JSBSim updates. This update changes the file format, so an update of the base

[flightgear.git] / src / FDM / JSBSim / FGTranslation.cpp

diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp
index ad394525503fa42087361f2a5c2ee5c83c78578b..9cdaf9e4ff391f5717c8085ab72c923be29ae91f 100644 (file)
--- a/src/FDM/JSBSim/FGTranslation.cpp
+++ b/src/FDM/JSBSim/FGTranslation.cpp
@@ -82,10 +82,18 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
 {
   Name = "FGTranslation";
   qbar = 0;
+  qbarUW = 0.0;
+  qbarUV = 0.0;
   Vt = 0.0;
   Mach = 0.0;
   alpha = beta = 0.0;
   adot = bdot = 0.0;
+
+  vUVWdot.InitMatrix();
+  vUVWdot_prev[0].InitMatrix();
+  vUVWdot_prev[1].InitMatrix();
+  vUVWdot_prev[2].InitMatrix();
+
   bind();
   Debug(0);
 }
@@ -102,8 +110,6 @@ FGTranslation::~FGTranslation(void)
 
 bool FGTranslation::Run(void)
 {
-  double Tc = 0.5*State->Getdt()*rate;
-
   if (!FGModel::Run()) {
 
     mVel(1,1) =  0.0;
@@ -118,7 +124,7 @@ bool FGTranslation::Run(void)
 
     vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
 
-    vUVW += Tc*(vUVWdot + vlastUVWdot);
+    vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev);
 
     vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
 
@@ -153,8 +159,6 @@ bool FGTranslation::Run(void)
     qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
     Mach = Vt / State->Geta();
 
-    vlastUVWdot = vUVWdot;
-
     if (debug_lvl > 1) Debug(1);
 
     return false;