X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGOutput.cpp;h=b3b3858088f2c6d0986a541acef77d82397ac8e3;hb=b5d116dad7816125dbaf94989aba774349f01017;hp=b85c0e574a285e6ad278fb20c44305823157eea8;hpb=0f98d21dd7cd2ab63e191d8f506825b3aaac50a0;p=flightgear.git

diff --git a/src/FDM/JSBSim/FGOutput.cpp b/src/FDM/JSBSim/FGOutput.cpp
index b85c0e574..b3b385808 100644
--- a/src/FDM/JSBSim/FGOutput.cpp
+++ b/src/FDM/JSBSim/FGOutput.cpp
@@ -43,13 +43,16 @@ INCLUDES
 #include "FGFDMExec.h"
 #include "FGAtmosphere.h"
 #include "FGFCS.h"
+#include "FGAerodynamics.h"
+#include "FGGroundReactions.h"
 #include "FGAircraft.h"
+#include "FGMassBalance.h"
 #include "FGTranslation.h"
 #include "FGRotation.h"
 #include "FGPosition.h"
 #include "FGAuxiliary.h"
 
-static const char *IdSrc = "$Header$";
+static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_OUTPUT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -66,16 +69,15 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
   SubSystems = 0;
   enabled = true;
   
-#ifdef FG_WITH_JSBSIM_SOCKET
-  socket = new FGfdmSocket("localhost",1138);
-#endif
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGOutput::~FGOutput(void)
+FGOutput::~FGOutput()
 {
   if (socket) delete socket;
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -88,11 +90,7 @@ bool FGOutput::Run(void)
       if (Type == otSocket) {
         SocketOutput();
       } else if (Type == otCSV) {
-        if (Filename != "COUT" && Filename != "cout" && Filename.size() > 0) {
-          DelimitedOutput(Filename);
-        } else {
-          DelimitedOutput();
-        }
+        DelimitedOutput(Filename);
       } else if (Type == otTerminal) {
         // Not done yet
       } else if (Type == otNone) {
@@ -100,8 +98,9 @@ bool FGOutput::Run(void)
       } else {
         // Not a valid type of output
       }
-
+	  return false;
     } else {
+	  return true;
     }
   }
   return false;
@@ -119,7 +118,7 @@ void FGOutput::SetType(string type)
     Type = otSocket;
   } else if (type == "TERMINAL") {
     Type = otTerminal;
-  } else if (type != "NONE"){
+  } else if (type != string("NONE")) {
     Type = otUnknown;
     cerr << "Unknown type of output specified in config file" << endl;
   }
@@ -127,295 +126,193 @@ void FGOutput::SetType(string type)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGOutput::DelimitedOutput(void)
+void FGOutput::DelimitedOutput(string fname)
 {
-  if (dFirstPass) {
-    cout << "Time";
-    if (SubSystems & FGAircraft::ssSimulation) {
-      // Nothing here, yet
-    }
-    if (SubSystems & FGAircraft::ssAerosurfaces) {
-      cout << ", ";
-      cout << "Throttle, ";
-      cout << "Aileron Cmd, ";
-      cout << "Elevator Cmd, ";
-      cout << "Rudder Cmd, ";
-      cout << "Aileron Pos, ";
-      cout << "Elevator Pos, ";
-      cout << "Rudder Pos";
-    }
-    if (SubSystems & FGAircraft::ssRates) {
-      cout << ", ";
-      cout << "P, Q, R";
-    }
-    if (SubSystems & FGAircraft::ssVelocities) {
-      cout << ", ";
-      cout << "QBar, ";
-      cout << "Vtotal, ";
-      cout << "U, V, W, ";
-      cout << "Vn, Ve, Vd";
-    }
-    if (SubSystems & FGAircraft::ssForces) {
-      cout << ", ";
-      cout << "XsForce, YsForce, ZsForce, ";
-      cout << "Xforce, Yforce, Zforce";
-    }
