Multiple PVG fixes

1. don't do TERMINAL_RCS in anything other than the last stage
2. end the TERMINAL state if there's no thrust
3. skip the current stage in the stage dV iterations in the glueball
   if it is coasting and is coast after (not coast before).

plus a bit of mass costate removal

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>

MechJeb2/MechJebModuleGuidanceController.cs

@@ -115,7 +115,7 @@ private bool WillDoRCSButNotYet()
             bool hasRCS = Vessel.hasEnabledRCSModules() &&
                           VesselState.rcsThrustAvailable.Up > 0.1 * VesselState.rcsThrustAvailable.MaxMagnitude();
 
-            return hasRCS && Status != PVGStatus.TERMINAL_RCS;
+            return hasRCS && Status != PVGStatus.TERMINAL_RCS && Vessel.currentStage == _ascentSettings.LastStage;
         }
 
         private void HandleTerminal()
@@ -200,7 +200,18 @@ private void HandleTerminal()
             Vector3d v1 = VesselState.orbitalVelocity + a0 * dt;
             Vector3d x1 = VesselState.orbitalPosition + VesselState.orbitalVelocity * dt + 0.5 * a0 * dt * dt;
 
+            bool shouldEndTerminal = false;
+
+            if (Status == PVGStatus.TERMINAL && VesselState.thrustCurrent == 0)
+            {
+                Debug.Log("[MechJebModuleGuidanceController] no thrust in TERMINAL state.");
+                shouldEndTerminal = true;
+            }
+
             if (Solution.TerminalGuidanceSatisfied(x1.WorldToV3Rotated(), v1.WorldToV3Rotated(), solutionIndex))
+                shouldEndTerminal = true;
+
+            if (shouldEndTerminal)
             {
                 if (WillDoRCSButNotYet())
                 {

MechJeb2/MechJebModulePVGGlueBall.cs

@@ -140,6 +140,10 @@ public void SetTarget(double peR, double apR, double attR, double inclination, d
                     double dv = Core.StageStats.VacStats[mjPhase].DeltaV;
                     int kspStage = Core.StageStats.VacStats[mjPhase].KSPStage;
 
+                    // skip the current stage if we are doing a coast after it
+                    if (IsCurrentCoastAfterStage(kspStage))
+                        continue;
+
                     // skip the zero length stages
                     if (dv == 0)
                         continue;
@@ -242,5 +246,13 @@ public void SetTarget(double peR, double apR, double attR, double inclination, d
 
             _blockOptimizerUntilTime = VesselState.time + 1;
         }
+
+        private bool IsCurrentCoastAfterStage(int kspStage)
+        {
+            if (kspStage == Vessel.currentStage && Core.Guidance.IsCoasting() && !_ascentSettings.CoastBeforeFlag)
+                return true;
+
+            return false;
+        }
     }
 }

MechJebLib/PVG/ResidualLayout.cs

@@ -10,15 +10,14 @@ namespace MechJebLib.PVG
 {
     public class ResidualLayout
     {
-        public const int RESIDUAL_LAYOUT_LEN = 15;
+        public const int RESIDUAL_LAYOUT_LEN = 14;
 
         public  V3     R;
         public  V3     V;
         private V3     _terminal0;
         private V3     _terminal1;
         public  double M;
         public  double Bt;
-        public  double Pm;
 
         public (double a, double b, double c, double d, double e, double f) Terminal
         {
@@ -44,8 +43,7 @@ public void CopyTo(IList<double> other)
             other[10] = _terminal1[0];
             other[11] = _terminal1[1];
             other[12] = _terminal1[2];
-            other[13] = Pm;
-            other[14] = Bt;
+            other[13] = Bt;
         }
 
         public void CopyFrom(IList<double> other)
@@ -55,8 +53,7 @@ public void CopyFrom(IList<double> other)
             M          = other[6];
             _terminal0 = new V3(other[7], other[8], other[9]);
             _terminal1 = new V3(other[10], other[11], other[12]);
-            Pm         = other[13];
-            Bt         = other[14];
+            Bt         = other[13];
         }
 
         public static ResidualLayout CreateFrom(IList<double> other)