X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Ffg_init.cxx;h=699765c32d3dabf6a282d014514260b63121dfa1;hb=76a94d8f0278eeddf692850918526df84a73429c;hp=95176fce794199dfe1f0ed94fe3032838017c1f4;hpb=ff8e6b9e28ae044523b3988e29b58d5c1fc0e4f4;p=flightgear.git

diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx
index 95176fce7..699765c32 100644
--- a/src/Main/fg_init.cxx
+++ b/src/Main/fg_init.cxx
@@ -1,4 +1,3 @@
-//
 // fg_init.cxx -- Flight Gear top level initialization routines
 //
 // Written by Curtis Olson, started August 1997.
@@ -28,16 +27,24 @@
 #endif
 
 // For BC 5.01 this must be included before OpenGL includes.
-#ifdef FG_MATH_EXCEPTION_CLASH
+#ifdef SG_MATH_EXCEPTION_CLASH
 #  include <math.h>
 #endif
 
+#ifdef HAVE_WINDOWS_H
+#  include <windows.h>
+#endif
+
 #include <GL/glut.h>
-#include <simgear/xgl/xgl.h>
 
 #include <stdio.h>
 #include <stdlib.h>
 
+
+#if defined( unix ) || defined( __CYGWIN__ )
+#  include <unistd.h>		// for gethostname()
+#endif
+
 // work around a stdc++ lib bug in some versions of linux, but doesn't
 // seem to hurt to have this here for all versions of Linux.
 #ifdef linux
@@ -50,33 +57,43 @@
 
 #include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
 #include <simgear/math/point3d.hxx>
 #include <simgear/math/polar3d.hxx>
-#include <simgear/misc/fgpath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/timing/sg_time.hxx>
 
 #include <Aircraft/aircraft.hxx>
+#include <FDM/UIUCModel/uiuc_aircraftdir.h>
+#include <Airports/runways.hxx>
 #include <Airports/simple.hxx>
-#include <Autopilot/autopilot.hxx>
+#include <Autopilot/auto_gui.hxx>
+#include <Autopilot/newauto.hxx>
 #include <Cockpit/cockpit.hxx>
 #include <Cockpit/radiostack.hxx>
+#include <Cockpit/panel.hxx>
+#include <Cockpit/panel_io.hxx>
+#include <FDM/ADA.hxx>
 #include <FDM/Balloon.h>
 #include <FDM/External.hxx>
-#include <FDM/JSBsim.hxx>
+#include <FDM/JSBSim.hxx>
 #include <FDM/LaRCsim.hxx>
 #include <FDM/MagicCarpet.hxx>
 #include <Include/general.hxx>
-#include <Joystick/joystick.hxx>
+#include <Input/input.hxx>
+// #include <Joystick/joystick.hxx>
+#include <Objects/matlib.hxx>
 #include <Navaids/fixlist.hxx>
 #include <Navaids/ilslist.hxx>
+#include <Navaids/mkrbeacons.hxx>
 #include <Navaids/navlist.hxx>
 #include <Scenery/scenery.hxx>
 #include <Scenery/tilemgr.hxx>
 #include <Time/event.hxx>
-#include <Time/fg_time.hxx>
 #include <Time/light.hxx>
 #include <Time/sunpos.hxx>
 #include <Time/moonpos.hxx>
+#include <Time/tmp.hxx>
 
 #ifndef FG_OLD_WEATHER
 #  include <WeatherCM/FGLocalWeatherDatabase.h>
@@ -86,108 +103,333 @@
 
 #include "fg_init.hxx"
 #include "fg_io.hxx"
+#include "fg_commands.hxx"
+#include "fg_props.hxx"
 #include "options.hxx"
-#include "views.hxx"
+#include "globals.hxx"
 
 #if defined(FX) && defined(XMESA)
 #include <GL/xmesa.h>
 #endif
 
-FG_USING_STD(string);
+SG_USING_STD(string);
 
 extern const char *default_root;
 
