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Autopilot: fix initialization of digital filters

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This commit is contained in:
Torsten Dreyer 2010-10-05 14:29:36 +02:00
parent dba471519f
commit 9ffaf11aa5
1 changed files with 4 additions and 2 deletions
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6
src/Autopilot/digitalfilter.cxx
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@ -343,8 +343,10 @@ void DigitalFilter::update( bool firstTime, double dt)
{
if( _implementation == NULL ) return;
if( firstTime )
_implementation->initialize( get_output_value() );
if( firstTime ) {
SG_LOG(SG_AUTOPILOT,SG_DEBUG, "First time initialization of " << get_name() << " to " << _valueInput.get_value() );
_implementation->initialize( _valueInput.get_value() );
}
double input = _valueInput.get_value() - _referenceInput.get_value();
double output = _implementation->compute( dt, input );