AC_AttitudeControl: Real time S-Curve Command Model

Author: lthall

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -1089,17 +1089,16 @@ void AC_AttitudeControl::thrust_vector_rotation_angles(const Quaternion& attitud
 // deceleration limits including basic jerk limiting using _input_tc
 void AC_AttitudeControl::attitude_command_model(float error_angle, float desired_ang_vel, float& target_ang_vel, float& target_ang_accel, float max_ang_vel, float accel_max, float input_tc, float dt) const
 {
+    if (!is_positive(dt)) {
+        return;
+    }
+    
     // protect against divide by zero
     if (!is_positive(accel_max)) {
         // no acceleration set so default to 1800 degrees/s²
         accel_max = radians(1800);
     }
 
-    if (!is_positive(dt)) {
-        // plane can set this to zero
-        dt = 1/400.0;
-    }
-
     if (!is_positive(input_tc)) {
         // no acceleration set so default to achieve maximum acceleration in 10 clock cycles
         input_tc = dt * 10.0;