From 5c02b0baf05543125ca4ab01cb06223a20b93606 Mon Sep 17 00:00:00 2001 From: ehofman Date: Thu, 7 Oct 2004 20:34:56 +0000 Subject: [PATCH] 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: --- src/FDM/YASim/Integrator.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/FDM/YASim/Integrator.cpp b/src/FDM/YASim/Integrator.cpp index d3c220ef9..efb080c04 100644 --- 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