resync JSBSim

[flightgear.git] / src / FDM / LaRCsim / ls_step.c

diff --git a/src/FDM/LaRCsim/ls_step.c b/src/FDM/LaRCsim/ls_step.c
index 622199f2898a2b1beacf5513d29d3452c2201944..3927425cd07df99c2296f0372c5c4751fd6f618c 100644 (file)
--- a/src/FDM/LaRCsim/ls_step.c
+++ b/src/FDM/LaRCsim/ls_step.c
@@ -50,8 +50,21 @@
 
 $Header$
 $Log$
-Revision 1.1  2002/09/10 01:14:02  curt
-Initial revision
+Revision 1.5  2003/07/25 17:53:47  mselig
+UIUC code initilization mods to tidy things up a bit.
+
+Revision 1.4  2003/06/20 19:53:56  ehofman
+Get rid of a multiple defined symbol warning" src/FDM/LaRCsim/ls_step.c
+"
+
+Revision 1.3  2003/06/09 02:50:23  mselig
+mods made to setup for some initializations in uiuc code
+
+Revision 1.2  2003/05/25 12:14:46  ehofman
+Rename some defines to prevent a namespace clash
+
+Revision 1.1.1.1  2002/09/10 01:14:02  curt
+Initial revision of FlightGear-0.9.0
 
 Revision 1.5  2001/09/14 18:47:27  curt
 More changes in support of UIUCModel.
@@ -284,7 +297,7 @@ Initial Flight Gear revision.
 
 --------------------------------------------------------------------------*/
 
-#include <FDM/UIUCModel/uiuc_wrapper.h>
+//#include <FDM/UIUCModel/uiuc_wrapper.h>
 
 #include "ls_types.h"
 #include "ls_constants.h"
@@ -298,7 +311,7 @@ Initial Flight Gear revision.
 /* #include "ls_sim_control.h" */
 #include <math.h>
 
-Model current_model;
+extern Model current_model;    /* defined in ls_model.c */
 extern SCALAR Simtime;         /* defined in ls_main.c */
 
 void uiuc_init_vars() {
@@ -351,8 +364,9 @@ void ls_step( SCALAR dt, int Initialize ) {
        V_east = V_east + local_gnd_veast;
 
 /* Initialize quaternions and transformation matrix from Euler angles */
-       if (current_model == UIUC && Simtime == 0) {
-           uiuc_init_vars();
+       // Initialize UIUC aircraft model
+       if (current_model == UIUC) {
+         uiuc_init_2_wrapper();
         }
 
            e_0 = cos(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5) 
@@ -373,9 +387,11 @@ void ls_step( SCALAR dt, int Initialize ) {
            T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
            T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
 
-       if (current_model == UIUC && Simtime == 0) {
-           uiuc_vel_init();
-        }
+           // Initialize local velocities (V_north, V_east, V_down)
+           // based on transformation matrix calculated above
+           if (current_model == UIUC) {
+             uiuc_local_vel_init();
+           }
 
 /*     Calculate local gravitation acceleration        */
 
@@ -393,8 +409,8 @@ void ls_step( SCALAR dt, int Initialize ) {
 /* Initialize auxiliary variables */
 
                ls_aux();
-               Alpha_dot = 0.;
-               Beta_dot = 0.;
+               Std_Alpha_dot = 0.;
+               Std_Beta_dot = 0.;
 
 /* set flag; disable integrators */