diff --git a/dense_qp/d_dense_qp.c b/dense_qp/d_dense_qp.c
index d2da501f..8230ee59 100644
--- a/dense_qp/d_dense_qp.c
+++ b/dense_qp/d_dense_qp.c
@@ -104,10 +104,10 @@
 #define DENSE_QP_SET_ZZU d_dense_qp_set_Zu
 #define DENSE_QP_SET_ZL d_dense_qp_set_zl
 #define DENSE_QP_SET_ZU d_dense_qp_set_zu
-#define DENSE_QP_SET_LS d_dense_qp_set_ls
-#define DENSE_QP_SET_LS_MASK d_dense_qp_set_ls_mask
-#define DENSE_QP_SET_US d_dense_qp_set_us
-#define DENSE_QP_SET_US_MASK d_dense_qp_set_us_mask
+#define DENSE_QP_SET_LLS d_dense_qp_set_lls
+#define DENSE_QP_SET_LLS_MASK d_dense_qp_set_lls_mask
+#define DENSE_QP_SET_LUS d_dense_qp_set_lus
+#define DENSE_QP_SET_LUS_MASK d_dense_qp_set_lus_mask
 #define DENSE_QP_GET_H d_dense_qp_get_H
 #define DENSE_QP_GET_G d_dense_qp_get_g
 #define DENSE_QP_GET_A d_dense_qp_get_A
diff --git a/dense_qp/s_dense_qp.c b/dense_qp/s_dense_qp.c
index 8ecf52a6..388529db 100644
--- a/dense_qp/s_dense_qp.c
+++ b/dense_qp/s_dense_qp.c
@@ -107,10 +107,10 @@
 #define DENSE_QP_SET_ZZU s_dense_qp_set_Zu
 #define DENSE_QP_SET_ZL s_dense_qp_set_zl
 #define DENSE_QP_SET_ZU s_dense_qp_set_zu
-#define DENSE_QP_SET_LS s_dense_qp_set_ls
-#define DENSE_QP_SET_LS_MASK s_dense_qp_set_ls_mask
-#define DENSE_QP_SET_US s_dense_qp_set_us
-#define DENSE_QP_SET_US_MASK s_dense_qp_set_us_mask
+#define DENSE_QP_SET_LLS s_dense_qp_set_lls
+#define DENSE_QP_SET_LLS_MASK s_dense_qp_set_lls_mask
+#define DENSE_QP_SET_LUS s_dense_qp_set_lus
+#define DENSE_QP_SET_LUS_MASK s_dense_qp_set_lus_mask
 #define DENSE_QP_GET_H s_dense_qp_get_H
 #define DENSE_QP_GET_G s_dense_qp_get_g
 #define DENSE_QP_GET_A s_dense_qp_get_A
diff --git a/dense_qp/x_dense_qp.c b/dense_qp/x_dense_qp.c
index 6b9637ae..fcc83f6a 100644
--- a/dense_qp/x_dense_qp.c
+++ b/dense_qp/x_dense_qp.c
@@ -394,19 +394,19 @@ void DENSE_QP_SET(char *field, void *value, struct DENSE_QP *qp)
 		}
 	else if(hpipm_strcmp(field, "lls")) 
 		{
-		DENSE_QP_SET_LS(value, qp);
+		DENSE_QP_SET_LLS(value, qp);
 		}
 	else if(hpipm_strcmp(field, "lls_mask")) 
 		{
-		DENSE_QP_SET_LS_MASK(value, qp);
+		DENSE_QP_SET_LLS_MASK(value, qp);
 		}
 	else if(hpipm_strcmp(field, "lus")) 
 		{
-		DENSE_QP_SET_US(value, qp);
+		DENSE_QP_SET_LUS(value, qp);
 		}
 	else if(hpipm_strcmp(field, "lus_mask")) 
 		{
-		DENSE_QP_SET_US_MASK(value, qp);
+		DENSE_QP_SET_LUS_MASK(value, qp);
 		}
 	// int
 	else if(hpipm_strcmp(field, "idxb"))
@@ -558,13 +558,13 @@ void DENSE_QP_SET_LB_MASK(REAL *lb_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<nb; ii++)
 		if(lb_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, ii) = 1.0;
 #endif
 
