Goodbye automake.

[flightgear.git] / src / FDM / UIUCModel / uiuc_alh_ap.cpp

diff --git a/src/FDM/UIUCModel/uiuc_alh_ap.cpp b/src/FDM/UIUCModel/uiuc_alh_ap.cpp
index ab908ab403adb50db7c1b0bd7a0ac36c132ba1d4..c7e5a82532484c210f1b6786c8f427040b4a5251 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_alh_ap.cpp
+++ b/src/FDM/UIUCModel/uiuc_alh_ap.cpp
@@ -40,7 +40,7 @@
 #include "uiuc_alh_ap.h"  
 
 double alh_ap(double pitch, double pitchrate, double H_ref, double H, 
-             double V, double sample_t, int init)
+             double V, double sample_time, int init)
 {
   // changes by RD so function keeps previous values
   static double u2prev;
@@ -49,8 +49,6 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
   static double x3prev;
   static double ubarprev;
 
-  double pi = 3.14159;
-
   if (init == 0)
     {
       u2prev = 0;
@@ -69,12 +67,12 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
        Ktheta = -0.0004*V*V + 0.0479*V - 2.409;
        Kq = -0.0005*V*V + 0.054*V - 1.5931;
        Ki = 0.5;
-       Kh = -0.25*pi/180 + (((-0.15 + 0.25)*pi/180)/(20))*(V-60); 
+       Kh = -0.25*LS_PI/180 + (((-0.15 + 0.25)*LS_PI/180)/(20))*(V-60); 
        Kd = -0.0025*V + 0.2875;
        double u1,u2,u3,ubar;
-       ubar = (1-Kd*sample_t)*ubarprev + Ktheta*pitchrate*sample_t;
+       ubar = (1-Kd*sample_time)*ubarprev + Ktheta*pitchrate*sample_time;
        u1 = Kh*(H_ref-H) - ubar;
-       u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_t;
+       u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_time;
        u3 = Kq*pitchrate;
        double totalU;
        totalU = u1 + u2 - u3;
@@ -83,10 +81,10 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
 // the following is using the actuator dynamics given in Beaver.
 // the actuator dynamics for Twin Otter are still unavailable.
        x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
-25.1568*totalU)*sample_t;
-       x2 = x2prev + x3prev*sample_t;
+25.1568*totalU)*sample_time;
+       x2 = x2prev + x3prev*sample_time;
        x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
-5.8694*totalU)*sample_t;
+5.8694*totalU)*sample_time;
        deltae = 57.2958*x2;
        x1prev = x1;
        x2prev = x2;