diff --git a/remote_control/casadi_opt.py b/remote_control/casadi_opt.py
index 9703532..9acb362 100644
--- a/remote_control/casadi_opt.py
+++ b/remote_control/casadi_opt.py
@@ -8,6 +8,9 @@ class OpenLoopSolver:
         self.T = T
         self.N = N
 
+        self.opti_x0 = None
+        self.opti_lam_g0 = None
+
     def setup(self):
         x = SX.sym('x')
         y = SX.sym('y')
@@ -213,7 +216,8 @@ class OpenLoopSolver:
         # self.opti.subject_to(speed[-1]==0)  # .. with speed 0
         self.opti.subject_to(self.Q[:, 0] == 0.0)
 
-        self.opti.solver("ipopt")
+
+        solver = self.opti.solver("ipopt", {}, {"print_level": 0})
 
         # ---- misc. constraints  ----------
         # self.opti.subject_to(X[1,:]>=0) # Time must be positive
@@ -237,9 +241,13 @@ class OpenLoopSolver:
 
         print("setting up problem took {} seconds".format(tend - tstart))
 
+        if self.opti_x0 is not None:
+            self.opti.set_initial(self.opti.lam_g, self.opti_lam_g0)
+            self.opti.set_initial(self.opti.x, self.opti_x0)
         sol = self.opti.solve()   # actual solve
 
-        #x0 = sol.value(self.opti.x)
+        self.opti_x0 = sol.value(self.opti.x)
+        self.opti_lam_g0 = sol.value(self.opti.lam_g)
 
         #u_opt_1 = map(lambda x: float(x), [u_opt[i * 2] for i in range(0, 60)])
         #u_opt_2 = map(lambda x: float(x), [u_opt[i * 2 + 1] for i in range(0, 60)])
@@ -249,8 +257,7 @@ class OpenLoopSolver:
         return (u_opt_1, u_opt_2)
 
         #lam_g0 = sol.value(self.opti.lam_g)
-        #self.opti.set_initial(self.opti.lam_g, lam_g0)
-        #self.opti.set_initial(self.opti.x, x0)
+
         #self.opti.solve()
 
         from pylab import plot, step, figure, legend, show, spy