Auto pilot tweaks. It looks like I actually got something that is functional.

It's far from perfect and still could use a lot of refining, but it basically
seems to work.

diff --git a/Autopilot/autopilot.cxx b/Autopilot/autopilot.cxx
index c4245722aeb85f4f3fd6e7aaf8e746b62320ca00..5803c5c6a7d890fc1610b936e198e6ee795479c5 100644 (file)
--- a/Autopilot/autopilot.cxx
+++ b/Autopilot/autopilot.cxx
@@ -31,13 +31,14 @@
 #include <assert.h>
 #include <stdlib.h>
 
-#include <list>
-#include <Include/fg_stl_config.h>
+// #include <list>
+// #include <Include/fg_stl_config.h>
+
 #include <Scenery/scenery.hxx>
 
-#ifdef NEEDNAMESPACESTD
-using namespace std;
-#endif
+// #ifdef NEEDNAMESPACESTD
+// using namespace std;
+// #endif
 
 #include "autopilot.hxx"
 
@@ -45,7 +46,7 @@ using namespace std;
 #include <Debug/fg_debug.h>
 
 
-static list < double > alt_error_queue;
+// static list < double > alt_error_queue;
 
 
 // The below routines were copied right from hud.c ( I hate reinventing
@@ -300,12 +301,14 @@ int fgAPRun( void )
        double prop_adj, int_adj, total_adj;
 
        // normal altitude hold
-       // APData->TargetClimbRate = 
-       //    (APData->TargetAltitude - fgAPget_altitude()) * 8.0;
+       APData->TargetClimbRate = 
+           (APData->TargetAltitude - fgAPget_altitude()) * 12.0;
 
        // brain dead ground hugging with no look ahead
-       APData->TargetClimbRate = 
-           ( 500 - fgAPget_agl() ) * 8.0;
+       // APData->TargetClimbRate = ( 500 - fgAPget_agl() ) * 12.0;
+
+       // just try to zero out rate of climb ...
+       // APData->TargetClimbRate = 0.0;
 
        if ( APData->TargetClimbRate > 200.0 ) {
            APData->TargetClimbRate = 200.0;
@@ -317,30 +320,30 @@ int fgAPRun( void )
        error = fgAPget_climb() - APData->TargetClimbRate;
 
        // push current error onto queue and add into accumulator
-       alt_error_queue.push_back(error);
+       // alt_error_queue.push_back(error);
        APData->alt_error_accum += error;
 
        // if queue size larger than 60 ... pop front and subtract
        // from accumulator
-       size = alt_error_queue.size();
-       if ( size > 300 ) {
-           APData->alt_error_accum -= alt_error_queue.front();
-           alt_error_queue.pop_front();
-           size--;
-       }
+       // size = alt_error_queue.size();
+       // if ( size > 300 ) {
+           // APData->alt_error_accum -= alt_error_queue.front();
+           // alt_error_queue.pop_front();
+           // size--;
+       // }
 
        // calculate integral error, and adjustment amount
-       int_error = APData->alt_error_accum / 10;
+       int_error = APData->alt_error_accum;
        printf("error = %.2f  int_error = %.2f\n", error, int_error);
-       int_adj = int_error / 2000.0;
+       int_adj = int_error / 1500.0;
        
        // caclulate proportional error
        prop_error = error;
-       prop_adj = prop_error / 1000.0;
+       prop_adj = prop_error / 2000.0;
 
        total_adj = 0.9 * prop_adj + 0.1 * int_adj;
        if ( total_adj >  0.5 ) { total_adj =  0.5; }
-       if ( total_adj < -0.5 ) { total_adj = -0.5; }
+       if ( total_adj < -0.3 ) { total_adj = -0.3; }
 
        fgElevSet( total_adj );
     }
@@ -431,7 +434,8 @@ void fgAPToggleAltitude( void )
        APData->altitude_hold = 1;
        APData->TargetAltitude = fgAPget_altitude();
        APData->alt_error_accum = 0.0;
-       alt_error_queue.erase( alt_error_queue.begin(), alt_error_queue.end() );
+       // alt_error_queue.erase( alt_error_queue.begin(), 
+       //                        alt_error_queue.end() );
     }
 
     fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: (%d) %.2f\n",