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Merge branch 'torsten/auto' into next

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Tim Moore 2010-03-11 09:01:42 +01:00
commit 3973637606
1 changed files with 6 additions and 3 deletions
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src/Autopilot/xmlauto.cxx
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@ -619,12 +619,15 @@ void FGPISimpleController::update( double dt ) {
int_sum += error * Ki.get_value() * dt;
double output = prop_comp + int_sum;
double clamped_output = clamp( output );
if( output != clamped_output ) // anti-windup
int_sum = clamped_output - prop_comp;
if ( debug ) cout << "prop_comp = " << prop_comp
<< " int_sum = " << int_sum << endl;
double output = prop_comp + int_sum;
output = clamp( output );
set_output_value( output );
set_output_value( clamped_output );
if ( debug ) cout << "output = " << output << endl;
}
}