rollback lookahead time out to 100

Kjell-K · Aug 14, 2017 · 1a7592c · 1a7592c
1 parent 5cedfe4
commit 1a7592c
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/AirLib/src/controllers/DroneControllerBase.cpp b/AirLib/src/controllers/DroneControllerBase.cpp
@@ -226,7 +226,9 @@ bool DroneControllerBase::moveOnPath(const vector<Vector3r>& path, float velocit
                 float error = (actual_vect - actual_on_goal).norm() * adaptive_lookahead;
                 if (error > lookahead_error) {
                     lookahead_error_increasing++;
-                    if (lookahead_error_increasing > 1E5) {
+                    //TODO: below should be lower than 1E3 and configurable
+                    //but lower values like 100 doesn't work for simple_flight + ScalableClock
+                    if (lookahead_error_increasing > 1E2) {
                         throw std::runtime_error("lookahead error is continually increasing so we do not have safe control, aborting moveOnPath operation");
                     }
                 }