From eac2e164bb947ed543a91c2f405e75ec19ed8323 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Fri, 6 May 2016 09:43:59 +0200
Subject: [PATCH] only compensate torque in brakes when stopping if clutch is
engaged (otherwise no operating point might be found)
---
VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs
index aa2fb87f4f..99ee2a0529 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs
@@ -77,7 +77,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// but this could lead to extrapolation of loss maps (in axlegear and gear).
// solution: we check here if the angularVelocity is 0 the first time and brake away all the torque if it is.
// afterwards the vehicle is standing and other mechanisms take over (Driver.DriveTimeInterval)
- if (DataBus.DriverBehavior == DrivingBehavior.Braking && !PreviousState.OutAngularVelocity.IsEqual(0) &&
+ if (DataBus.ClutchClosed(absTime) && DataBus.DriverBehavior == DrivingBehavior.Braking && !PreviousState.OutAngularVelocity.IsEqual(0) &&
angularVelocity.IsEqual(0)) {
brakeTorque = -torque;
if (!dryRun) {
--
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