I am doing a UAV simulation and, when it gets to a high velocity (about 20m/s), Gazebo crashes! I have an output file which I can check. So I observed that when it enters the trajectory, it crashes because the simulator send a NAN.

I tried to change the Engines. Some of them like symbody and ODE does better, but still crashes fro the same problem.

Someone have some tip? Or faced the same problem?

thx in advance best regards.