Merge pull request #132 from CarlottaSartore/VelocityControllerModifi…

…cations Minor modifications to velocity controller
robotology · Sep 8, 2021 · 7665954 · 7665954
2 parents 7bf78dc + f2d58f6
commit 7665954
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diff --git a/library/simulink-library/MomentumVelocityControl/momentumVelocityControl_lib.slx b/library/simulink-library/MomentumVelocityControl/momentumVelocityControl_lib.slx
diff --git a/library/simulink-library/MomentumVelocityControl/src/casadi_block.m b/library/simulink-library/MomentumVelocityControl/src/casadi_block.m
@@ -442,7 +442,7 @@ function setupImpl(obj,M,h,Jc,Jcmm,nu_k,Jc_dot_nu,C_friction,b_friction,H_star,s
                 s_dot_k_1_star = zeros(26,1);
                 tau_star = zeros(26,1);
                 f_star = zeros(12,1);
-                if(obj.solver_fails_counter>4)
+                if(obj.solver_fails_counter>6)
                     error('solver failed more that 4 times');
                 end
             else