+
+ /* in some cases it is better to wait that obstacle is
+ * gone before starting to avoid it */
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
+ time_wait_ms(2000);
+ goto retry;
+ }