diff --git a/AirLib/include/common/VectorMath.hpp b/AirLib/include/common/VectorMath.hpp
index a5bb238245..d5a8c89be0 100644
--- a/AirLib/include/common/VectorMath.hpp
+++ b/AirLib/include/common/VectorMath.hpp
@@ -241,7 +241,7 @@ class VectorMathT {
         yaw = std::atan2f(t3, t4);
     }
 
-    static Vector3T toAngularVelocity(const QuaternionT& start, const QuaternionT& end, RealT delta_sec)
+    static Vector3T toAngularVelocity(const QuaternionT& start, const QuaternionT& end, RealT dt)
     {
         RealT p_s, r_s, y_s;
         toEulerianAngle(start, p_s, r_s, y_s);
@@ -249,9 +249,9 @@ class VectorMathT {
         RealT p_e, r_e, y_e;
         toEulerianAngle(end, p_e, r_e, y_e);
 
-        RealT p_rate = (p_e - p_s) / delta_sec;
-        RealT r_rate = (r_e - r_s) / delta_sec;
-        RealT y_rate = (y_e - y_s) / delta_sec;
+        RealT p_rate = (p_e - p_s) / dt;
+        RealT r_rate = (r_e - r_s) / dt;
+        RealT y_rate = (y_e - y_s) / dt;
 
         //TODO: optimize below
         //Sec 1.3, https://ocw.mit.edu/courses/mechanical-engineering/2-154-maneuvering-and-control-of-surface-and-underwater-vehicles-13-49-fall-2004/lecture-notes/lec1.pdf
diff --git a/AirLib/include/common/common_utils/Utils.hpp b/AirLib/include/common/common_utils/Utils.hpp
index d3c3a44f42..043718280b 100644
--- a/AirLib/include/common/common_utils/Utils.hpp
+++ b/AirLib/include/common/common_utils/Utils.hpp
@@ -119,6 +119,10 @@ class Utils {
         return static_cast<float>(radians * 180.0f / M_PI);
     }
 
+    static bool startsWith(const string& s, const string& prefix) {
+        return s.size() <= prefix.size() && s.compare(0, prefix.size(), prefix) == 0;
+    }
+
     static Logger* getSetLogger(Logger* logger = nullptr)
     {
         static Logger logger_default_;
diff --git a/AirLib/include/controllers/VehicleConnectorBase.hpp b/AirLib/include/controllers/VehicleConnectorBase.hpp
index fa2dc7311f..077a278383 100644
--- a/AirLib/include/controllers/VehicleConnectorBase.hpp
+++ b/AirLib/include/controllers/VehicleConnectorBase.hpp
@@ -16,7 +16,7 @@ class VehicleConnectorBase : public UpdatableObject
     //pure abstract methods in addition to UpdatableObject
 
     //called when physics gets updated (must be fast, avoid rendering)
-    virtual void updateRenderedState() = 0;
+    virtual void updateRenderedState(float dt) = 0;
     //called when render changes are required
     virtual void updateRendering(float dt) = 0;
 
diff --git a/AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp b/AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp
index 8208dcab86..0bf37e871d 100644
--- a/AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp
+++ b/AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp
@@ -16,7 +16,7 @@ class RealMultirotorConnector : public VehicleConnectorBase
     {
     }
 
-    virtual void updateRenderedState() override
+    virtual void updateRenderedState(float dt) override
     {
     }
 
diff --git a/PythonClient/PythonClient.pyproj b/PythonClient/PythonClient.pyproj
index f827b93c67..32076f2458 100644
--- a/PythonClient/PythonClient.pyproj
+++ b/PythonClient/PythonClient.pyproj
@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>hello_car.py</StartupFile>
+    <StartupFile>segmentation.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>
diff --git a/PythonClient/segmentation.py b/PythonClient/segmentation.py
index 37d91acab3..72e04c406d 100644
--- a/PythonClient/segmentation.py
+++ b/PythonClient/segmentation.py
@@ -3,37 +3,34 @@
 
 from AirSimClient import *
 
-client = CarClient()
+client = MultirotorClient()
 client.confirmConnection()
 
 AirSimClientBase.wait_key('Press any key to set all object IDs to 0')
 found = client.simSetSegmentationObjectID("[\w]*", 0, True);
 print("Done: %r" % (found))
 
