diff --git a/.gitignore b/.gitignore
index fcf7cea7..8587415a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -132,6 +132,8 @@ src/osqp/bindings.cpp
 
 
 
+codegen_vec_out/
+codegen_mat_out/
 CMakeFiles/
 INSTALL.vcxproj
 INSTALL.vcxproj.filters
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 75abdbf1..a18c12e4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,11 +48,7 @@ FetchContent_Declare(
   osqp
 #   GIT_REPOSITORY https://github.com/osqp/osqp.git
   GIT_REPOSITORY https://github.com/lb3825/osqp.git
-    # SOURCE_DIR "C:/Users/baice/Documents/GitHub/osqp"
-    # SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../osqp"
-#   GIT_TAG v1.0.0
-  GIT_TAG b/develop-halpern-ci-fixes
-#   GIT_TAG plot
+  GIT_TAG develop-halpern
 )
 list(POP_BACK CMAKE_MESSAGE_INDENT)
 FetchContent_MakeAvailable(osqp)
diff --git a/backend/cuda/pyproject.toml b/backend/cuda/pyproject.toml
index 15a1e1e7..aab40919 100644
--- a/backend/cuda/pyproject.toml
+++ b/backend/cuda/pyproject.toml
@@ -32,6 +32,7 @@ OSQP_ALGEBRA_BACKEND = "cuda"
 OSQP_EXT_MODULE_NAME = "osqp_cuda"
 CMAKE_CUDA_COMPILER = {env="CMAKE_CUDA_COMPILER"}
 CUDA_TOOLKIT_ROOT_DIR = {env="CUDA_TOOLKIT_ROOT_DIR"}
+OSQP_USE_FLOAT = {env="OSQP_USE_FLOAT"}
 
 [tool.setuptools_scm]
 root = "../.."
diff --git a/src/bindings.cpp.in b/src/bindings.cpp.in
index 56b9dd18..391a6c8a 100644
--- a/src/bindings.cpp.in
+++ b/src/bindings.cpp.in
@@ -369,7 +369,9 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .value("OSQP_ALGEBRA_LOAD_ERROR", OSQP_ALGEBRA_LOAD_ERROR)
     .value("OSQP_CODEGEN_DEFINES_ERROR", OSQP_CODEGEN_DEFINES_ERROR)
     .value("OSQP_DATA_NOT_INITIALIZED", OSQP_DATA_NOT_INITIALIZED)
-    .value("OSQP_FUNC_NOT_IMPLEMENTED", OSQP_FUNC_NOT_IMPLEMENTED);
+    .value("OSQP_FUNC_NOT_IMPLEMENTED", OSQP_FUNC_NOT_IMPLEMENTED)
+    .value("OSQP_RUNTIME_ERROR", OSQP_RUNTIME_ERROR)
+    .export_values();
 
     // Preconditioner Type
     py::enum_<osqp_precond_type>(m, "osqp_precond_type", py::module_local())
@@ -467,7 +469,7 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .def_readwrite("adaptive_rho", &OSQPSettings::adaptive_rho)
     .def_readwrite("adaptive_rho_interval", &OSQPSettings::adaptive_rho_interval)
     .def_readwrite("restart_check_interval", &OSQPSettings::restart_check_interval)
-    .def_readwrite("adaptive_rho_fraction", &OSQPSettings::adaptive_rho_fraction)
+    //.def_readwrite("adaptive_rho_fraction", &OSQPSettings::adaptive_rho_fraction)
     .def_readwrite("adaptive_rho_tolerance", &OSQPSettings::adaptive_rho_tolerance)
     .def_readwrite("pid_controller", &OSQPSettings::pid_controller)
     //.def_readwrite("pid_controller_sqrt", &OSQPSettings::pid_controller_sqrt)
@@ -523,7 +525,7 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .def_readonly("status_polish", &OSQPInfo::status_polish)
     // obj_val is readwrite because Python wrappers may overwrite this value based on status_val
     .def_readwrite("obj_val", &OSQPInfo::obj_val)
-    .def_readwrite("dual_obj_val", &OSQPInfo::dual_obj_val)
+    //.def_readwrite("dual_obj_val", &OSQPInfo::dual_obj_val)
     .def_readonly("prim_res", &OSQPInfo::prim_res)
     .def_readonly("dual_res", &OSQPInfo::dual_res)
     .def_readonly("duality_gap", &OSQPInfo::duality_gap)
diff --git a/src/osqp/tests/conftest.py b/src/osqp/tests/conftest.py
index f4010987..596b16b5 100644
--- a/src/osqp/tests/conftest.py
+++ b/src/osqp/tests/conftest.py
@@ -23,7 +23,11 @@ def pytest_generate_tests(metafunc):
         values.append(
             ('mkl', 'indirect', 1e-3, 1e-4, 3),
         )
-    if algebra_available('cuda') and 'cuda' in algebras:
+    if algebra_available('cuda') and 'cuda-direct' in algebras:
+        values.append(
+            ('cuda', 'direct', 1e-2, 1e-3, 2),
+        )
+    if algebra_available('cuda') and 'cuda-indirect' in algebras:
         values.append(
             ('cuda', 'indirect', 1e-2, 1e-3, 2),
         )