add default max iter

dfki-ric-underactuated-lab · Feb 17, 2025 · c940571 · c940571
1 parent 95ce9f3
commit c940571
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/ws/src/controllers/src/mit_controller/mpc.cpp b/ws/src/controllers/src/mit_controller/mpc.cpp
@@ -255,6 +255,10 @@ MPC::MPC(double alpha,
           solver_config_, reinterpret_cast<ocp_qp_xcond_solver_opts *>(solver_opts_), tol_name, &solver_tolerances);
     }
   }
+  // Set max iter high to reach requested tolerance
+  int max_iter = 1000;
+  ocp_qp_xcond_solver_opts_set(
+    solver_config_, reinterpret_cast<ocp_qp_xcond_solver_opts *>(solver_opts_), "iter_max", &max_iter);
 
   qp_solver_ = ocp_qp_create(solver_config_, solver_dims_, solver_opts_);