Fixed the pilot acceleration for consistency with the accelerometer computation

diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp
index 29d72e247b15156304434e4fbabf8163bb491974..d955bc9639c8171b3e75d0a189149421f8851550 100644 (file)
--- a/src/FDM/JSBSim/FGFDMExec.cpp
+++ b/src/FDM/JSBSim/FGFDMExec.cpp
@@ -425,7 +425,8 @@ void FGFDMExec::LoadInputs(unsigned int idx)
     Auxiliary->in.Tl2b         = Propagate->GetTl2b();
     Auxiliary->in.Tb2l         = Propagate->GetTb2l();
     Auxiliary->in.vPQR         = Propagate->GetPQR();
-    Auxiliary->in.vPQRdot      = Accelerations->GetPQRdot();
+    Auxiliary->in.vPQRi        = Propagate->GetPQRi();
+    Auxiliary->in.vPQRidot     = Accelerations->GetPQRidot();
     Auxiliary->in.vUVW         = Propagate->GetUVW();
     Auxiliary->in.vUVWdot      = Accelerations->GetUVWdot();
     Auxiliary->in.vVel         = Propagate->GetVel();

diff --git a/src/FDM/JSBSim/models/FGAuxiliary.cpp b/src/FDM/JSBSim/models/FGAuxiliary.cpp
index 595c6ee10157ea13feab8b65c7845e32a66548a8..d710d8fcb04d4f9df64a49212ffdf8069d1157dc 100644 (file)
--- a/src/FDM/JSBSim/models/FGAuxiliary.cpp
+++ b/src/FDM/JSBSim/models/FGAuxiliary.cpp
@@ -242,8 +242,8 @@ bool FGAuxiliary::Run(bool Holding)
   // Nz is Acceleration in "g's", along normal axis (-Z body axis)
   Nz = -vNcg(eZ);
   Ny =  vNcg(eY);
-  vPilotAccel = in.vBodyAccel + in.vPQRdot * in.ToEyePt;
-  vPilotAccel += in.vPQR * (in.vPQR * in.ToEyePt);
+  vPilotAccel = in.vBodyAccel + in.vPQRidot * in.ToEyePt;
+  vPilotAccel += in.vPQRi * (in.vPQRi * in.ToEyePt);
 
   vNwcg = mTb2w * vNcg;
   vNwcg(eZ) = 1.0 - vNwcg(eZ);

diff --git a/src/FDM/JSBSim/models/FGAuxiliary.h b/src/FDM/JSBSim/models/FGAuxiliary.h
index 0f1bfc03b47a6f0f1a3868992c1e1d7470de6df6..462dbf676aad2fc79de85602f4703554aa6e1520 100644 (file)
--- a/src/FDM/JSBSim/models/FGAuxiliary.h
+++ b/src/FDM/JSBSim/models/FGAuxiliary.h
@@ -269,7 +269,8 @@ public:
     FGMatrix33 Tl2b;
     FGMatrix33 Tb2l;
     FGColumnVector3 vPQR;
-    FGColumnVector3 vPQRdot;
+    FGColumnVector3 vPQRi;
+    FGColumnVector3 vPQRidot;
     FGColumnVector3 vUVW;
     FGColumnVector3 vUVWdot;
     FGColumnVector3 vVel;