-    if (SubSystems & FGAircraft::ssMoments) {
-      cout << ", ";
-      cout << "L, M, N";
-    }
-    if (SubSystems & FGAircraft::ssAtmosphere) {
-      cout << ", ";
-      cout << "Rho";
-    }
-    if (SubSystems & FGAircraft::ssMassProps) {
-      cout << ", ";
-      cout << "Ixx, ";
-      cout << "Iyy, ";
-      cout << "Izz, ";
-      cout << "Ixz, ";
-      cout << "Mass, ";
-      cout << "Xcg, Ycg, Zcg";
-    }
-    if (SubSystems & FGAircraft::ssPosition) {
-      cout << ", ";
-      cout << "Altitude, ";
-      cout << "Phi, Tht, Psi, ";
-      cout << "Alpha, ";
-      cout << "Latitude, ";
-      cout << "Longitude, ";
-      cout << "Distance AGL, ";
-      cout << "Runway Radius";
-    }
-    if (SubSystems & FGAircraft::ssCoefficients) {
-      cout << ", ";
-      cout << Aircraft->GetCoefficientStrings();
-    }
-    if (SubSystems & FGAircraft::ssGroundReactions) {
-      cout << ", ";
-      cout << Aircraft->GetGroundReactionStrings();
-    }
+  streambuf* buffer;
 
-    cout << endl;
-    dFirstPass = false;
-  }
-
-  cout << State->Getsim_time();
-  if (SubSystems & FGAircraft::ssSimulation) {
-  }
-  if (SubSystems & FGAircraft::ssAerosurfaces) {
-    cout << ", ";
-    cout << FCS->GetThrottlePos(0) << ", ";
-    cout << FCS->GetDaCmd() << ", ";
-    cout << FCS->GetDeCmd() << ", ";
-    cout << FCS->GetDrCmd() << ", ";
-    cout << FCS->GetDaPos() << ", ";
-    cout << FCS->GetDePos() << ", ";
-    cout << FCS->GetDrPos();
-  }
-  if (SubSystems & FGAircraft::ssRates) {
-    cout << ", ";
-    cout << Rotation->GetPQR();
-  }
-  if (SubSystems & FGAircraft::ssVelocities) {
-    cout << ", ";
-    cout << Translation->Getqbar() << ", ";
-    cout << Translation->GetVt() << ", ";
-    cout << Translation->GetUVW() << ", ";
-    cout << Position->GetVel();
-  }
-  if (SubSystems & FGAircraft::ssForces) {
-    cout << ", ";
-    cout << Aircraft->GetvFs() << ", ";
-    cout << Aircraft->GetForces();
-  }
-  if (SubSystems & FGAircraft::ssMoments) {
-    cout << ", ";
-    cout << Aircraft->GetMoments();
-  }
-  if (SubSystems & FGAircraft::ssAtmosphere) {
-    cout << ", ";
-    cout << Atmosphere->GetDensity();
-  }
-  if (SubSystems & FGAircraft::ssMassProps) {
-    cout << ", ";
-    cout << Aircraft->GetIxx() << ", ";
-    cout << Aircraft->GetIyy() << ", ";
-    cout << Aircraft->GetIzz() << ", ";
-    cout << Aircraft->GetIxz() << ", ";
-    cout << Aircraft->GetMass() << ", ";
-    cout << Aircraft->GetXYZcg();
-  }
-  if (SubSystems & FGAircraft::ssPosition) {
-    cout << ", ";
-    cout << Position->Geth() << ", ";
-    cout << Rotation->GetEuler() << ", ";
-    cout << Translation->Getalpha() << ", ";
-    cout << Position->GetLatitude() << ", ";
-    cout << Position->GetLongitude() << ", ";
-    cout << Position->GetDistanceAGL() << ", ";
-    cout << Position->GetRunwayRadius();
-  }
-  if (SubSystems & FGAircraft::ssCoefficients) {
-    cout << ", ";
-    cout << Aircraft->GetCoefficientValues();
-  }
-  if (SubSystems & FGAircraft::ssGroundReactions) {
-    cout << ", ";
-    cout << Aircraft->GetGroundReactionValues();
+  if (fname == "COUT" || fname == "cout") {
+    buffer = cout.rdbuf();
+  } else {
+    datafile.open(fname.c_str());
+    buffer = datafile.rdbuf();
   }
-  cout << endl;
-}
 