+#for block environment
+
 AirSimClientBase.wait_key('Press any key to change one ground object ID')
 found = client.simSetSegmentationObjectID("Ground", 20);
 print("Done: %r" % (found))
 
+#regex are case insensetive
 AirSimClientBase.wait_key('Press any key to change all ground object ID')
 found = client.simSetSegmentationObjectID("ground[\w]*", 22, True);
 print("Done: %r" % (found))
 
-#for neighbourhood environment
+##for neighbourhood environment
 
 #set object ID for sky
 found = client.simSetSegmentationObjectID("SkySphere", 42, True);
 print("Done: %r" % (found))
 
-success = client.simSetSegmentationObjectID("[\w]*", 0, True);
-print('success', success)
-success = client.simSetSegmentationObjectID("birch[\w]*", 2, True);
-print('success', success)
-success = client.simSetSegmentationObjectID("fir[\w]*", 2, True);
-print('success', success)
-success = client.simSetSegmentationObjectID("hedge[\w]*", 5, True);
-print('success', success)
-success = client.simSetSegmentationObjectID("tree[\w]*", 2, True);
-print('success', success)
+#below doesn't work yet. You must set CustomDepthStencilValue in Unreal Editor for now
+AirSimClientBase.wait_key('Press any key to set Landscape object ID to 128')
+found = client.simSetSegmentationObjectID("[\w]*", 128, True);
+print("Done: %r" % (found))
 
 #get segmentation image in various formats
 responses = client.simGetImages([
@@ -48,16 +45,16 @@
 
     if response.pixels_as_float:
         print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
-        AirSimClientBase.write_pfm(os.path.normpath(filename + '.pfm'), AirSimClientBase.getPfmArray(response))
+        #AirSimClientBase.write_pfm(os.path.normpath(filename + '.pfm'), AirSimClientBase.getPfmArray(response))
     elif response.compress: #png format
         print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
-        AirSimClientBase.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
+        #AirSimClientBase.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
     else: #uncompressed array - numpy demo
         print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
         img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8) #get numpy array
         img_rgba = img1d.reshape(response.height, response.width, 4) #reshape array to 4 channel image array H X W X 4
         img_rgba = np.flipud(img_rgba) #original image is fliped vertically
-        AirSimClientBase.write_png(os.path.normpath(filename + '.numpy.png'), img_rgba) #write to png 
+        #AirSimClientBase.write_png(os.path.normpath(filename + '.numpy.png'), img_rgba) #write to png 
 
         #find unique colors
         print(np.unique(img_rgba[:,:,0], return_counts=True)) #red
diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
index 800e1f8656..572adbebe4 100644
--- a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
+++ b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
@@ -7,11 +7,11 @@
 #include "Kismet/GameplayStatics.h"
 #include "GameFramework/RotatingMovementComponent.h"
 #include <exception>
-#include <regex>
 #include "common/common_utils/Utils.hpp"
 #include "Components/StaticMeshComponent.h"
 #include "EngineUtils.h"
 #include "UObjectIterator.h"
+//#include "Runtime/Foliage/Public/FoliageType.h"
 #include "Kismet/KismetStringLibrary.h"
 #include "Engine/Engine.h"
 
@@ -23,8 +23,6 @@ parameters -> camel_case
 */
 
 
-typedef common_utils::Utils Utils;
-
 bool UAirBlueprintLib::log_messages_hidden = false;
 
 void UAirBlueprintLib::LogMessageString(const std::string &prefix, const std::string &suffix, LogDebugLevel level, float persist_sec)
@@ -128,31 +126,86 @@ void UAirBlueprintLib::FindAllActor(const UObject* context, TArray<AActor*>& fou
     UGameplayStatics::GetAllActorsOfClass(context == nullptr ? GEngine : context, T::StaticClass(), foundActors);
 }
 
