", mxCreateDoubleScalar(work->settings->rel_subopt));
-		mxSetField(s, 0, "sing_tol", mxCreateDoubleScalar(work->settings->sing_tol));
-		mxSetField(s, 0, "refactor_tol", mxCreateDoubleScalar(work->settings->refactor_tol));
 		mxSetField(s, 0, "time_limit", mxCreateDoubleScalar(work->settings->time_limit));
 		plhs[0] = s;
 	  }
@@ -204,11 +200,8 @@ void mexFunction( int nlhs, mxArray *plhs[],
 	  work->settings->eps_prox = (c_float)mxGetScalar(mxGetField(s, 0, "eps_prox"));
 	  work->settings->eta_prox= (c_float)mxGetScalar(mxGetField(s, 0, "eta_prox"));
 	  work->settings->rho_soft= (c_float)mxGetScalar(mxGetField(s, 0, "rho_soft"));
-	  work->settings->rho_avi= (c_float)mxGetScalar(mxGetField(s, 0, "rho_avi"));
 	  work->settings->abs_subopt= (c_float)mxGetScalar(mxGetField(s, 0, "abs_subopt"));
 	  work->settings->rel_subopt= (c_float)mxGetScalar(mxGetField(s, 0, "rel_subopt"));
-	  work->settings->sing_tol= (c_float)mxGetScalar(mxGetField(s, 0, "sing_tol"));
-	  work->settings->refactor_tol= (c_float)mxGetScalar(mxGetField(s, 0, "refactor_tol"));
 	  work->settings->time_limit= (c_float)mxGetScalar(mxGetField(s, 0, "time_limit"));
 	}
 	else if (!strcmp("update", cmd)) {
diff --git a/interfaces/daqp-matlab/test/core_test.m b/interfaces/daqp-matlab/test/core_test.m
index c340869..ed8fe1a 100644
--- a/interfaces/daqp-matlab/test/core_test.m
+++ b/interfaces/daqp-matlab/test/core_test.m
@@ -63,15 +63,6 @@ function prox_random_feasible_QPs(testCase)
             fprintf('=============================================================\n')
         end
 
-        function settings_roundtrip(testCase)
-            d = daqp();
-            s = d.settings();
-            testCase.verifyEqual(s.rho_avi,-1);
-            d.settings('rho_avi',0.25);
-            s = d.settings();
-            testCase.verifyEqual(s.rho_avi,0.25);
-        end
-
         function random_feasible_LPs(testCase)
             % Test on randomly generated feasible LPs
             rng('default');
diff --git a/interfaces/daqp-python/daqp.pxd b/interfaces/daqp-python/daqp.pxd
index d109f3f..817b4e0 100644
--- a/interfaces/daqp-python/daqp.pxd
+++ b/interfaces/daqp-python/daqp.pxd
@@ -32,7 +32,6 @@ cdef extern from "types.h":
         double eta_prox;
 
         double rho_soft;
-        double rho_avi;
 