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  ostream outstream(buffer);
 
-void FGOutput::DelimitedOutput(string fname)
-{
-  if (sFirstPass) {
-    datafile.open(fname.c_str());
-    datafile << "Time";
-    if (SubSystems & FGAircraft::ssSimulation) {
+  if (dFirstPass) {
+    outstream << "Time";
+    if (SubSystems & ssSimulation) {
       // Nothing here, yet
     }
-    if (SubSystems & FGAircraft::ssAerosurfaces) {
-      datafile << ", ";
-      datafile << "Throttle, ";
-      datafile << "Aileron Cmd, ";
-      datafile << "Elevator Cmd, ";
-      datafile << "Rudder Cmd, ";
-      datafile << "Aileron Pos, ";
-      datafile << "Elevator Pos, ";
-      datafile << "Rudder Pos";
+    if (SubSystems & ssAerosurfaces) {
+      outstream << ", ";
+      outstream << "Aileron Cmd, ";
+      outstream << "Elevator Cmd, ";
+      outstream << "Rudder Cmd, ";
+      outstream << "Flap Cmd, ";
+      outstream << "Left Aileron Pos, ";
+      outstream << "Right Aileron Pos, ";
+      outstream << "Elevator Pos, ";
+      outstream << "Rudder Pos, ";
+      outstream << "Flap Pos"; 
     }
-    if (SubSystems & FGAircraft::ssRates) {
-      datafile << ", ";
-      datafile << "P, Q, R";
+    if (SubSystems & ssRates) {
+      outstream << ", ";
+      outstream << "P, Q, R, ";
+      outstream << "Pdot, Qdot, Rdot";
     }
-    if (SubSystems & FGAircraft::ssVelocities) {
-      datafile << ", ";
-      datafile << "QBar, ";
-      datafile << "Vtotal, ";
-      datafile << "U, V, W, ";
-      datafile << "Vn, Ve, Vd";
+    if (SubSystems & ssVelocities) {
+      outstream << ", ";
+      outstream << "QBar, ";
+      outstream << "Vtotal, ";
+      outstream << "UBody, VBody, WBody, ";
+      outstream << "UAero, VAero, WAero, ";
+      outstream << "Vn, Ve, Vd";
     }
-    if (SubSystems & FGAircraft::ssForces) {
-      datafile << ", ";
-      datafile << "XsForce, YsForce, ZsForce, ";
-      datafile << "Xforce, Yforce, Zforce";
+    if (SubSystems & ssForces) {
+      outstream << ", ";
+      outstream << "Drag, Side, Lift, ";
+      outstream << "L/D, ";
+      outstream << "Xforce, Yforce, Zforce, ";
+      outstream << "xGravity, yGravity, zGravity, ";
+      outstream << "xCoriolis, yCoriolis, zCoriolis, ";
+      outstream << "xCentrifugal, yCentrifugal, zCentrifugal";
     }
-    if (SubSystems & FGAircraft::ssMoments) {
-      datafile << ", ";
-      datafile << "L, M, N";
+    if (SubSystems & ssMoments) {
+      outstream << ", ";
+      outstream << "L, M, N";
     }
-    if (SubSystems & FGAircraft::ssAtmosphere) {
-      datafile << ", ";
-      datafile << "Rho";
+    if (SubSystems & ssAtmosphere) {
+      outstream << ", ";
+      outstream << "Rho, ";
+      outstream << "NWind, EWind, DWind";
     }
-    if (SubSystems & FGAircraft::ssMassProps) {
-      datafile << ", ";
-      datafile << "Ixx, ";
-      datafile << "Iyy, ";
-      datafile << "Izz, ";
-      datafile << "Ixz, ";
-      datafile << "Mass, ";
-      datafile << "Xcg, Ycg, Zcg";
+    if (SubSystems & ssMassProps) {
+      outstream << ", ";
+      outstream << "Ixx, ";
+      outstream << "Iyy, ";
+      outstream << "Izz, ";
+      outstream << "Ixz, ";
+      outstream << "Mass, ";
+      outstream << "Xcg, Ycg, Zcg";
     }
-    if (SubSystems & FGAircraft::ssPosition) {