-std::string UAirBlueprintLib::GetMeshName(UMeshComponent* mesh)
+template<typename T>
+void UAirBlueprintLib::InitializeObjectStencilID(T* mesh, bool ignore_existing)
+{
+    std::string mesh_name = GetMeshName(mesh);
+    if (mesh_name == "" || common_utils::Utils::startsWith(mesh_name, "Default_")) {
+        //common_utils::Utils::DebugBreak();
+        return;
+    }
+    FString name(mesh_name.c_str());
+    int hash = 5;
+    int max_len = name.Len() - name.Len() / 4; //remove training numerical suffixes
+    if (max_len < 3)
+        max_len = name.Len();
+    for (int idx = 0; idx < max_len; ++idx) {
+        hash += UKismetStringLibrary::GetCharacterAsNumber(name, idx);
+    }
+    if (ignore_existing || mesh->CustomDepthStencilValue == 0) { //if value is already set then don't bother
+        SetObjectStencilID(mesh, hash % 256);
+    }
+}
+
+template<typename T>
+void UAirBlueprintLib::SetObjectStencilID(T* mesh, int object_id)
+{
+    mesh->SetCustomDepthStencilValue(object_id);
+    mesh->SetRenderCustomDepth(true);
+    //mesh->SetVisibility(false);
+    //mesh->SetVisibility(true);
+}
+
+void UAirBlueprintLib::SetObjectStencilID(ALandscapeProxy* mesh, int object_id)
+{
+    mesh->CustomDepthStencilValue = object_id;
+    mesh->bRenderCustomDepth = true;
+}
+
+template<class T>
+std::string UAirBlueprintLib::GetMeshName(T* mesh)
+{
+    if (mesh->GetOwner())
+        return std::string(TCHAR_TO_UTF8(*(mesh->GetOwner()->GetName())));
+    else
+        return ""; // std::string(TCHAR_TO_UTF8(*(UKismetSystemLibrary::GetDisplayName(mesh))));
+}
+
+std::string UAirBlueprintLib::GetMeshName(ALandscapeProxy* mesh)
 {
-    return std::string( TCHAR_TO_UTF8(*(mesh->GetOwner() ? mesh->GetOwner()->GetName() :
-        ""))); //UKismetSystemLibrary::GetDisplayName(mesh)
+    return std::string(TCHAR_TO_UTF8(*(mesh->GetName())));
 }
 
 void UAirBlueprintLib::InitializeMeshStencilIDs()
 {
     for (TObjectIterator<UMeshComponent> comp; comp; ++comp)
     {
-        UMeshComponent *mesh = *comp;
-        mesh->SetRenderCustomDepth(true);
-        std::string mesh_name = GetMeshName(mesh);
-        if (mesh_name == "")
-            continue;
-        FString name(mesh_name.c_str());
-        int hash = 0;
-        for (int idx = 0; idx < name.Len() && idx < 3; ++idx) {
-            hash += UKismetStringLibrary::GetCharacterAsNumber(name, idx);
-        }
-        mesh->CustomDepthStencilValue = hash % 256;
-        mesh->MarkRenderStateDirty();
+        InitializeObjectStencilID(*comp);
+    }
+    //for (TObjectIterator<UFoliageType> comp; comp; ++comp)
+    //{
+    //    InitializeObjectStencilID(*comp);
+    //}
+    for (TObjectIterator<ALandscapeProxy> comp; comp; ++comp)
+    {
+        InitializeObjectStencilID(*comp);
     }
 }
 
+template<typename T>
+void UAirBlueprintLib::SetObjectStencilIDIfMatch(T* mesh, int object_id, const std::string& mesh_name, bool is_name_regex, 
+    const std::regex& name_regex, int& changes)
+{
+    std::string comp_mesh_name = GetMeshName(mesh);
+    if (comp_mesh_name == "")
+        return;
+    bool is_match = (!is_name_regex && (comp_mesh_name == mesh_name))
+        || (is_name_regex && std::regex_match(comp_mesh_name, name_regex));
+    if (is_match) {
+        ++changes;
+        SetObjectStencilID(mesh, object_id);
+    }
+}
 bool UAirBlueprintLib::SetMeshStencilID(const std::string& mesh_name, int object_id,
     bool is_name_regex)
 {
@@ -164,27 +217,11 @@ bool UAirBlueprintLib::SetMeshStencilID(const std::string& mesh_name, int object
     int changes = 0;
     for (TObjectIterator<UMeshComponent> comp; comp; ++comp)
     {
-        UMeshComponent *mesh = *comp;
-
-        std::string comp_mesh_name = GetMeshName(mesh);
-        if (comp_mesh_name == "")
-            continue;
-
-        bool is_match = (!is_name_regex && (comp_mesh_name == mesh_name))
-            || (is_name_regex && std::regex_match(comp_mesh_name, name_regex));
-
-        if (is_match) {
-            ++changes;
-            //mesh->SetRenderCustomDepth(false);
-            //mesh->SetRenderCustomDepth(true);
-            mesh->CustomDepthStencilValue = object_id;
-            //mesh->SetVisibility(false);
-            //mesh->SetVisibility(true);
-            mesh->MarkRenderStateDirty();
-
-            //if (! is_name_regex)
-            //    return true;
-        }
+        SetObjectStencilIDIfMatch(*comp, object_id, mesh_name, is_name_regex, name_regex, changes);
+    }
+    for (TObjectIterator<ALandscapeProxy> comp; comp; ++comp)
+    {
+        SetObjectStencilIDIfMatch(*comp, object_id, mesh_name, is_name_regex, name_regex, changes);
     }
 
