Merge branch 'next' of git://gitorious.org/fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / models / FGPropagate.cpp

diff --git a/src/FDM/JSBSim/models/FGPropagate.cpp b/src/FDM/JSBSim/models/FGPropagate.cpp
index ae2174df91557d5c190be4c4f728d41bbbbc5391..51bc472d22fbdd7ed4d49f72ff9129fd9b7a6c44 100644 (file)
--- a/src/FDM/JSBSim/models/FGPropagate.cpp
+++ b/src/FDM/JSBSim/models/FGPropagate.cpp
@@ -71,7 +71,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.85 2011/04/03 19:24:58 jberndt Exp $";
+static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.88 2011/05/20 03:18:36 jberndt Exp $";
 static const char *IdHdr = ID_PROPAGATE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -121,8 +121,6 @@ FGPropagate::~FGPropagate(void)
 
 bool FGPropagate::InitModel(void)
 {
-  if (!FGModel::InitModel()) return false;
-
   // For initialization ONLY:
   SeaLevelRadius = LocalTerrainRadius = FDMExec->GetInertial()->GetRefRadius();
 
@@ -140,10 +138,10 @@ bool FGPropagate::InitModel(void)
   VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqQtrndot.resize(4, FGColumnVector3(0.0,0.0,0.0));
 
-  integrator_rotational_rate = eAdamsBashforth2;
-  integrator_translational_rate = eTrapezoidal;
-  integrator_rotational_position = eAdamsBashforth2;
-  integrator_translational_position = eTrapezoidal;
+  integrator_rotational_rate = eRectEuler;
+  integrator_translational_rate = eAdamsBashforth2;
+  integrator_rotational_position = eRectEuler;
+  integrator_translational_position = eAdamsBashforth3;
 
   return true;
 }
@@ -193,7 +191,6 @@ void FGPropagate::SetInitialState(const FGInitialCondition *FGIC)
   RecomputeLocalTerrainRadius();
 
   VehicleRadius = GetRadius();
-  double radInv = 1.0/VehicleRadius;
 
   // Set the angular velocities of the body frame relative to the ECEF frame,
   // expressed in the body frame.
@@ -227,10 +224,10 @@ Inertial.
 
 */
 
-bool FGPropagate::Run(void)
+bool FGPropagate::Run(bool Holding)
 {
-  if (FGModel::Run()) return true;  // Fast return if we have nothing to do ...
-  if (FDMExec->Holding()) return false;
+  if (FGModel::Run(Holding)) return true;  // Fast return if we have nothing to do ...
+  if (Holding) return false;
 
   double dt = FDMExec->GetDeltaT()*rate;  // The 'stepsize'
 
@@ -273,9 +270,10 @@ bool FGPropagate::Run(void)
   //    orientation quaternion and vLocation vector.
   UpdateBodyMatrices();
 
-  CalculateUVW();              // Translational position derivative (velocities are integrated in the inertial frame)
+  // Translational position derivative (velocities are integrated in the inertial frame)
+  CalculateUVW();
 
-  // Set auxililary state variables
+  // Set auxilliary state variables
   RecomputeLocalTerrainRadius();
 
   VehicleRadius = GetRadius(); // Calculate current aircraft radius from center of planet
@@ -628,9 +626,9 @@ void FGPropagate::UpdateBodyMatrices(void)
 {
   Ti2b  = VState.qAttitudeECI.GetT(); // ECI to body frame transform
   Tb2i  = Ti2b.Transposed();          // body to ECI frame transform
-  Tl2b  = Ti2b*Tl2i;                  // local to body frame transform
+  Tl2b  = Ti2b * Tl2i;                // local to body frame transform
   Tb2l  = Tl2b.Transposed();          // body to local frame transform
-  Tec2b = Tl2b * Tec2l;               // ECEF to body frame transform
+  Tec2b = Ti2b * Tec2i;               // ECEF to body frame transform
   Tb2ec = Tec2b.Transposed();         // body to ECEF frame tranform
 }