 
+// Read in configuration (file and command line) and just set fg_root
+bool fgInitFGRoot ( int argc, char **argv ) {
+    string root;
+    char* envp;
+
+    // First parse command line options looking for fg-root, this will
+    // override anything specified in a config file
+    root = fgScanForRoot(argc, argv);
+
+#if defined( unix ) || defined( __CYGWIN__ )
+    // Next check home directory for .fgfsrc.hostname file
+    if ( root == "" ) {
+	envp = ::getenv( "HOME" );
+	if ( envp != NULL ) {
+	    SGPath config( envp );
+	    config.append( ".fgfsrc" );
+	    char name[256];
+	    gethostname( name, 256 );
+	    config.concat( "." );
+	    config.concat( name );
+ 	    root = fgScanForRoot(config.str());
+	}
+    }
+#endif
+
+    // Next check home directory for .fgfsrc file
+    if ( root == "" ) {
+	envp = ::getenv( "HOME" );
+	if ( envp != NULL ) {
+	    SGPath config( envp );
+	    config.append( ".fgfsrc" );
+	    root = fgScanForRoot(config.str());
+	}
+    }
+    
+    // Next check if fg-root is set as an env variable
+    if ( root == "" ) {
+	envp = ::getenv( "FG_ROOT" );
+	if ( envp != NULL ) {
+	    root = envp;
+	}
+    }
+
+    // Otherwise, default to a random compiled-in location if we can't
+    // find fg-root any other way.
+    if ( root == "" ) {
+#if defined( __CYGWIN__ )
+        root = "/FlightGear";
+#elif defined( WIN32 )
+	root = "\\FlightGear";
+#elif defined( macintosh )
+	root = "";
+#else
+	root = PKGLIBDIR;
+#endif
+    }
+
+    SG_LOG(SG_INPUT, SG_INFO, "fg_root = " << root );
+    globals->set_fg_root(root);
+
+    return true;
+}
+
+
+// Return the current base package version
+string fgBasePackageVersion() {
+    SGPath base_path( globals->get_fg_root() );
+    base_path.append("version");
+
+    sg_gzifstream in( base_path.str() );
+    if ( !in.is_open() ) {
+	SGPath old_path( globals->get_fg_root() );
+	old_path.append( "Thanks" );
+	sg_gzifstream old( old_path.str() );
+	if ( !old.is_open() ) {
+	    return "[none]";
+	} else {
+	    return "[old version]";
+	}
+    }
+
+    string version;
+    in >> version;
+
+    return version;
+}
+
+
 // Read in configuration (file and command line)
 bool fgInitConfig ( int argc, char **argv ) {
-    // Attempt to locate and parse a config file
-    // First check fg_root
-    FGPath config( current_options.get_fg_root() );
+
+				// First, set some sane default values
+    fgSetDefaults();
+
+    // Read global preferences from $FG_ROOT/preferences.xml
+    SGPath props_path(globals->get_fg_root());
+    props_path.append("preferences.xml");
+    SG_LOG(SG_INPUT, SG_INFO, "Reading global preferences");
+    if (!readProperties(props_path.str(), globals->get_props())) {
+      SG_LOG(SG_INPUT, SG_ALERT, "Failed to read global preferences from "
+	     << props_path.str());
+    } else {
+      SG_LOG(SG_INPUT, SG_INFO, "Finished Reading global preferences");
+    }
+
+    // Attempt to locate and parse the various config files in order
+    // from least precidence to greatest precidence
+
+    // Check for $fg_root/system.fgfsrc
+    SGPath config( globals->get_fg_root() );
     config.append( "system.fgfsrc" );
-    current_options.parse_config_file( config.str() );
+    fgParseOptions(config.str());
+
+    char name[256];
+#if defined( unix ) || defined( __CYGWIN__ )
+    // Check for $fg_root/system.fgfsrc.hostname
+    gethostname( name, 256 );
+    config.concat( "." );
+    config.concat( name );
+    fgParseOptions(config.str());
+#endif
 
-    // Next check home directory
+    // Check for ~/.fgfsrc
     char* envp = ::getenv( "HOME" );
     if ( envp != NULL ) {
 	config.set( envp );
 	config.append( ".fgfsrc" );
-	current_options.parse_config_file( config.str() );
+	fgParseOptions(config.str());
     }
 
