From 7bcbe8e802ee53b03399ff4e84117f99b821667f Mon Sep 17 00:00:00 2001
From: bcoconni <bcoconni@users.sourceforge.net>
Date: Sun, 9 Aug 2015 20:00:08 +0200
Subject: [PATCH] Fixed the pilot acceleration for consistency with the
 accelerometer computation

---
 src/FDM/JSBSim/FGFDMExec.cpp          | 3 ++-
 src/FDM/JSBSim/models/FGAuxiliary.cpp | 4 ++--
 src/FDM/JSBSim/models/FGAuxiliary.h   | 3 ++-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp
index 29d72e247..d955bc963 100644
--- 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 595c6ee10..d710d8fcb 100644
--- 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 0f1bfc03b..462dbf676 100644
--- 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;