Melchior FRANZ:

As I had reported on 2004/8/4 00:02:56 ("yasim + bo105 + vrp + @#%$#@ == argh!")
there must be a bug somewhere in YASim, which is responsible for the Bo105
turning around the FDM origin (nose tip) rather than the CG. Some people assumed
that I was just another victim of the "view offset" illusion, but this wasn't
and isn't the case.

Maik Justus (the rotor man) has now supposedly found the bug in YASim[1].
Look at this code in FDM/YASim/Integrator.cpp:35--66:

diff --git a/src/FDM/YASim/Integrator.cpp b/src/FDM/YASim/Integrator.cpp
index d3c220ef9790c53060da24649dafdbe79df6ced6..efb080c04f27d2f51bd957a0d627b02b25cc91dd 100644 (file)
--- a/src/FDM/YASim/Integrator.cpp
+++ b/src/FDM/YASim/Integrator.cpp
@@ -36,7 +36,7 @@ State* Integrator::getState()
 // using the specified orientation.
 void Integrator::l2gVector(float* orient, float* v, float* out)
 {
-    Math::tmul33(_s.orient, v, out);
+    Math::tmul33(orient, v, out);
 }
 
 // Updates a position vector for a body c.g. motion with velocity v