+#if defined( unix ) || defined( __CYGWIN__ )
+    // Check for ~/.fgfsrc.hostname
+    gethostname( name, 256 );
+    config.concat( "." );
+    config.concat( name );
+    fgParseOptions(config.str());
+#endif
+
     // Parse remaining command line options
     // These will override anything specified in a config file
-    if ( current_options.parse_command_line(argc, argv) !=
-	 fgOPTIONS::FG_OPTIONS_OK )
-    {
-	// Something must have gone horribly wrong with the command
-	// line parsing or maybe the user just requested help ... :-)
-	current_options.usage();
-	FG_LOG( FG_GENERAL, FG_ALERT, "\nExiting ...");
+    fgParseOptions(argc, argv);
+
+    return true;
+}
+
+
+// find basic airport location info from airport database
+bool fgFindAirportID( const string& id, FGAirport *a ) {
+    if ( id.length() ) {
+	SGPath path( globals->get_fg_root() );
+	path.append( "Airports" );
+	path.append( "simple.mk4" );
+	FGAirports airports( path.c_str() );
+
+	SG_LOG( SG_GENERAL, SG_INFO, "Searching for airport code = " << id );
+
+	if ( ! airports.search( id, a ) ) {
+	    SG_LOG( SG_GENERAL, SG_ALERT,
+		    "Failed to find " << id << " in " << path.str() );
+	    return false;
+	}
+    } else {
 	return false;
     }
 
-   return true;
+    SG_LOG( SG_GENERAL, SG_INFO,
+	    "Position for " << id << " is ("
+	    << a->longitude << ", "
+	    << a->latitude << ")" );
+
+    return true;
 }
 
 
-// Set initial position and orientation
-bool fgInitPosition( void ) {
-    string id;
-    FGInterface *f;
+// Set current_options lon/lat given an airport id
+bool fgSetPosFromAirportID( const string& id ) {
+    FGAirport a;
+    // double lon, lat;
+
+    SG_LOG( SG_GENERAL, SG_INFO,
+	    "Attempting to set starting position from airport code " << id );
 
-    f = current_aircraft.fdm_state;
+    if ( fgFindAirportID( id, &a ) ) {
+	fgSetDouble("/position/longitude-deg",  a.longitude );
+	fgSetDouble("/position/latitude-deg",  a.latitude );
+	SG_LOG( SG_GENERAL, SG_INFO,
+		"Position for " << id << " is ("
+		<< a.longitude << ", "
+		<< a.latitude << ")" );
+
+	return true;
+    } else {
+	return false;
+    }
+
+}
+
+
+// Set current_options lon/lat given an airport id and heading (degrees)
+bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
+    FGRunway r;
+    FGRunway found_r;
+    double found_dir = 0.0;
 
-    id = current_options.get_airport_id();
     if ( id.length() ) {
-	// set initial position from airport id
+	// set initial position from runway and heading
 
-	FGPath path( current_options.get_fg_root() );
+	SGPath path( globals->get_fg_root() );
 	path.append( "Airports" );
-	path.append( "simple.gdbm" );
-	FGAirports airports( path.c_str() );
-	FGAirport a;
+	path.append( "runways.mk4" );
+	FGRunways runways( path.c_str() );
 
-	FG_LOG( FG_GENERAL, FG_INFO,
-		"Attempting to set starting position from airport code "
-		<< id );
+	SG_LOG( SG_GENERAL, SG_INFO,
+		"Attempting to set starting position from runway code "
+		<< id << " heading " << tgt_hdg );
 
-	// FGPath inpath( current_options.get_fg_root() );
+	// SGPath inpath( globals->get_fg_root() );
 	// inpath.append( "Airports" );
 	// inpath.append( "apt_simple" );
 	// airports.load( inpath.c_str() );
 
-	// FGPath outpath( current_options.get_fg_root() );
+	// SGPath outpath( globals->get_fg_root() );
 	// outpath.append( "Airports" );
 	// outpath.append( "simple.gdbm" );
 	// airports.dump_gdbm( outpath.c_str() );
 
