Take the middle position in Nomad3DController when the position is outside limits

src/controllers/nomad3d/Nomad3DController.cpp

@@ -153,7 +153,18 @@ void Nomad3DController::updateActualPosition(int32 i) {
 		writer.Key(data.name.c_str());
 
 		// Do not apply the offset.
-		writer.Double(data.controller->position() * data.coef);
+		float64 position = data.controller->position();
+
+		// Get the middle position if the position is outside the limits.
+		// This can be due to a unplugged encoder.
+		float64 minPosition = data.controller->minPosition();
+		float64 maxPosition = data.controller->maxPosition();
+
+		if (position < minPosition || position > maxPosition) {
+			position = 0.5 * (minPosition + maxPosition);
+		}
+
+		writer.Double(position * data.coef);
 	}
 
 	// Write the virtual axis controllers.