 	return;
@@ -600,13 +600,13 @@ void DENSE_QP_SET_UB_MASK(REAL *ub_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<nb; ii++)
 		if(ub_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, nb+ng+ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, nb+ng+ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, nb+ng+ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, nb+ng+ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, nb+ng+ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, nb+ng+ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, nb+ng+ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, nb+ng+ii) = 1.0;
 #endif
 
 	return;
@@ -655,13 +655,13 @@ void DENSE_QP_SET_LG_MASK(REAL *lg_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<ng; ii++)
 		if(lg_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, nb+ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, nb+ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, nb+ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, nb+ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, nb+ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, nb+ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, nb+ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, nb+ii) = 1.0;
 #endif
 
 	return;
@@ -697,13 +697,13 @@ void DENSE_QP_SET_UG_MASK(REAL *ug_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<ng; ii++)
 		if(ug_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+ng+ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+ng+ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+ng+ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+ng+ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+ng+ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+ng+ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+ng+ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+ng+ii) = 1.0;
 #endif
 
 	return;
@@ -855,7 +855,7 @@ void DENSE_QP_SET_ZU(REAL *zu, struct DENSE_QP *qp)
 	}
 
 
-void DENSE_QP_SET_LS(REAL *ls, struct DENSE_QP *qp)
+void DENSE_QP_SET_LLS(REAL *ls, struct DENSE_QP *qp)
 	{
 
 	int ns = qp->dim->ns;
@@ -871,7 +871,7 @@ void DENSE_QP_SET_LS(REAL *ls, struct DENSE_QP *qp)
 
 
 
-void DENSE_QP_SET_LS_MASK(REAL *ls_mask, struct DENSE_QP *qp)
+void DENSE_QP_SET_LLS_MASK(REAL *ls_mask, struct DENSE_QP *qp)
 	{
 
 	int nb = qp->dim->nb;
@@ -883,13 +883,13 @@ void DENSE_QP_SET_LS_MASK(REAL *ls_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<ns; ii++)
 		if(ls_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ii) = 1.0;
 #endif
 
 	return;
@@ -898,7 +898,7 @@ void DENSE_QP_SET_LS_MASK(REAL *ls_mask, struct DENSE_QP *qp)
 
 
 
-void DENSE_QP_SET_US(REAL *us, struct DENSE_QP *qp)
+void DENSE_QP_SET_LUS(REAL *us, struct DENSE_QP *qp)
 	{
 
 	int ns = qp->dim->ns;
@@ -914,7 +914,7 @@ void DENSE_QP_SET_US(REAL *us, struct DENSE_QP *qp)
 
 
 
-void DENSE_QP_SET_US_MASK(REAL *us_mask, struct DENSE_QP *qp)
+void DENSE_QP_SET_LUS_MASK(REAL *us_mask, struct DENSE_QP *qp)
 	{
 
 	int nb = qp->dim->nb;
@@ -926,13 +926,13 @@ void DENSE_QP_SET_US_MASK(REAL *us_mask, struct DENSE_QP *qp)
 	for(ii=0; ii<ns; ii++)
 		if(us_mask[ii]==0.0)
 #ifdef DOUBLE_PRECISION
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 0;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 0.0;
 		else
-			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 1;
+			BLASFEO_DVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 1.0;
 #else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 0;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 0.0;
 		else
-			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 1;
+			BLASFEO_SVECEL(qp->d_mask, 2*nb+2*ng+ns+ii) = 1.0;
 #endif
 
 	return;
diff --git a/examples/c/Makefile b/examples/c/Makefile
index c51dda05..cd1d353f 100644
--- a/examples/c/Makefile
+++ b/examples/c/Makefile
@@ -49,7 +49,7 @@ OCP_QP_DATA = data/mass_spring_qp_data.o
 #OCP_QCQP_DATA = data/pmsm_ocp_qcqp_data.o
 #OCP_QCQP_DATA = data/ocp_qcqp_data.o 
 #OCP_QCQP_DATA = data/mass_spring_qcqp_data.o
-
+#DENSE_QP_DATA = data/getting_started_dense_qp_data.o
 
