A few more altitude-hold refinements. It now appears to be working pretty

good.

diff --git a/Autopilot/autopilot.cxx b/Autopilot/autopilot.cxx
index d74e809c0b9a208d840844e3908148edef6f1334..5fa5fbf8b81bc017c4b6e217146f7a499942aec4 100644 (file)
--- a/Autopilot/autopilot.cxx
+++ b/Autopilot/autopilot.cxx
@@ -296,16 +296,16 @@ int fgAPRun( void )
 
     // altitude hold enabled?
     if ( APData->altitude_hold == 1 ) {
-       double error, size;
+       double error;
        double prop_error, int_error;
        double prop_adj, int_adj, total_adj;
 
        // normal altitude hold
        APData->TargetClimbRate = 
-           (APData->TargetAltitude - fgAPget_altitude()) * 12.0;
-
+           (APData->TargetAltitude - fgAPget_altitude()) * 8.0;
+       
        // brain dead ground hugging with no look ahead
-       // APData->TargetClimbRate = ( 500 - fgAPget_agl() ) * 12.0;
+       // APData->TargetClimbRate = ( 250 - fgAPget_agl() ) * 8.0;
 
        // just try to zero out rate of climb ...
        // APData->TargetClimbRate = 0.0;
@@ -334,16 +334,16 @@ int fgAPRun( void )
 
        // calculate integral error, and adjustment amount
        int_error = APData->alt_error_accum;
-       printf("error = %.2f  int_error = %.2f\n", error, int_error);
-       int_adj = int_error / 1500.0;
+       // printf("error = %.2f  int_error = %.2f\n", error, int_error);
+       int_adj = int_error / 8000.0;
        
        // caclulate proportional error
        prop_error = error;
        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 < -0.2 ) { total_adj = -0.2; }
+       if ( total_adj >  0.4 ) { total_adj =  0.4; }
+       if ( total_adj < -0.3 ) { total_adj = -0.3; }
 
        fgElevSet( total_adj );
     }