From: curt <curt>
Date: Thu, 12 Feb 2004 22:35:29 +0000 (+0000)
Subject: Initialize autopilot output to start at current manual control position
X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=71c83c4de758ded55087e300281e5d806fe0a226;p=flightgear.git

Initialize autopilot output to start at current manual control position
to [hopefully] make autopilot activation less "dramatic."
---

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
index 88c0f9984..d682f2b79 100644
--- a/src/Autopilot/xmlauto.cxx
+++ b/src/Autopilot/xmlauto.cxx
@@ -212,6 +212,15 @@ void FGPIDController::update( double dt ) {
     }
 
     if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
+        if ( !enabled ) {
+            // first time being enabled, seed u_n with current
+            // property tree value
+            u_n = output_list[0]->getDoubleValue();
+            // and clip
+            if ( u_n < u_min ) { u_n = u_min; }
+            if ( u_n > u_max ) { u_n = u_max; }
+            u_n_1 = u_n;
+        }
         enabled = true;
     } else {
         enabled = false;