Oliver Schroeder:

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

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
index ac0953b6d4c9fc6e51ca379477f68df9a1874cfc..9c917720d743c65a7ad0d8fdd0ffb0d01ccd368d 100644 (file)
--- a/src/Autopilot/xmlauto.cxx
+++ b/src/Autopilot/xmlauto.cxx
@@ -306,9 +306,6 @@ 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 +318,10 @@ 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 +648,14 @@ 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 {