-	if ( ! airports.search( id, &a ) ) {
-	    FG_LOG( FG_GENERAL, FG_ALERT,
+	if ( ! runways.search( id, &r ) ) {
+	    SG_LOG( SG_GENERAL, SG_ALERT,
 		    "Failed to find " << id << " in database." );
-	    exit(-1);
-	} else {
-	    f->set_Longitude( a.longitude * DEG_TO_RAD );
-	    f->set_Latitude( a.latitude * DEG_TO_RAD );
+	    return false;
+	}
+
+	double diff;
+	double min_diff = 360.0;
+
+	while ( r.id == id ) {
+	    // forward direction
+	    diff = tgt_hdg - r.heading;
+	    while ( diff < -180.0 ) { diff += 360.0; }
+	    while ( diff >  180.0 ) { diff -= 360.0; }
+	    diff = fabs(diff);
+	    SG_LOG( SG_GENERAL, SG_INFO,
+		    "Runway " << r.rwy_no << " heading = " << r.heading <<
+		    " diff = " << diff );
+	    if ( diff < min_diff ) {
+		min_diff = diff;
+		found_r = r;
+		found_dir = 0;
+	    }
+
+	    // reverse direction
+	    diff = tgt_hdg - r.heading - 180.0;
+	    while ( diff < -180.0 ) { diff += 360.0; }
+	    while ( diff >  180.0 ) { diff -= 360.0; }
+	    diff = fabs(diff);
+	    SG_LOG( SG_GENERAL, SG_INFO,
+		    "Runway -" << r.rwy_no << " heading = " <<
+		    r.heading + 180.0 <<
+		    " diff = " << diff );
+	    if ( diff < min_diff ) {
+		min_diff = diff;
+		found_r = r;
+		found_dir = 180.0;
+	    }
+
+	    runways.next( &r );
 	}
-    } else {
-	// set initial position from default or command line coordinates
 
-	f->set_Longitude( current_options.get_lon() * DEG_TO_RAD );
-	f->set_Latitude( current_options.get_lat() * DEG_TO_RAD );
+	SG_LOG( SG_GENERAL, SG_INFO, "closest runway = " << found_r.rwy_no
+		<< " + " << found_dir );
+
+    } else {
+	return false;
     }
 
-    FG_LOG( FG_GENERAL, FG_INFO,
-	    "starting altitude is = " << current_options.get_altitude() );
+    double heading = found_r.heading + found_dir;
+    while ( heading >= 360.0 ) { heading -= 360.0; }
 
-    f->set_Altitude( current_options.get_altitude() * METER_TO_FEET );
-    fgFDMSetGroundElevation( current_options.get_flight_model(),
-			     (f->get_Altitude() - 3.758099) * FEET_TO_METER );
+    double lat2, lon2, az2;
+    double azimuth = found_r.heading + found_dir + 180.0;
+    while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 
-    FG_LOG( FG_GENERAL, FG_INFO,
-	    "Initial position is: ("
-	    << (f->get_Longitude() * RAD_TO_DEG) << ", "
-	    << (f->get_Latitude() * RAD_TO_DEG) << ", "
-	    << (f->get_Altitude() * FEET_TO_METER) << ")" );
+    SG_LOG( SG_GENERAL, SG_INFO,
+	    "runway =  " << found_r.lon << ", " << found_r.lat
+	    << " length = " << found_r.length * SG_FEET_TO_METER * 0.5 
+	    << " heading = " << azimuth );
+    
+    geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon, 
+			azimuth, found_r.length * SG_FEET_TO_METER * 0.5 - 5.0,
+			&lat2, &lon2, &az2 );
+
+    if ( fabs( fgGetDouble("/sim/startup/offset-distance") ) > SG_EPSILON ) {
+	double olat, olon;
+	double odist = fgGetDouble("/sim/startup/offset-distance");
+	odist *= SG_NM_TO_METER;
+	double oaz = azimuth;
+	if ( fabs(fgGetDouble("/sim/startup/offset-azimuth")) > SG_EPSILON ) {
+	    oaz = fgGetDouble("/sim/startup/offset-azimuth") + 180;
+	}
+	while ( oaz >= 360.0 ) { oaz -= 360.0; }
+	geo_direct_wgs_84 ( 0, lat2, lon2, oaz, odist, &olat, &olon, &az2 );
+	lat2=olat;
+	lon2=olon;
+    }
+    fgSetDouble("/position/longitude-deg",  lon2 );
+    fgSetDouble("/position/latitude-deg",  lat2 );
+    fgSetDouble("/orientation/heading-deg", heading );
+
+    SG_LOG( SG_GENERAL, SG_INFO,
+	    "Position for " << id << " is ("
+	    << lon2 << ", "
+	    << lat2 << ") new heading is "
+	    << heading );
 
     return true;
 }
@@ -201,18 +443,18 @@ bool fgInitGeneral( void ) {
     char *mesa_win_state;
 #endif
 
