diff --git a/AirLib/include/common/VectorMath.hpp b/AirLib/include/common/VectorMath.hpp
index 114a673416..732994eb8e 100644
--- a/AirLib/include/common/VectorMath.hpp
+++ b/AirLib/include/common/VectorMath.hpp
@@ -324,6 +324,9 @@ class VectorMathT {
 
 	static Vector3T toAngularVelocity(const QuaternionT& start, const QuaternionT& end, RealT dt)
 	{
+		if (dt == 0)
+			return Vector3T(0, 0, 0);
+
 		RealT p_s, r_s, y_s;
 		toEulerianAngle(start, p_s, r_s, y_s);
 
diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp
index 69128e6a6d..fdc53880a9 100644
--- a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp
+++ b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp
@@ -99,7 +99,7 @@ class PidController : public IUpdatable {
         if (dt > min_dt_) {
             integrator->update(dt, error, last_time_);
 
-            float error_der = (error - last_error_) / dt;
+            float error_der = dt > 0 ? (error - last_error_) / dt : 0;
             dterm = error_der * config_.kd;
             last_error_ = error;
         }
diff --git a/MavLinkCom/MavLinkTest/Commands.h b/MavLinkCom/MavLinkTest/Commands.h
index 3113f60edb..c05f51a6ea 100644
--- a/MavLinkCom/MavLinkTest/Commands.h
+++ b/MavLinkCom/MavLinkTest/Commands.h
@@ -691,7 +691,7 @@ class PidController
             proportionalGain = error * kProportional_;
         }
         if (kDerivative_ != 0) {
-            float derivative = (error - previous_error_) / dt;
+            float derivative = dt > 0 ? (error - previous_error_) / dt : 0;
             derivativeGain = derivative * kDerivative_;
         }
         if (kIntegral_ != 0) {
diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
index 0f3ab3946b..ee89d0c3bb 100644
--- a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
+++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -514,8 +514,8 @@ void PawnSimApi::updateKinematics(float dt)
     next_kinematics.twist.angular = msr::airlib::VectorMath::toAngularVelocity(
         kinematics_->getPose().orientation, next_kinematics.pose.orientation, dt);
 
-    next_kinematics.accelerations.linear = (next_kinematics.twist.linear - kinematics_->getTwist().linear) / dt;
-    next_kinematics.accelerations.angular = (next_kinematics.twist.angular - kinematics_->getTwist().angular) / dt;
+    next_kinematics.accelerations.linear = dt > 0 ? (next_kinematics.twist.linear - kinematics_->getTwist().linear) / dt : next_kinematics.accelerations.linear;
+    next_kinematics.accelerations.angular = dt > 0 ? (next_kinematics.twist.angular - kinematics_->getTwist().angular) / dt : next_kinematics.accelerations.angular;
 
     kinematics_->setState(next_kinematics);
     kinematics_->update();