Hi Beppe,

I think you have these values swapped:

Code:
#define TAU 1.0				// costante di tempo filtro passa basso
#define FINAL_TIME_Z 0.08
should be:

Code:
#define TAU 0.08			// costante di tempo filtro passa basso
#define FINAL_TIME 1.0
The result is instead of converging on the final target and finally making a tiny move to the exact target, it barely begins to move to the target and then makes a large move to the target.

It seems that trajectory is somewhat difficult to solve. Maybe due to the small non zero initial velocity. KFLOP checks that the final solution matches the final target to 11 significant digits and if not prints that message. That solution is only accurate to 10.5 digits. We plan to change the limit to 10 digits.