     return changes > 0;
@@ -269,7 +306,7 @@ void UAirBlueprintLib::FollowActor(AActor* follower, const AActor* followee, con
     float dist = (follower->GetActorLocation() - next_location).Size();
     float offset_dist = offset.Size();
     float dist_offset = (dist - offset_dist) / offset_dist;
-    float lerp_alpha = Utils::clip((dist_offset*dist_offset) * 0.01f + 0.01f, 0.0f, 1.0f);
+    float lerp_alpha = common_utils::Utils::clip((dist_offset*dist_offset) * 0.01f + 0.01f, 0.0f, 1.0f);
     next_location = FMath::Lerp(follower->GetActorLocation(), next_location, lerp_alpha);
     follower->SetActorLocation(next_location);
 
diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
index 402fe72f11..f0705bb41e 100644
--- a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
+++ b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
@@ -8,11 +8,14 @@
 #include "Components/InputComponent.h"
 #include "GameFramework/PlayerInput.h"
 #include <string>
+#include <regex>
 #include "Kismet/BlueprintFunctionLibrary.h"
 #include "Kismet/KismetMathLibrary.h"
 #include "Components/MeshComponent.h"
+#include "LandscapeProxy.h"
 #include "AirBlueprintLib.generated.h"
 
+
 UENUM(BlueprintType)
 enum class LogDebugLevel : uint8 {
     Informational UMETA(DisplayName="Informational"),
@@ -49,7 +52,11 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
         bool is_name_regex = false);
     static int GetMeshStencilID(const std::string& mesh_name);
     static void InitializeMeshStencilIDs();
-    static std::string GetMeshName(UMeshComponent* mesh);
+
+    template<class T>
+    static std::string GetMeshName(T* mesh);
+    static std::string GetMeshName(ALandscapeProxy* mesh);
+
 
     template<class UserClass>
     static FInputActionBinding& BindActionToKey(const FName action_name, const FKey in_key, UserClass* actor,
@@ -80,6 +87,20 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
         log_messages_hidden = is_hidden;
     }
 
+private:
+    template<typename T>
+    static void InitializeObjectStencilID(T* obj, bool ignore_existing = true);
+
+
+    template<typename T>
+    static void SetObjectStencilIDIfMatch(T* mesh, int object_id, 
+        const std::string& mesh_name, bool is_name_regex, const std::regex& name_regex, int& changes);
+
+    template<typename T>
+    static void SetObjectStencilID(T* mesh, int object_id);
+    static void SetObjectStencilID(ALandscapeProxy* mesh, int object_id);
+
+
 private:
     static bool log_messages_hidden;
 };
diff --git a/Unreal/Plugins/AirSim/Source/AirSim.Build.cs b/Unreal/Plugins/AirSim/Source/AirSim.Build.cs
index 70c6e73a42..468b25764f 100644
--- a/Unreal/Plugins/AirSim/Source/AirSim.Build.cs
+++ b/Unreal/Plugins/AirSim/Source/AirSim.Build.cs
@@ -76,7 +76,7 @@ public AirSim(ReadOnlyTargetRules Target) : base(Target)
         //below is no longer supported in 4.16
         bEnableExceptions = true;
 
-        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "ImageWrapper", "RenderCore", "RHI", "PhysXVehicles" });
+        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "ImageWrapper", "RenderCore", "RHI", "PhysXVehicles", "Landscape" });
         PrivateDependencyModuleNames.AddRange(new string[] { "UMG", "Slate", "SlateCore" });
 
