How to increase the accuracy of autogenerated code?

I have a simulink model that propagates some dynamics based on dynamic equation of motion.

I am using simulink autocode to generate code.

When I compare the models I notice the error starts to diverge a lot as simulation time passes.

My question is: For dynamic systems when we have to take derivatives and integration at every time step, is there a setup I have to do? or there are best practices to generate code for this kind of systems?

I would like the error between the simulink model and the generated code as small as possible.