 ### select one single example ###
 
@@ -63,6 +63,7 @@ OBJS_EXMP = $(OCP_QP_DATA) example_d_ocp_qp_x0emb.o
 #OBJS_EXMP = $(OCP_QCQP_DATA) example_d_ocp_qcqp_x0emb_part_cond.o
 #OBJS_EXMP = $(OCP_QP_DATA) example_d_ocp_qp_sens.o
 #OBJS_EXMP = $(OCP_QP_DATA) example_d_ocp_qp_part_cond_sens.o
+#OBJS_EXMP = $(DENSE_QP_DATA) example_d_dense_qp.o
 
 obj: $(OBJS_EXMP)
 	$(CC) -o example.out $(OBJS_EXMP) $(LIBS)
@@ -86,6 +87,12 @@ example_d_ocp_qcqp_part_cond \
 	$(CC) -o $@.out $^ $(LIBS)
 	./$@.out
 
+# dense qp data
+example_d_dense_qp \
+: %: $(DENSE_QP_DATA) %.o
+	$(CC) -o $@.out $^ $(LIBS)
+	./$@.out
+
 
 ### clean ###
 clean:
diff --git a/examples/c/data/getting_started_dense_qp_data.c b/examples/c/data/getting_started_dense_qp_data.c
new file mode 100644
index 00000000..fc044629
--- /dev/null
+++ b/examples/c/data/getting_started_dense_qp_data.c
@@ -0,0 +1,118 @@
+/***************
+* dim
+***************/
+/* nv */
+int nv = 2;
+/* ne */
+int ne = 1;
+/* nb */
+int nb = 2;
+/* ng */
+int ng = 0;
+/* nsb */
+int nsb = 0;
+/* nsg */
+int nsg = 0;
+/* ns */
+int ns = 0;
+/***************
+* qp
+***************/
+/* H */
+static double HH[] = {4.000000000000000e+00, 1.000000000000000e+00, 1.000000000000000e+00, 2.000000000000000e+00, };
+double *H = HH;
+/* A */
+static double AA[] = {1.000000000000000e+00, 1.000000000000000e+00, };
+double *A = AA;
+/* C */
+static double CC[] = {};
+double *C = CC;
+/* idxb */
+static int iidxb[] = {0, 1, };
+int *idxb = iidxb;
+/* g */
+static double gg[] = {1.000000000000000e+00, 1.000000000000000e+00, };
+double *g = gg;
+/* zl */
+static double zzl[] = {};
+double *zl = zzl;
+/* zu */
+static double zzu[] = {};
+double *zu = zzu;
+/* b */
+static double bb[] = {1.000000000000000e+00, };
+double *b = bb;
+/* lb */
+static double llb[] = {-1.000000000000000e+00, -1.000000000000000e+00, };
+double *lb = llb;
+/* lb_mask */
+static double llb_mask[] = {1.000000000000000e+00, 1.000000000000000e+00, };
+double *lb_mask = llb_mask;
+/* ub */
+static double uub[] = {1.500000000000000e+00, 5.000000000000000e-01, };
+double *ub = uub;
+/* ub_mask */
+static double uub_mask[] = {1.000000000000000e+00, 1.000000000000000e+00, };
+double *ub_mask = uub_mask;
+/* lg */
+static double llg[] = {};
+double *lg = llg;
+/* lg_mask */
+static double llg_mask[] = {};
+double *lg_mask = llg_mask;
+/* ug */
+static double uug[] = {};
+double *ug = uug;
+/* ug_mask */
+static double uug_mask[] = {};
+double *ug_mask = uug_mask;
+/* lls */
+static double llls[] = {};
+double *lls = llls;
+/* lls_mask */
+static double llls_mask[] = {};
+double *lls_mask = llls_mask;
+/* lus */
+static double llus[] = {};
+double *lus = llus;
+/* lus_mask */
+static double llus_mask[] = {};
+double *lus_mask = llus_mask;
+/* Zl */
+static double ZZl[] = {};
+double *Zl = ZZl;
+/* Zu */
+static double ZZu[] = {};
+double *Zu = ZZu;
+/* idxs_rev */
+static int iidxs_rev[] = {-1, -1, };
+int *idxs_rev = iidxs_rev;
+/***************
+* arg
+***************/
+/* mode */
+int mode = 1;
+/* iter_max */
+int iter_max = 20;
+/* alpha_min */
+double alpha_min = 1.000000000000000e-12;
+/* mu0 */
+double mu0 = 1.000000000000000e+01;
+/* tol_stat */
+double tol_stat = 1.000000000000000e-12;
+/* tol_eq */
+double tol_eq = 1.000000000000000e-12;
+/* tol_ineq */
+double tol_ineq = 1.000000000000000e-12;
+/* tol_comp */
+double tol_comp = 1.000000000000000e-12;
+/* reg_prim */
+double reg_prim = 1.000000000000000e-15;
+/* reg_dual */
+double reg_dual = 1.000000000000000e-15;
+/* warm_start */
+int warm_start = 0;
+/* pred_corr */
+int pred_corr = 1;
+/* split_step */
+int split_step = 1;
diff --git a/include/hpipm_d_dense_qp.h b/include/hpipm_d_dense_qp.h
index b67f6848..4e5413c9 100644
--- a/include/hpipm_d_dense_qp.h
+++ b/include/hpipm_d_dense_qp.h
@@ -133,13 +133,13 @@ void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
 //
 void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
 //
-void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
+void d_dense_qp_set_lls(double *ls, struct d_dense_qp *qp);
 //
-void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
+void d_dense_qp_set_lls_mask(double *ls, struct d_dense_qp *qp);
 //
-void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
+void d_dense_qp_set_lus(double *us, struct d_dense_qp *qp);
 //
-void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
+void d_dense_qp_set_lus_mask(double *us, struct d_dense_qp *qp);
 
