diff --git a/src/mpc_wrapper.cpp b/src/mpc_wrapper.cpp
index 37e1d41..2e552e8 100644
--- a/src/mpc_wrapper.cpp
+++ b/src/mpc_wrapper.cpp
@@ -265,6 +265,8 @@ bool MpcWrapper<T>::solve(
 
   acado_inputs_ = kHoverInput_.replicate(1, kSamples);
 
+  prepare();
+
   return update(state);
 }