FlightPlan activation, delegate hook.

[flightgear.git] / src / Autopilot / pidcontroller.cxx

diff --git a/src/Autopilot/pidcontroller.cxx b/src/Autopilot/pidcontroller.cxx
index cff8da0db3759a7c79ad7fecffe6c135fa077a0c..4f71fd574f2d4d3614e05d558f3e8aecfc6f6418 100644 (file)
--- a/src/Autopilot/pidcontroller.cxx
+++ b/src/Autopilot/pidcontroller.cxx
@@ -193,54 +193,50 @@ void PIDController::update( bool firstTime, double dt )
     }
 }
 
-bool PIDController::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+//------------------------------------------------------------------------------
+bool PIDController::configure( SGPropertyNode& cfg_node,
+                               const std::string& cfg_name,
+                               SGPropertyNode& prop_root )
 {
-  SG_LOG( SG_AUTOPILOT, SG_BULK, "PIDController::configure(" << nodeName << ")" << endl );
-
-  if( AnalogComponent::configure( nodeName, configNode ) )
-    return true;
-
-  if( nodeName == "config" ) {
-    Component::configure( configNode );
+  if( cfg_name == "config" ) {
+    Component::configure(prop_root, cfg_node);
     return true;
   }
 
-  if (nodeName == "Ts") {
-    desiredTs = configNode->getDoubleValue();
+  if (cfg_name == "Ts") {
+    desiredTs = cfg_node.getDoubleValue();
     return true;
   } 
 
-  if (nodeName == "Kp") {
-    Kp.push_back( new InputValue(configNode) );
+  if (cfg_name == "Kp") {
+    Kp.push_back( new InputValue(prop_root, cfg_node) );
     return true;
   } 
 
-  if (nodeName == "Ti") {
-    Ti.push_back( new InputValue(configNode) );
+  if (cfg_name == "Ti") {
+    Ti.push_back( new InputValue(prop_root, cfg_node) );
     return true;
   } 
 
-  if (nodeName == "Td") {
-    Td.push_back( new InputValue(configNode) );
+  if (cfg_name == "Td") {
+    Td.push_back( new InputValue(prop_root, cfg_node) );
     return true;
   } 
 
-  if (nodeName == "beta") {
-    beta = configNode->getDoubleValue();
+  if (cfg_name == "beta") {
+    beta = cfg_node.getDoubleValue();
     return true;
   } 
 
-  if (nodeName == "alpha") {
-    alpha = configNode->getDoubleValue();
+  if (cfg_name == "alpha") {
+    alpha = cfg_node.getDoubleValue();
     return true;
   } 
 
-  if (nodeName == "gamma") {
-    gamma = configNode->getDoubleValue();
+  if (cfg_name == "gamma") {
+    gamma = cfg_node.getDoubleValue();
     return true;
-  } 
+  }
 
-  SG_LOG( SG_AUTOPILOT, SG_BULK, "PIDController::configure(" << nodeName << ") [unhandled]" << endl );
-  return false;
+  return AnalogComponent::configure(cfg_node, cfg_name, prop_root);
 }
-