-    FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
-    FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
+    SG_LOG( SG_GENERAL, SG_INFO, "General Initialization" );
+    SG_LOG( SG_GENERAL, SG_INFO, "======= ==============" );
 
-    root = current_options.get_fg_root();
+    root = globals->get_fg_root();
     if ( ! root.length() ) {
 	// No root path set? Then bail ...
-	FG_LOG( FG_GENERAL, FG_ALERT,
+	SG_LOG( SG_GENERAL, SG_ALERT,
 		"Cannot continue without environment variable FG_ROOT"
 		<< "being defined." );
 	exit(-1);
     }
-    FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
+    SG_LOG( SG_GENERAL, SG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
 
 #if defined(FX) && defined(XMESA)
     // initialize full screen flag
@@ -239,144 +481,94 @@ bool fgInitGeneral( void ) {
 // Returns non-zero if a problem encountered.
 bool fgInitSubsystems( void ) {
     fgLIGHT *l = &cur_light_params;
-    FGTime *t = FGTime::cur_time_params;
-
-    FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
-    FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
-
-    if ( current_options.get_flight_model() == FGInterface::FG_LARCSIM ) {
-	cur_fdm_state = new FGLaRCsim;
-    } else if ( current_options.get_flight_model() == FGInterface::FG_JSBSIM ) {
-	cur_fdm_state = new FGJSBsim;
-    } else if ( current_options.get_flight_model() == 
-	 	FGInterface::FG_BALLOONSIM ) {
-	cur_fdm_state = new FGBalloonSim;
-    } else if ( current_options.get_flight_model() == 
-		FGInterface::FG_MAGICCARPET ) {
-	cur_fdm_state = new FGMagicCarpet;
-    } else if ( current_options.get_flight_model() == 
-		FGInterface::FG_EXTERNAL ) {
-	cur_fdm_state = new FGExternal;
+
+    SG_LOG( SG_GENERAL, SG_INFO, "Initialize Subsystems");
+    SG_LOG( SG_GENERAL, SG_INFO, "========== ==========");
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the material property subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+    SGPath mpath( globals->get_fg_root() );
+    mpath.append( "materials" );
+    if ( material_lib.load( mpath.str() ) ) {
     } else {
-	FG_LOG( FG_GENERAL, FG_ALERT,
-		"No flight model, can't init aircraft" );
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error loading material lib!" );
 	exit(-1);
     }
 
-    // allocates structures so must happen before any of the flight
-    // model or control parameters are set
-    fgAircraftInit();   // In the future this might not be the case.
 
-    // set the initial position
-    fgInitPosition();
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the scenery management subsystem.
+    ////////////////////////////////////////////////////////////////////
 
-    // Initialize the Scenery Management subsystem
     if ( fgSceneryInit() ) {
-	// Scenery initialized ok.
+	// Material lib initialized ok.
     } else {
-    	FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
 	exit(-1);
     }
 
-    if( global_tile_mgr.init() ) {
+    if ( global_tile_mgr.init() ) {
 	// Load the local scenery data
-	global_tile_mgr.update();
+	global_tile_mgr.update( fgGetDouble("/position/longitude-deg"),
+				fgGetDouble("/position/latitude-deg") );
     } else {
-    	FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
 	exit(-1);
     }
 
-    FG_LOG( FG_GENERAL, FG_DEBUG,
+    SG_LOG( SG_GENERAL, SG_DEBUG,
     	    "Current terrain elevation after tile mgr init " <<
 	    scenery.cur_elev );
 