-      datafile << ", ";
-      datafile << "Altitude, ";
-      datafile << "Phi, Tht, Psi, ";
-      datafile << "Alpha, ";
-      datafile << "Latitude, ";
-      datafile << "Longitude, ";
-      datafile << "Distance AGL, ";
-      datafile << "Runway Radius";
+    if (SubSystems & ssPosition) {
+      outstream << ", ";
+      outstream << "Altitude, ";
+      outstream << "Phi, Tht, Psi, ";
+      outstream << "Alpha, ";
+      outstream << "Beta, ";
+      outstream << "Latitude, ";
+      outstream << "Longitude, ";
+      outstream << "Distance AGL, ";
+      outstream << "Runway Radius";
     }
-    if (SubSystems & FGAircraft::ssCoefficients) {
-      datafile << ", ";
-      datafile << Aircraft->GetCoefficientStrings();
+    if (SubSystems & ssCoefficients) {
+      outstream << ", ";
+      outstream << Aerodynamics->GetCoefficientStrings();
     }
-    if (SubSystems & FGAircraft::ssGroundReactions) {
-      datafile << ", ";
-      datafile << Aircraft->GetGroundReactionStrings();
+    if (SubSystems & ssFCS) {
+      outstream << ", ";
+      outstream << FCS->GetComponentStrings();
     }
-    if (SubSystems & FGAircraft::ssFCS) {
-      datafile << ", ";
-      datafile << FCS->GetComponentStrings();
+    if (SubSystems & ssGroundReactions) {
+      outstream << ", ";
+      outstream << GroundReactions->GetGroundReactionStrings();
     }
-    datafile << endl;
-    sFirstPass = false;
+    if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
+      outstream << ", ";
+      outstream << Propulsion->GetPropulsionStrings();
+    }
+
+    outstream << endl;
+    dFirstPass = false;
   }
 
-  datafile << State->Getsim_time();
-  if (SubSystems & FGAircraft::ssSimulation) {
+  outstream << State->Getsim_time();
+  if (SubSystems & ssSimulation) {
+  }
+  if (SubSystems & ssAerosurfaces) {
+    outstream << ", ";
+    outstream << FCS->GetDaCmd() << ", ";
+    outstream << FCS->GetDeCmd() << ", ";
+    outstream << FCS->GetDrCmd() << ", ";
+    outstream << FCS->GetDfCmd() << ", ";
+    outstream << FCS->GetDaLPos() << ", ";
+    outstream << FCS->GetDaRPos() << ", ";
+    outstream << FCS->GetDePos() << ", ";
+    outstream << FCS->GetDrPos() << ", ";
+    outstream << FCS->GetDfPos();
   }
-  if (SubSystems & FGAircraft::ssAerosurfaces) {
-    datafile << ", ";
-    datafile << FCS->GetThrottlePos(0) << ", ";
-    datafile << FCS->GetDaCmd() << ", ";
-    datafile << FCS->GetDeCmd() << ", ";
-    datafile << FCS->GetDrCmd() << ", ";
-    datafile << FCS->GetDaPos() << ", ";
-    datafile << FCS->GetDePos() << ", ";
-    datafile << FCS->GetDrPos();
+  if (SubSystems & ssRates) {
+    outstream << ", ";
+    outstream << Rotation->GetPQR() << ", ";
+    outstream << Rotation->GetPQRdot();
   }
-  if (SubSystems & FGAircraft::ssRates) {
-    datafile << ", ";
-    datafile << Rotation->GetPQR();
+  if (SubSystems & ssVelocities) {
+    outstream << ", ";
+    outstream << Translation->Getqbar() << ", ";
+    outstream << Translation->GetVt() << ", ";
+    outstream << Translation->GetUVW() << ", ";
+    outstream << Translation->GetAeroUVW() << ", ";
+    outstream << Position->GetVel();
   }
-  if (SubSystems & FGAircraft::ssVelocities) {
-    datafile << ", ";
-    datafile << Translation->Getqbar() << ", ";
-    datafile << Translation->GetVt() << ", ";