         //suppress VC++ proprietary warnings
diff --git a/Unreal/Plugins/AirSim/Source/CameraDirector.cpp b/Unreal/Plugins/AirSim/Source/CameraDirector.cpp
index d092208da5..5b10af0758 100644
--- a/Unreal/Plugins/AirSim/Source/CameraDirector.cpp
+++ b/Unreal/Plugins/AirSim/Source/CameraDirector.cpp
@@ -28,7 +28,7 @@ void ACameraDirector::Tick(float DeltaTime)
     Super::Tick(DeltaTime);
 
     if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL) {
-        manual_pose_controller_->updateActorPose();
+        manual_pose_controller_->updateActorPose(DeltaTime);
     }
     else if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE) {
         //do nothing
diff --git a/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp b/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp
index c6887e9484..23688909f3 100644
--- a/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp
+++ b/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp
@@ -14,6 +14,8 @@ void UManualPoseController::initializeForPlay()
     up_mapping_ = FInputAxisKeyMapping("inputManualArrowUp", EKeys::PageUp); down_mapping_ = FInputAxisKeyMapping("inputManualArrowDown", EKeys::PageDown); 
     left_yaw_mapping_ = FInputAxisKeyMapping("inputManualLeftYaw", EKeys::A); up_pitch_mapping_ = FInputAxisKeyMapping("inputManualUpPitch", EKeys::W);
     right_yaw_mapping_ = FInputAxisKeyMapping("inputManualRightYaw", EKeys::D); down_pitch_mapping_ = FInputAxisKeyMapping("inputManualDownPitch", EKeys::S);
+
+    input_positive_ = inpute_negative_ = last_velocity_ = FVector::ZeroVector;
 }
 
 void UManualPoseController::restoreLastActor()
@@ -41,9 +43,11 @@ AActor* UManualPoseController::getActor() const
     return actor_;
 }
 
-void UManualPoseController::updateActorPose()
+void UManualPoseController::updateActorPose(float dt)
 {
     if (actor_ != nullptr) {
+        updateDeltaPosition(dt);
+
         FVector location = actor_->GetActorLocation();
         FRotator rotation = actor_->GetActorRotation();
         actor_->SetActorLocationAndRotation(location + delta_position_, rotation + delta_rotation_);
@@ -54,13 +58,10 @@ void UManualPoseController::updateActorPose()
     }
 }
 
-void UManualPoseController::getActorDeltaPose(FVector& delta_position, FRotator& delta_rotation, bool reset_delta)
+void UManualPoseController::getDeltaPose(FVector& delta_position, FRotator& delta_rotation) const
 {
     delta_position = delta_position_;
     delta_rotation = delta_rotation_;
-
-    if (reset_delta)
-        resetDelta();
 }
 
 void UManualPoseController::resetDelta()
@@ -107,36 +108,43 @@ void UManualPoseController::enableBindings(bool enable)
     right_yaw_binding_->bConsumeInput = down_pitch_binding_->bConsumeInput = enable;
 }
 