 // getters - colmaj
 //
diff --git a/include/hpipm_s_dense_qp.h b/include/hpipm_s_dense_qp.h
index 3c2517fe..c8f460c6 100644
--- a/include/hpipm_s_dense_qp.h
+++ b/include/hpipm_s_dense_qp.h
@@ -131,13 +131,13 @@ void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
 //
 void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
 //
-void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
+void s_dense_qp_set_lls(float *ls, struct s_dense_qp *qp);
 //
-void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
+void s_dense_qp_set_lls_mask(float *ls, struct s_dense_qp *qp);
 //
-void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
+void s_dense_qp_set_lus(float *us, struct s_dense_qp *qp);
 //
-void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
+void s_dense_qp_set_lus_mask(float *us, struct s_dense_qp *qp);
 
 // getters - colmaj
 //
diff --git a/test_problems/test_d_dense.c b/test_problems/test_d_dense.c
index fa32b74e..448fe46a 100644
--- a/test_problems/test_d_dense.c
+++ b/test_problems/test_d_dense.c
@@ -319,8 +319,8 @@ int main()
 	d_dense_qp_set_zl(zl, &qp);
 	d_dense_qp_set_zu(zu, &qp);
 	d_dense_qp_set_idxs(idxs, &qp);
-	d_dense_qp_set_ls(d_ls, &qp);
-	d_dense_qp_set_us(d_us, &qp);
+	d_dense_qp_set_lls(d_ls, &qp);
+	d_dense_qp_set_lus(d_us, &qp);
 #else
 	d_dense_qp_set_all(H, g, A, b, idxb, d_lb, d_ub, C, d_lg, d_ug, Zl, Zu, zl, zu, idxs, d_ls, d_us, &qp);
 #endif