From d3ca12f136c9a890f7289d69bd783840dc86cfba Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 27 Mar 2014 22:34:23 +0100
Subject: mtecs: BlockPDLimited: make sure dt > 0

---
 src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/modules')

diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
index a357b24e2..6e90a82ba 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
@@ -193,7 +193,7 @@ public:
 	virtual ~BlockPDLimited() {};
 	float update(float input) {
 		float difference = 0.0f;
-		float output = getKP() * input + getKD() * getDerivative().update(input);
+		float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f);
 		getOutputLimiter().limit(output, difference);
 
 		return output;
-- 
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