         double rel_subopt;
         double abs_subopt;
@@ -99,7 +98,6 @@ cdef extern from "constants.h":
     cdef double DAQP_DEFAULT_ETA
     cdef int DAQP_DEFAULT_ITER_LIMIT
     cdef double DAQP_DEFAULT_RHO_SOFT
-    cdef double DAQP_DEFAULT_RHO_AVI
     cdef double  DAQP_DEFAULT_REL_SUBOPT
     cdef double  DAQP_DEFAULT_ABS_SUBOPT
     cdef double  DAQP_DEFAULT_SING_TOL
diff --git a/interfaces/daqp-python/daqp.pyx b/interfaces/daqp-python/daqp.pyx
index baa997e..d6a94f6 100644
--- a/interfaces/daqp-python/daqp.pyx
+++ b/interfaces/daqp-python/daqp.pyx
@@ -73,7 +73,6 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
           iter_limit =  DAQP_DEFAULT_ITER_LIMIT, fval_bound = DAQP_INF,
           eps_prox= DAQP_DEFAULT_EPS_PROX, eta_prox = DAQP_DEFAULT_ETA,
           rho_soft = DAQP_DEFAULT_RHO_SOFT,
-          rho_avi = DAQP_DEFAULT_RHO_AVI,
           rel_subopt = DAQP_DEFAULT_REL_SUBOPT, abs_subopt = DAQP_DEFAULT_ABS_SUBOPT,
           sing_tol = DAQP_DEFAULT_SING_TOL, refactor_tol = DAQP_DEFAULT_REFACTOR_TOL,
           time_limit = 0,
@@ -124,9 +123,6 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
         Break points that define prioritized constraints
     is_avi:
         flag for interpreting the problem as an AVI (relevant for asymmetric H)
-    rho_avi:
-        Overrides the automatic AVI regularization parameter when positive.
-        The default ``-1`` keeps the automatic choice based on the Hessian.
     primal_start:
         Initial guess of primal iterate (used for warm starting). Sets the initial
         active set based on which constraints are nearly active at this iterate, and
@@ -205,7 +201,7 @@ def solve(double[:, :] H, double[:] f, double[:, :] A,
     cdef DAQPProblem problem = [n, m, m-mA, H_ptr, f_ptr, A_ptr, bu_ptr, bl_ptr, sense_ptr, bp_ptr, nh, problem_type]
     cdef DAQPSettings settings = [primal_tol, dual_tol, zero_tol, pivot_tol,
             progress_tol, cycle_tol, iter_limit, fval_bound,
-            eps_prox, eta_prox, rho_soft, rho_avi, rel_subopt, abs_subopt, sing_tol, refactor_tol,
+            eps_prox, eta_prox, rho_soft, rel_subopt, abs_subopt, sing_tol, refactor_tol,
             time_limit]
     cdef DAQPResult res = [&x[0], lam_ptr, 0, 0, 0, 0, 0, 0, 0]
 
@@ -586,8 +582,8 @@ cdef class Model:
         Available keys: ``primal_tol``, ``dual_tol``, ``zero_tol``,
         ``pivot_tol``, ``progress_tol``, ``cycle_tol``, ``iter_limit``,
         ``fval_bound``, ``eps_prox``, ``eta_prox``, ``rho_soft``,
-        ``rho_avi``, ``rel_subopt``, ``abs_subopt``, ``sing_tol``,
-        ``refactor_tol``, ``time_limit``.
+        ``rel_subopt``, ``abs_subopt``, ``sing_tol``, ``refactor_tol``,
+        ``time_limit``.
         """
         if self._work.settings == NULL:
             return {}
@@ -604,7 +600,6 @@ cdef class Model:
             'eps_prox':     s.eps_prox,
             'eta_prox':     s.eta_prox,
             'rho_soft':     s.rho_soft,
-            'rho_avi':      s.rho_avi,
             'rel_subopt':   s.rel_subopt,
             'abs_subopt':   s.abs_subopt,
             'sing_tol':     s.sing_tol,
@@ -629,7 +624,6 @@ cdef class Model:
         if 'eps_prox'     in new_settings: s.eps_prox     = new_settings['eps_prox']
         if 'eta_prox'     in new_settings: s.eta_prox     = new_settings['eta_prox']
         if 'rho_soft'     in new_settings: s.rho_soft     = new_settings['rho_soft']
-        if 'rho_avi'      in new_settings: s.rho_avi      = new_settings['rho_avi']
         if 'rel_subopt'   in new_settings: s.rel_subopt   = new_settings['rel_subopt']
         if 'abs_subopt'   in new_settings: s.abs_subopt   = new_settings['abs_subopt']
         if 'sing_tol'     in new_settings: s.sing_tol     = new_settings['sing_tol']
diff --git a/interfaces/daqp-python/test/example_test.py b/interfaces/daqp-python/test/example_test.py
index b58bced..e786ff5 100644
--- a/interfaces/daqp-python/test/example_test.py
+++ b/interfaces/daqp-python/test/example_test.py
@@ -190,18 +190,15 @@ def test_model_settings_get(self):
         self.assertIn('primal_tol', s)
         self.assertIn('eps_prox', s)
         self.assertIn('time_limit', s)
-        self.assertIn('rho_avi', s)
         self.assertEqual(s['time_limit'], 0.0)
-        self.assertEqual(s['rho_avi'], -1.0)
 