-    datafile << Translation->GetUVW() << ", ";
-    datafile << Position->GetVel();
+  if (SubSystems & ssForces) {
+    outstream << ", ";
+    outstream << Aerodynamics->GetvFs() << ", ";
+    outstream << Aerodynamics->GetLoD() << ", ";
+    outstream << Aircraft->GetForces() << ", ";
+    outstream << Inertial->GetGravity() << ", ";
+    outstream << Inertial->GetCoriolis() << ", ";
+    outstream << Inertial->GetCentrifugal();
   }
-  if (SubSystems & FGAircraft::ssForces) {
-    datafile << ", ";
-    datafile << Aircraft->GetvFs() << ", ";
-    datafile << Aircraft->GetForces();
+  if (SubSystems & ssMoments) {
+    outstream << ", ";
+    outstream << Aircraft->GetMoments();
   }
-  if (SubSystems & FGAircraft::ssMoments) {
-    datafile << ", ";
-    datafile << Aircraft->GetMoments();
+  if (SubSystems & ssAtmosphere) {
+    outstream << ", ";
+    outstream << Atmosphere->GetDensity() << ", ";
+    outstream << Atmosphere->GetWindNED();
   }
-  if (SubSystems & FGAircraft::ssAtmosphere) {
-    datafile << ", ";
-    datafile << Atmosphere->GetDensity();
+  if (SubSystems & ssMassProps) {
+    outstream << ", ";
+    outstream << MassBalance->GetIxx() << ", ";
+    outstream << MassBalance->GetIyy() << ", ";
+    outstream << MassBalance->GetIzz() << ", ";
+    outstream << MassBalance->GetIxz() << ", ";
+    outstream << MassBalance->GetMass() << ", ";
+    outstream << MassBalance->GetXYZcg();
   }
-  if (SubSystems & FGAircraft::ssMassProps) {
-    datafile << ", ";
-    datafile << Aircraft->GetIxx() << ", ";
-    datafile << Aircraft->GetIyy() << ", ";
-    datafile << Aircraft->GetIzz() << ", ";
-    datafile << Aircraft->GetIxz() << ", ";
-    datafile << Aircraft->GetMass() << ", ";
-    datafile << Aircraft->GetXYZcg();
+  if (SubSystems & ssPosition) {
+    outstream << ", ";
+    outstream << Position->Geth() << ", ";
+    outstream << Rotation->GetEuler() << ", ";
+    outstream << Translation->Getalpha() << ", ";
+    outstream << Translation->Getbeta() << ", ";
+    outstream << Position->GetLatitude() << ", ";
+    outstream << Position->GetLongitude() << ", ";
+    outstream << Position->GetDistanceAGL() << ", ";
+    outstream << Position->GetRunwayRadius();
   }
-  if (SubSystems & FGAircraft::ssPosition) {
-    datafile << ", ";
-    datafile << Position->Geth() << ", ";
-    datafile << Rotation->GetEuler() << ", ";
-    datafile << Translation->Getalpha() << ", ";
-    datafile << Position->GetLatitude() << ", ";
-    datafile << Position->GetLongitude() << ", ";
-    datafile << Position->GetDistanceAGL() << ", ";
-    datafile << Position->GetRunwayRadius();
+  if (SubSystems & ssCoefficients) {
+    outstream << ", ";
+    outstream << Aerodynamics->GetCoefficientValues();
   }
-  if (SubSystems & FGAircraft::ssCoefficients) {
-    datafile << ", ";
-    datafile << Aircraft->GetCoefficientValues();
+  if (SubSystems & ssFCS) {
+    outstream << ", ";
+    outstream << FCS->GetComponentValues();
   }
-  if (SubSystems & FGAircraft::ssGroundReactions) {
-    datafile << ", ";
-    datafile << Aircraft->GetGroundReactionValues();
+  if (SubSystems & ssGroundReactions) {
+    outstream << ", ";
+    outstream << GroundReactions->GetGroundReactionValues();
   }
-  if (SubSystems & FGAircraft::ssFCS) {
