Canvas: Add new element type map for geo mapping.

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

diff --git a/src/Autopilot/pidcontroller.cxx b/src/Autopilot/pidcontroller.cxx
index 1ad027460c1c45a3d7055c87f16e3569357ad9db..d41608c09cab6ec59bafeef04cd51b096a2bfd43 100644 (file)
--- a/src/Autopilot/pidcontroller.cxx
+++ b/src/Autopilot/pidcontroller.cxx
@@ -25,6 +25,9 @@
 
 using namespace FGXMLAutopilot;
 
+using std::endl;
+using std::cout;
+
 PIDController::PIDController():
     AnalogComponent(),
     alpha( 0.1 ),
@@ -93,7 +96,6 @@ PIDController::PIDController():
 void PIDController::update( bool firstTime, double dt ) 
 {
     double edf_n = 0.0;
-    double delta_u_n = 0.0; // incremental output
     double u_n = 0.0;       // absolute output
 
     double u_min = _minInput.get_value();
@@ -156,6 +158,7 @@ void PIDController::update( bool firstTime, double dt )
 
         // Calculates the incremental output:
         double ti = Ti.get_value();
+        double delta_u_n = 0.0; // incremental output
         if ( ti > 0.0 ) {
             delta_u_n = Kp.get_value() * ( (ep_n - ep_n_1)
                                + ((Ts/ti) * e_n)