From 04d6bb91e35d0ed8cb4310489b074e63c2e836a9 Mon Sep 17 00:00:00 2001
From: Davide Barbone <davide.barbone@iit.it>
Date: Tue, 24 Sep 2024 10:37:15 +0200
Subject: [PATCH] fix solver status from Simulink OSQP block

---
 toolbox/library/src/OSQP.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/toolbox/library/src/OSQP.cpp b/toolbox/library/src/OSQP.cpp
index 6c4c54b8..a13d7b13 100644
--- a/toolbox/library/src/OSQP.cpp
+++ b/toolbox/library/src/OSQP.cpp
@@ -599,7 +599,8 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)
     }
 
     // Set status
-    if (!statusSignal->set(0, double(solveReturnVal))) {
+    OsqpEigen::Status status = pImpl->sqSolver->getStatus();
+    if (!statusSignal->set(0, double(status))) {
         bfError << "Failed to set status signal.";
         return false;
     }