-    datafile << ", ";
-    datafile << FCS->GetComponentValues();
+  if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
+    outstream << ", ";
+    outstream << Propulsion->GetPropulsionValues();
   }
-  datafile << endl;
-  datafile.flush();
+
+  outstream << endl;
+  outstream.flush();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -423,8 +320,9 @@ void FGOutput::DelimitedOutput(string fname)
 void FGOutput::SocketOutput(void)
 {
   string asciiData;
-  /*
+
   if (socket == NULL) return;
+  if (!socket->GetConnectStatus()) return;
 
   socket->Clear();
   if (sFirstPass) {
@@ -436,9 +334,12 @@ void FGOutput::SocketOutput(void)
     socket->Append("Psi");
     socket->Append("Rho");
     socket->Append("Vtotal");
-    socket->Append("U");
-    socket->Append("V");
-    socket->Append("W");
+    socket->Append("UBody");
+    socket->Append("VBody");
+    socket->Append("WBody");
+    socket->Append("UAero");
+    socket->Append("VAero");
+    socket->Append("WAero");
     socket->Append("Vn");
     socket->Append("Ve");
     socket->Append("Vd");
@@ -461,10 +362,11 @@ void FGOutput::SocketOutput(void)
     socket->Append("L");
     socket->Append("M");
     socket->Append("N");
-    socket->Append("Throttle");
-    socket->Append("Aileron");
-    socket->Append("Elevator");
-    socket->Append("Rudder");
+    socket->Append("Throttle Position");
+    socket->Append("Left Aileron Position");
+    socket->Append("Right Aileron Position");
+    socket->Append("Elevator Position");
+    socket->Append("Rudder Position");
     sFirstPass = false;
     socket->Send();
   }
@@ -477,36 +379,40 @@ void FGOutput::SocketOutput(void)
   socket->Append(Rotation->Getpsi());
   socket->Append(Atmosphere->GetDensity());
   socket->Append(Translation->GetVt());
-  socket->Append(Translation->GetU());
-  socket->Append(Translation->GetV());
-  socket->Append(Translation->GetW());
+  socket->Append(Translation->GetUVW(eU));
+  socket->Append(Translation->GetUVW(eV));
+  socket->Append(Translation->GetUVW(eW));
+  socket->Append(Translation->GetAeroUVW(eU));
+  socket->Append(Translation->GetAeroUVW(eV));
+  socket->Append(Translation->GetAeroUVW(eW));
   socket->Append(Position->GetVn());
   socket->Append(Position->GetVe());
   socket->Append(Position->GetVd());
-  socket->Append(Translation->GetUdot());
-  socket->Append(Translation->GetVdot());
-  socket->Append(Translation->GetWdot());
-  socket->Append(Rotation->GetP());
-  socket->Append(Rotation->GetQ());
-  socket->Append(Rotation->GetR());
-  socket->Append(Rotation->GetPdot());
-  socket->Append(Rotation->GetQdot());
-  socket->Append(Rotation->GetRdot());
-  socket->Append(Aircraft->GetFx());
-  socket->Append(Aircraft->GetFy());
-  socket->Append(Aircraft->GetFz());
+  socket->Append(Translation->GetUVWdot(eU));
+  socket->Append(Translation->GetUVWdot(eV));
+  socket->Append(Translation->GetUVWdot(eW));
+  socket->Append(Rotation->GetPQR(eP));
+  socket->Append(Rotation->GetPQR(eQ));
+  socket->Append(Rotation->GetPQR(eR));
+  socket->Append(Rotation->GetPQRdot(eP));
+  socket->Append(Rotation->GetPQRdot(eQ));
+  socket->Append(Rotation->GetPQRdot(eR));
+  socket->Append(Aircraft->GetForces(eX));
+  socket->Append(Aircraft->GetForces(eY));
+  socket->Append(Aircraft->GetForces(eZ));
   socket->Append(Position->GetLatitude());
