Andreas Gaeb: fix #222 (JSBSIm reset problems)

[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGKinemat.cpp

diff --git a/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp b/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
index dffcce7463c593bb896b14fa20f6232db16384ac..525fcee377cdbf9a6a2ef124f7ecf0c47ead5a51 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
@@ -7,20 +7,20 @@
  ------------- Copyright (C) 2000 Anthony K. Peden -------------
 
  This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
  Foundation; either version 2 of the License, or (at your option) any later
  version.
 
  This program is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  details.
 
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  Place - Suite 330, Boston, MA  02111-1307, USA.
 
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
  the world wide web at http://www.gnu.org.
 
 FUNCTIONAL DESCRIPTION
@@ -37,14 +37,16 @@ COMMENTS, REFERENCES,  and NOTES
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <math.h>
-#include <float.h>
-
 #include "FGKinemat.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGKinemat.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FLAPS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -99,13 +101,13 @@ FGKinemat::~FGKinemat()
 
 bool FGKinemat::Run(void )
 {
-  double dt = fcs->GetState()->Getdt();
+  double dt0 = dt;
 
   Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
 
   if (DoScale) Input *= Detents[NumDetents-1];
 
-  if (IsOutput) Output = OutputNode->getDoubleValue();
+  if (IsOutput) Output = OutputNodes[0]->getDoubleValue();
 
   if (Input < Detents[0])
     Input = Detents[0];
@@ -114,7 +116,7 @@ bool FGKinemat::Run(void )
 
   // Process all detent intervals the movement traverses until either the
   // final value is reached or the time interval has finished.
-  while ( 0.0 < dt && !EqualToRoundoff(Input, Output) ) {
+  while ( dt0 > 0.0 && !EqualToRoundoff(Input, Output) ) {
 
     // Find the area where Output is in
     int ind;
@@ -138,8 +140,8 @@ bool FGKinemat::Run(void )
       double ThisDt = fabs((ThisInput-Output)/Rate);
 
       // and clip to the timestep size
-      if (dt < ThisDt) {
-        ThisDt = dt;
+      if (dt0 < ThisDt) {
+        ThisDt = dt0;
         if (Output < Input)
           Output += ThisDt*Rate;
         else
@@ -149,7 +151,7 @@ bool FGKinemat::Run(void )
         // is met even in inexact arithmetics ...
         Output = ThisInput;
 
-      dt -= ThisDt;
+      dt0 -= ThisDt;
     }
   }
 
@@ -191,7 +193,10 @@ void FGKinemat::Debug(int from)
       for (int i=0;i<NumDetents;i++) {
         cout << "        " << Detents[i] << " " << TransitionTimes[i] << endl;
       }
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
       if (!DoScale) cout << "      NOSCALE" << endl;
     }
   }