Hi everyone , I,m attaching a patch for the autopilot , if someone would be kind enough to double check and commit . I've been testing it for about 2 weeks , and it behaves as expected.... It adds the option of <value> and <prop> tags to the KP,u_min and u_max properties in the pi-simple-controller. It adds this to u_min,umax , and at Roy's suggestion , Ti and Td in the pid-controller.(Kp was already done). If these properties dont exist in the config files , it uses the defualt so as not to break the existing autopilot config files ... so now you can use <u_min><prop>some property</prop></u_min> , etc ... Roy OK'ed the changes to his code ... Curt , is this acceptable for your part of the code ? Cheers , Syd
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