     def test_model_settings_set(self):
         """settings setter updates only the specified keys."""
         d = daqp.Model()
         original_primal_tol = d.settings['primal_tol']
-        d.settings = {'iter_limit': 42, 'time_limit': 5.0, 'rho_avi': 0.25}
+        d.settings = {'iter_limit': 42, 'time_limit': 5.0}
         self.assertEqual(d.settings['iter_limit'], 42)
         self.assertAlmostEqual(d.settings['time_limit'], 5.0)
-        self.assertAlmostEqual(d.settings['rho_avi'], 0.25)
         # Other settings should be unchanged
         self.assertAlmostEqual(d.settings['primal_tol'], original_primal_tol)
 
diff --git a/src/api.c b/src/api.c
index 3f8284d..8ef4754 100644
--- a/src/api.c
+++ b/src/api.c
@@ -477,7 +477,6 @@ void daqp_default_settings(DAQPSettings* settings){
     settings->eta_prox = DAQP_DEFAULT_ETA;
 
     settings->rho_soft = DAQP_DEFAULT_RHO_SOFT;
-    settings->rho_avi = DAQP_DEFAULT_RHO_AVI;
 
     settings->rel_subopt = DAQP_DEFAULT_REL_SUBOPT;
     settings->abs_subopt = DAQP_DEFAULT_ABS_SUBOPT;
diff --git a/src/avi.c b/src/avi.c
index ffd5e3c..1c70f8d 100644
--- a/src/avi.c
+++ b/src/avi.c
@@ -1,7 +1,6 @@
 #include "avi.h"
 #include "daqp.h"
 #include "utils.h"
-#include <math.h>
 
 // Solve AVI
 int daqp_solve_avi(DAQPWorkspace *work) {
@@ -219,45 +218,3 @@ int daqp_check_optimal_avi(DAQPWorkspace* work){
     // All checks passed -> optimal KKT point found
     return 1;
 }
-
-int daqp_update_avi(DAQPAVI* avi, DAQPProblem* p, DAQPSettings* settings) {
-    const int n = p->n;
-    int i, j, disp;
-    c_float val;
-    c_float min_diag = DAQP_INF;
-    c_float max_row_sum = 0.0;
-    c_float fro_norm_sq = 0.0;
-
-    avi->rho = 0.0;
-    for (i = 0, disp = 0; i < n; i++) {
-        c_float row_sum = 0.0;
-        for (j = 0; j < n; j++, disp++) {
-            val = (p->H[disp] + p->H[j * n + i]) * 0.5;
-            avi->Hsym[disp] = val;
-            avi->Hs_rho[disp] = val;
-            avi->H_rho[disp] = p->H[disp];
-            avi->LU_H[disp] = p->H[disp];
-            row_sum += (val < 0.0) ? -val : val;
-            fro_norm_sq += p->H[disp] * p->H[disp];
-            if(i == j && val < min_diag) min_diag = val;
-        }
-        if(row_sum > max_row_sum) max_row_sum = row_sum;
-    }
-
-    if(settings != NULL && settings->rho_avi > 0.0)
-        avi->rho = settings->rho_avi;
-    else if(min_diag > 0.0 && max_row_sum > 0.0)
-        avi->rho = sqrt(min_diag * max_row_sum);
-    else
-        avi->rho = sqrt(fro_norm_sq) / 2;
-
-    for(i = 0, disp = 0; i < n; i++) {
-        avi->Hs_rho[disp] += avi->rho;
-        avi->H_rho[disp] += avi->rho;
-        disp += n + 1;
-    }
-
-    daqp_lu(avi->LU_H, avi->P_H, n);
-    daqp_lu(avi->H_rho, avi->P_H2, n);
-    return 1;
-}
diff --git a/src/utils.c b/src/utils.c
index 19719f9..e796f31 100644
--- a/src/utils.c
+++ b/src/utils.c
@@ -41,7 +41,7 @@ int daqp_update_ldp(const int mask, DAQPWorkspace *work, DAQPProblem* qp){
         if(work->avi == NULL)
             error_flag = daqp_update_Rinv(work, qp->H, qp->problem_type==2 ? 1 : 0);
         else{
-            daqp_update_avi(work->avi, qp, work->settings);
+            daqp_update_avi(work->avi,qp);
             error_flag = daqp_update_Rinv(work, work->avi->Hs_rho,0);
         }
         if(error_flag<0)
@@ -467,6 +467,46 @@ int daqp_check_unconstrained(DAQPWorkspace* work, const int mask){
     return 1;
 }
 