   socket->Append(Position->GetLongitude());
   socket->Append(Translation->Getqbar());
   socket->Append(Translation->Getalpha());
-  socket->Append(Aircraft->GetL());
-  socket->Append(Aircraft->GetM());
-  socket->Append(Aircraft->GetN());
-  socket->Append(FCS->GetThrottle(0));
-  socket->Append(FCS->GetDa());
-  socket->Append(FCS->GetDe());
-  socket->Append(FCS->GetDr());
-  socket->Send(); */
+  socket->Append(Aircraft->GetMoments(eL));
+  socket->Append(Aircraft->GetMoments(eM));
+  socket->Append(Aircraft->GetMoments(eN));
+  socket->Append(FCS->GetThrottlePos(0));
+  socket->Append(FCS->GetDaLPos());
+  socket->Append(FCS->GetDaRPos());
+  socket->Append(FCS->GetDePos());
+  socket->Append(FCS->GetDrPos());
+  socket->Send();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -525,3 +431,130 @@ void FGOutput::SocketStatusOutput(string out_str)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+bool FGOutput::Load(FGConfigFile* AC_cfg)
+{
+  string token, parameter;
+  int OutRate = 0;
+
+  token = AC_cfg->GetValue("NAME");
+  Output->SetFilename(token);
+  token = AC_cfg->GetValue("TYPE");
+  Output->SetType(token);
+
+#if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
+  if (token == "SOCKET") {
+    socket = new FGfdmSocket("localhost",1138);
+  }
+#endif
+  
+  AC_cfg->GetNextConfigLine();
+
+  while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
+    *AC_cfg >> parameter;
+    if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
+    if (parameter == "SIMULATION") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssSimulation;
+    }
+    if (parameter == "AEROSURFACES") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssAerosurfaces;
+    }
+    if (parameter == "RATES") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssRates;
+    }
+    if (parameter == "VELOCITIES") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssVelocities;
+    }
+    if (parameter == "FORCES") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssForces;
+    }
+    if (parameter == "MOMENTS") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssMoments;
+    }
+    if (parameter == "ATMOSPHERE") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssAtmosphere;
+    }
+    if (parameter == "MASSPROPS") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssMassProps;
+    }
+    if (parameter == "POSITION") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssPosition;
+    }
+    if (parameter == "COEFFICIENTS") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssCoefficients;
+    }
+    if (parameter == "GROUND_REACTIONS") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssGroundReactions;
+    }
+    if (parameter == "FCS") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssFCS;
+    }
+    if (parameter == "PROPULSION") {
+      *AC_cfg >> parameter;
+      if (parameter == "ON") SubSystems += ssPropulsion;
+    }
+  }
+
+  OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
+  rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
+
+  return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGOutput::Debug(int from)
+{
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGOutput" << endl;
+    if (from == 1) cout << "Destroyed:    FGOutput" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
+