From 001c88e9c7f78a1494b34bb46d78f36d8322f8a7 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Sun, 29 Apr 2018 09:34:17 -0400
Subject: [PATCH] Control: Fix rotation problem in FBW

---
 Systems/a320-fcs.xml  | 18 ++----------------
 Systems/fbw-pitch.xml | 43 ++++++++++++++++++++++---------------------
 2 files changed, 24 insertions(+), 37 deletions(-)

diff --git a/Systems/a320-fcs.xml b/Systems/a320-fcs.xml
index 63d0ba59..9e24123e 100644
--- a/Systems/a320-fcs.xml
+++ b/Systems/a320-fcs.xml
@@ -131,20 +131,6 @@
 			</function>
 		</fcs_function>
 		
-		<kinematic name="fbw/pitch/p-gain-k">
-			<input>fbw/pitch/p-gain</input>
-			<traverse>
-				<setting>
-					<position>0</position>
-					<time>0</time>
-				</setting>
-				<setting>
-					<position>50</position>
-					<time>1.5</time>
-				</setting>
-			</traverse>
-		</kinematic>
-		
 		<fcs_function name="fbw/pitch/i-gain">
 			<function>
 				<table>
@@ -752,7 +738,7 @@
 		</fcs_function>
 		
 		<switch name="fbw/pitch/a-n-IaN">
-			<default value="1"/>
+			<default value="0"/>
 			<test logic="AND" value="fbw/pitch/a-n">
 				fbw/pitch/a-n lt  30
 				fbw/pitch/a-n gt -30
@@ -943,7 +929,7 @@
 		
 		<pid name="fbw/pitch/pid-v">
 			<input>fbw/pitch/rate-error</input>
-			<kp>fbw/pitch/p-gain-k</kp>
+			<kp>fbw/pitch/p-gain</kp>
 			<ki>fbw/pitch/i-gain</ki>
 			<kd>fbw/pitch/d-gain</kd>
 			<trigger>fbw/pitch/trigger</trigger>
diff --git a/Systems/fbw-pitch.xml b/Systems/fbw-pitch.xml
index a0a4477e..3247bd11 100644
--- a/Systems/fbw-pitch.xml
+++ b/Systems/fbw-pitch.xml
@@ -15,26 +15,6 @@
 	<pi-simple-controller>
 		<name>FBW PITCH G PI</name>
 		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/fdm/jsbsim/position/wow</property>
-						<value>0</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
 		<input>
 			<property>/fdm/jsbsim/fbw/pitch/g-error</property>
 		</input>
@@ -46,7 +26,28 @@
 		</output>
 		<config>
 			<Kp>-1.5</Kp>
-			<Ki>-1.5</Ki>
+			<Ki>
+				<condition>
+					<and>
+						<equals>
+							<property>/fdm/jsbsim/position/wow</property>
+							<value>0</value>
+						</equals>
+						<or>
+							<equals>
+								<property>/it-fbw/law</property>
+								<value>0</value>
+							</equals>
+							<equals>
+								<property>/it-fbw/law</property>
+								<value>1</value>
+							</equals>
+						</or>
+					</and>
+				</condition>
+				<value>-1.5</value>
+			</Ki>
+			<Ki>0.0</Ki>
 			<min>
 				<condition>
 					<less-than>