Merge pull request #132 from CarlottaSartore/VelocityControllerModifications

Minor modifications to velocity controller

Author: Gabriele Nava

library/simulink-library/MomentumVelocityControl/momentumVelocityControl_lib.slx

@@ -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