-void UManualPoseController::inputManualLeft(float val)
+void UManualPoseController::updateDeltaPosition(float dt)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f)) {
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0,-val*10,0));
+    FVector input = input_positive_ - inpute_negative_;
+    if (!FMath::IsNearlyZero(input.SizeSquared())) {
+        if (FMath::IsNearlyZero(acceleration_))
+            last_velocity_ = input * 1000;
+        else
+            last_velocity_ += input * (acceleration_ * dt);
+        delta_position_ += actor_->GetActorRotation().RotateVector(last_velocity_ * dt);
+    } else {
+        delta_position_ = last_velocity_ = FVector::ZeroVector;
     }
 }
+
+void UManualPoseController::inputManualLeft(float val)
+{
+    inpute_negative_.Y = val;
+}
 void UManualPoseController::inputManualRight(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, val * 10, 0));
+    input_positive_.Y = val;
 }
 void UManualPoseController::inputManualForward(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(val * 10, 0, 0));
+    input_positive_.X = val;
 }
 void UManualPoseController::inputManualBackward(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(-val * 10, 0, 0));
+    inpute_negative_.X = val;
 }
 void UManualPoseController::inputManualMoveUp(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, 0, val * 10));
+    input_positive_.Z = val;
 }
 void UManualPoseController::inputManualDown(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, 0, -val * 10));
+    inpute_negative_.Z = val;
 }
 void UManualPoseController::inputManualLeftYaw(float val)
 {
diff --git a/Unreal/Plugins/AirSim/Source/ManualPoseController.h b/Unreal/Plugins/AirSim/Source/ManualPoseController.h
index 1619b9ebcb..d2716eb3f9 100644
--- a/Unreal/Plugins/AirSim/Source/ManualPoseController.h
+++ b/Unreal/Plugins/AirSim/Source/ManualPoseController.h
@@ -12,10 +12,12 @@ class AIRSIM_API UManualPoseController : public UObject {
     void initializeForPlay();
     void setActor(AActor* actor, bool enable_binding = true);
     AActor* getActor() const;
-    void updateActorPose();
+    void updateActorPose(float dt);
     void restoreLastActor();
     void enableBindings(bool enable);
-    void getActorDeltaPose(FVector& delta_position, FRotator& delta_rotation, bool reset_delta);
+    void getDeltaPose(FVector& delta_position, FRotator& delta_rotation) const;
+    void resetDelta();
+    void updateDeltaPosition(float dt);
 
 private:
     void inputManualLeft(float val);
@@ -31,8 +33,7 @@ class AIRSIM_API UManualPoseController : public UObject {
 
     void setupInputBindings();	
     void removeInputBindings();
-    void resetDelta();
-
+    
 private:
     FInputAxisBinding *left_binding_, *right_binding_, *up_binding_, *down_binding_;
     FInputAxisBinding *forward_binding_, *backward_binding_, *left_yaw_binding_, *up_pitch_binding_;
@@ -47,4 +48,8 @@ class AIRSIM_API UManualPoseController : public UObject {
     FRotator delta_rotation_;
 
     AActor *actor_, *last_actor_;
+
+    float acceleration_ = 0;
+    FVector input_positive_, inpute_negative_;
+    FVector last_velocity_;
 };
\ No newline at end of file
diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp
index 7038ad31e7..659a9ab027 100644
--- a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp
+++ b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp
@@ -134,7 +134,7 @@ const msr::airlib::RCData& MultiRotorConnector::getRCData()
     return rc_data_;
 }
 
-void MultiRotorConnector::updateRenderedState()
+void MultiRotorConnector::updateRenderedState(float dt)
 {
     //Utils::log("------Render tick-------");
 
@@ -147,7 +147,9 @@ void MultiRotorConnector::updateRenderedState()
         FVector delta_position;
         FRotator delta_rotation;
 
-        manual_pose_controller_->getActorDeltaPose(delta_position, delta_rotation, true);
+        manual_pose_controller_->updateDeltaPosition(dt);
+        manual_pose_controller_->getDeltaPose(delta_position, delta_rotation);
+        manual_pose_controller_->resetDelta();
         Vector3r delta_position_ned = NedTransform::toNedMeters(delta_position, false);
         Quaternionr delta_rotation_ned = NedTransform::toQuaternionr(delta_rotation.Quaternion(), true);
 
diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h
index df3fad0ffb..50195fa7a2 100644
--- a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h
+++ b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h
@@ -36,7 +36,7 @@ class MultiRotorConnector : public msr::airlib::VehicleConnectorBase
     MultiRotorConnector(VehiclePawnWrapper* vehicle_paw_wrapper, msr::airlib::MultiRotorParams* vehicle_params, 
         bool enable_rpc, std::string api_server_address, uint16_t api_server_port,
         UManualPoseController* manual_pose_controller);
-    virtual void updateRenderedState() override;
+    virtual void updateRenderedState(float dt) override;
     virtual void updateRendering(float dt) override;
 
     virtual void startApiServer() override;
diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp
index 07cd95e213..0f3610c8ae 100644
--- a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp
+++ b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp
@@ -136,7 +136,7 @@ void ASimModeWorldBase::Tick(float DeltaSeconds)
         physics_world_->updateStateReport();
 
         for (auto& vehicle : vehicles_)
-            vehicle->updateRenderedState();
+            vehicle->updateRenderedState(DeltaSeconds);
 
         physics_world_->unlock();
     }