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Get rid of potential div-0 errors so we can set dt = 0 for pausing. #2705

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Jul 22, 2020
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Get rid of potential div-0 errors so we can set dt = 0 for pausing. #2705

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740af6c
Get rid of potential div-0 errors so we can set dt = 0 for pausing.
May 20, 2020
7c3be21
Freeze acceleration when pausing, rather than setting to 0.
May 20, 2020
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Get rid of potential div-0 errors so we can set dt = 0 for pausing.
  • Loading branch information
Nicholas Gyde committed May 20, 2020
commit 740af6c4364368051a66e6bd9b32fcf7f3336b9b
3 changes: 3 additions & 0 deletions AirLib/include/common/VectorMath.hpp
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Expand Up @@ -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);

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2 changes: 1 addition & 1 deletion AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp
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Expand Up @@ -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;
}
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2 changes: 1 addition & 1 deletion MavLinkCom/MavLinkTest/Commands.h
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Expand Up @@ -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) {
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4 changes: 2 additions & 2 deletions Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
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Expand Up @@ -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.twist.linear - next_kinematics.twist.linear) / 1.f;
next_kinematics.accelerations.angular = dt > 0 ? (next_kinematics.twist.angular - kinematics_->getTwist().angular) / dt : (next_kinematics.twist.angular - next_kinematics.twist.angular) / 1.f;

kinematics_->setState(next_kinematics);
kinematics_->update();
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