only activate heading & altitude lock when in air (and even then it should

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

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
index ac0953b6d4c9fc6e51ca379477f68df9a1874cfc..2de17263ef9a59d46f8878b5f6a5411ac1b5867f 100644 (file)
--- a/src/Autopilot/xmlauto.cxx
+++ b/src/Autopilot/xmlauto.cxx
@@ -16,10 +16,13 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
 
 #include <simgear/structure/exception.hxx>
 #include <simgear/misc/sg_path.hxx>
@@ -306,9 +309,6 @@ void FGPIDController::update( double dt ) {
             delta_u_n = Kp * ( (ep_n - ep_n_1)
                                + ((Ts/Ti) * e_n)
                                + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
-        } else if ( Ti <= 0.0 ) {
-            delta_u_n = Kp * ( (ep_n - ep_n_1)
-                               + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
         }
 
         if ( debug ) {
@@ -321,10 +321,10 @@ void FGPIDController::update( double dt ) {
 
         // Integrator anti-windup logic:
         if ( delta_u_n > (u_max - u_n_1) ) {
-            delta_u_n = 0;
+            delta_u_n = u_max - u_n_1;
             if ( debug ) cout << " max saturation " << endl;
         } else if ( delta_u_n < (u_min - u_n_1) ) {
-            delta_u_n = 0;
+            delta_u_n = u_min - u_n_1;
             if ( debug ) cout << " min saturation " << endl;
         }
 
@@ -651,14 +651,14 @@ FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node)
     }
 
     output.resize(2, 0.0);
-    input.resize(samples, 0.0);
+    input.resize(samples + 1, 0.0);
 }
 
 void FGDigitalFilter::update(double dt)
 {
     if ( input_prop != NULL ) {
         input.push_front(input_prop->getDoubleValue());
-        input.resize(samples, 0.0);
+        input.resize(samples + 1, 0.0);
         // no sense if there isn't an input :-)
         enabled = true;
     } else {
@@ -762,7 +762,7 @@ void FGXMLAutopilot::init() {
 
             if ( ! build() ) {
                 SG_LOG( SG_ALL, SG_ALERT,
-                        "Detected an internal inconsistancy in the autopilot");
+                        "Detected an internal inconsistency in the autopilot");
                 SG_LOG( SG_ALL, SG_ALERT,
                         " configuration.  See earlier errors for" );
                 SG_LOG( SG_ALL, SG_ALERT,