+int daqp_update_avi(DAQPAVI* avi, DAQPProblem* p){
+    const int n = p->n;
+    // Setup matrices Hsym, Hs_rho, and H_rho, LU_H
+    int i,j,disp;
+    c_float val;
+    c_float min_diag = DAQP_INF;
+    c_float max_row_sum = 0.0;
+    c_float fro_norm_sq = 0.0;
+    avi->rho = 0.0;
+    for (i = 0, disp=0; i < n; i++) {
+        c_float row_sum = 0.0;
+        for (j = 0; j < n; j++, disp++) {
+            val = (p->H[disp] + p->H[j * n + i]) * 0.5;
+            avi->Hsym[disp] = val;
+            avi->Hs_rho[disp] = val;
+            avi->H_rho[disp] = p->H[disp];
+            avi->LU_H[disp] = p->H[disp];
+            row_sum += (val < 0.0) ? -val : val;
+            fro_norm_sq += p->H[disp] * p->H[disp];
+            if(i == j && val < min_diag) min_diag = val;
+        }
+        if(row_sum > max_row_sum) max_row_sum = row_sum;
+    }
+    // Regularization
+    if(min_diag > 0.0 && max_row_sum > 0.0)
+        avi->rho = sqrt(min_diag * max_row_sum);
+    else
+        avi->rho = sqrt(fro_norm_sq)/2;
+    for(i=0,disp=0; i<n;i++){
+        avi->Hs_rho[disp] += avi->rho;
+        avi->H_rho[disp] += avi->rho;
+        disp += n+1;
+    }
+
+    // Factorize H and H_rho
+    daqp_lu(avi->LU_H, avi->P_H, n);
+    daqp_lu(avi->H_rho, avi->P_H2, n);
+    return 1;
+}
+
 int daqp_lu(c_float* A, int* P, int n) {
     c_float max_val,pA;
     for (int i = 0; i < n; i++) P[i] = i; // Initialize permutation vector

From ef946b73ca939e58f028c2e44f983e0c4f8c9bbe Mon Sep 17 00:00:00 2001
From: darnstrom <daniel.arnstrom@gmail.com>
Date: Tue, 19 May 2026 01:05:15 +0200
Subject: [PATCH 14/14] Bump version

---
 CMakeLists.txt                  | 2 +-
 interfaces/daqp-python/setup.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d7c38d..cf5bddd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.8.4)
+project(daqp VERSION 0.8.5)
 
 
 include(GNUInstallDirs)
diff --git a/interfaces/daqp-python/setup.py b/interfaces/daqp-python/setup.py
index f1ef628..bbb2ada 100644
--- a/interfaces/daqp-python/setup.py
+++ b/interfaces/daqp-python/setup.py
@@ -45,7 +45,7 @@
         include_dirs=[str(csrc_dir / 'include')])
 
 setup(name='daqp',
-        version='0.8.5',
+        version='0.8.6',
         description='DAQP: A dual active-set QP solver',
         url='http://github.com/darnstrom/daqp',
         author='Daniel Arnström',