From 662c25e56ab2bb4a8d03db7c6fb7e8af7501da95 Mon Sep 17 00:00:00 2001
From: Pierre Martinon <pierrecmartinon@gmail.com>
Date: Tue, 13 Oct 2026 13:18:49 +0200
Subject: [PATCH 1/3] enable moonlander, quadrotor and truck trailer

---
 test/ci/test_all_ocp.jl | 44 ++++++++++++++++++++---------------------
 1 file changed, 22 insertions(+), 22 deletions(-)

diff --git a/test/ci/test_all_ocp.jl b/test/ci/test_all_ocp.jl
index c5cc571b..38a5725e 100644
--- a/test/ci/test_all_ocp.jl
+++ b/test/ci/test_all_ocp.jl
@@ -84,23 +84,23 @@ end
 # throws `DomainError: sincos(x) is only defined for finite x` before any solve.
 # Deterministic on the Julia 1.12 CI runners, flaky on 1.10.
 # Upstream: JuliaSmoothOptimizers/ADNLPModels.jl#383
-#
+
+if !isdefined(Main, :moonlander)
+    include("../problems/moonlander.jl")
+end
+@testset verbose = true showtiming = true ":moonlander" begin
+    test_problem(moonlander(); adnlp_backend=:manual)
+end
+
 # NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
 # wire it to quadrotor() with adnlp_backend=:default when re-enabling (#626).
-#
-# if !isdefined(Main, :moonlander)
-#     include("../problems/moonlander.jl")
-# end
-# @testset verbose = true showtiming = true ":moonlander" begin
-#     test_problem(moonlander(); adnlp_backend=:manual)
-# end
-
-#if !isdefined(Main, :quadrotor)
-#     include("../problems/quadrotor.jl")
-#end
-#@testset verbose = true showtiming = true ":quadrotor" begin
-#    test_problem(quadrotor())
-#end
+
+if !isdefined(Main, :quadrotor)
+     include("../problems/quadrotor.jl")
+end
+@testset verbose = true showtiming = true ":quadrotor" begin
+    test_problem(quadrotor())
+end
 
 # robbins
 if !isdefined(Main, :robbins)
@@ -126,13 +126,13 @@ end
     test_problem(space_shuttle())
 end
 
-# # truck trailer
-# if !isdefined(Main, :truck_trailer)
-#     include("../problems/truck_trailer.jl")
-# end
-# @testset verbose = true showtiming = true ":truck_trailer" begin
-#     test_problem(truck_trailer(); adnlp_backend=:manual)
-# end
+# truck trailer
+if !isdefined(Main, :truck_trailer)
+    include("../problems/truck_trailer.jl")
+end
+@testset verbose = true showtiming = true ":truck_trailer" begin
+    test_problem(truck_trailer(); adnlp_backend=:manual)
+end
 
 # vanderpol
 if !isdefined(Main, :vanderpol)

From aec4fcb711cf28ebde4ae623d64808f9b552b1b1 Mon Sep 17 00:00:00 2001
From: Pierre Martinon <pierrecmartinon@gmail.com>
Date: Tue, 13 Oct 2026 18:40:27 +0200
Subject: [PATCH 2/3] disable moonlander

---
 test/ci/test_all_ocp.jl | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/ci/test_all_ocp.jl b/test/ci/test_all_ocp.jl
index 38a5725e..f59195e3 100644
--- a/test/ci/test_all_ocp.jl
+++ b/test/ci/test_all_ocp.jl
@@ -75,7 +75,7 @@ end
     test_problem(jackson())
 end
 
-# moonlander / quadrotor -- DISABLED, see control-toolbox/CTDirect.jl#626.
+# moonlander -- DISABLED, see control-toolbox/CTDirect.jl#626.
 #
 # ADNLPModels' SparseReverseADHessian (used by the :manual and :optimized ADNLP
 # backends) records its ReverseDiff tape on an *uninitialised* Vector{Dual} and
@@ -85,12 +85,12 @@ end
 # Deterministic on the Julia 1.12 CI runners, flaky on 1.10.
 # Upstream: JuliaSmoothOptimizers/ADNLPModels.jl#383
 
-if !isdefined(Main, :moonlander)
-    include("../problems/moonlander.jl")
-end
-@testset verbose = true showtiming = true ":moonlander" begin
-    test_problem(moonlander(); adnlp_backend=:manual)
-end
+#if !isdefined(Main, :moonlander)
+#    include("../problems/moonlander.jl")
+#end
+#@testset verbose = true showtiming = true ":moonlander" begin
+#    test_problem(moonlander(); adnlp_backend=:manual)
+#end
 
 # NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
 # wire it to quadrotor() with adnlp_backend=:default when re-enabling (#626).

From 253ec2ab9f6c9ed02e9768ab10b242b542f1c582 Mon Sep 17 00:00:00 2001
From: Pierre Martinon <pierrecmartinon@gmail.com>
Date: Wed, 14 Oct 2026 17:57:19 +0200
Subject: [PATCH 3/3] manual AD backend for quadrotor

---
 test/ci/test_all_ocp.jl | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/test/ci/test_all_ocp.jl b/test/ci/test_all_ocp.jl
index f59195e3..482e2276 100644
--- a/test/ci/test_all_ocp.jl
+++ b/test/ci/test_all_ocp.jl
@@ -92,14 +92,14 @@ end
 #    test_problem(moonlander(); adnlp_backend=:manual)
 #end
 
-# NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
-# wire it to quadrotor() with adnlp_backend=:default when re-enabling (#626).
 
+# NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
+# quadrotor
 if !isdefined(Main, :quadrotor)
      include("../problems/quadrotor.jl")
 end
 @testset verbose = true showtiming = true ":quadrotor" begin
-    test_problem(quadrotor())
+    test_problem(quadrotor(); adnlp_backend=:manual)
 end
 
 # robbins