From 71c83c4de758ded55087e300281e5d806fe0a226 Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Thu, 12 Feb 2004 22:35:29 +0000
Subject: [PATCH] Initialize autopilot output to start at current manual
 control position to [hopefully] make autopilot activation less "dramatic."

---
 src/Autopilot/xmlauto.cxx | 9 +++++++++
 1 file changed, 9 insertions(+)

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;
-- 
2.39.5