-    // Calculate ground elevation at starting point (we didn't have
-    // tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
-    //
-    // calculalate a cartesian point somewhere along the line between
-    // the center of the earth and our view position.  Doesn't have to
-    // be the exact elevation (this is good because we don't know it
-    // yet :-)
-
-    // now handled inside of the fgTileMgrUpdate()
-
-    /*
-    geod_pos = Point3D( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(), 0.0);
-    tmp_abs_view_pos = fgGeodToCart(geod_pos);
-
-    FG_LOG( FG_GENERAL, FG_DEBUG,
-    	    "Initial abs_view_pos = " << tmp_abs_view_pos );
-    scenery.cur_elev =
-	fgTileMgrCurElev( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(),
-			  tmp_abs_view_pos );
-    FG_LOG( FG_GENERAL, FG_DEBUG,
-	    "Altitude after update " << scenery.cur_elev );
-    */
-
-    fgFDMSetGroundElevation( current_options.get_flight_model(),
-			     scenery.cur_elev );
-
-    // Reset our altitude if we are below ground
-    FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
-    FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
-	    cur_fdm_state->get_Runway_altitude() );
-
-    if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
-	cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the flight model subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+    double dt = 1.0 / fgGetInt("/sim/model-hz");
+    // cout << "dt = " << dt << endl;
+
+    aircraft_dir = fgGetString("/sim/aircraft-dir");
+    const string &model = fgGetString("/sim/flight-model");
+    try {
+	if (model == "larcsim") {
+	    cur_fdm_state = new FGLaRCsim( dt );
+	} else if (model == "jsb") {
+	    cur_fdm_state = new FGJSBsim( dt );
+	} else if (model == "ada") {
+	    cur_fdm_state = new FGADA( dt );
+	} else if (model == "balloon") {
+	    cur_fdm_state = new FGBalloonSim( dt );
+	} else if (model == "magic") {
+	    cur_fdm_state = new FGMagicCarpet( dt );
+	} else if (model == "external") {
+	    cur_fdm_state = new FGExternal( dt );
+	} else {
+	    SG_LOG(SG_GENERAL, SG_ALERT,
+		   "Unrecognized flight model '" << model
+		   << ", can't init aircraft");
+	    exit(-1);
+	}
+    } catch ( ... ) {
+	SG_LOG(SG_GENERAL, SG_ALERT, "FlightGear aborting\n\n");
+	exit(-1);
     }
 
-    FG_LOG( FG_GENERAL, FG_INFO,
-	    "Updated position (after elevation adj): ("
-	    << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
-	    << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
-	    << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
-
-    // We need to calculate a few more values here that would normally
-    // be calculated by the FDM so that the current_view.UpdateViewMath()
-    // routine doesn't get hosed.
-
-    double sea_level_radius_meters;
-    double lat_geoc;
-    // Set the FG variables first
-    fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
-		  &sea_level_radius_meters, &lat_geoc);
-    cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
-				cur_fdm_state->get_Altitude() +
-				(sea_level_radius_meters * METER_TO_FEET) );
-    cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
-
-    cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
-    cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
-	
-    cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
-    cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
-
-    // The following section sets up the flight model EOM parameters
-    // and should really be read in from one or more files.
-
-    // Initial Velocity
-    cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
-                             current_options.get_vBody(),
-                             current_options.get_wBody());
-
-    // Initial Orientation
-    cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
-			 current_options.get_pitch() * DEG_TO_RAD,
-			 current_options.get_heading() * DEG_TO_RAD );
-
-    // Initial Angular Body rates
-    cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
-
-    cur_fdm_state->set_Earth_position_angle( 0.0 );
-
-    // Mass properties and geometry values
-    cur_fdm_state->set_Inertias( 8.547270E+01,
-		     1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
-
-    // CG position w.r.t. ref. point
-    cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
-
-    // Initialize the event manager
+    cur_fdm_state->init();
+    cur_fdm_state->bind();
+    
+    // allocates structures so must happen before any of the flight
+    // model or control parameters are set
+    fgAircraftInit();   // In the future this might not be the case.
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the event manager subsystem.
+    ////////////////////////////////////////////////////////////////////
+
     global_events.Init();
 
     // Output event stats every 60 seconds
@@ -385,27 +577,42 @@ bool fgInitSubsystems( void ) {
 						   &fgEVENT_MGR::PrintStats),
 			    fgEVENT::FG_EVENT_READY, 60000 );
 
-    // Initialize view parameters
-    FG_LOG( FG_GENERAL, FG_DEBUG, "Before current_view.init()");
-    current_view.Init();
-    pilot_view.Init();
-    FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
-    current_view.UpdateViewMath(*cur_fdm_state);
-    pilot_view.UpdateViewMath(*cur_fdm_state);
-    FG_LOG( FG_GENERAL, FG_DEBUG, "  abs_view_pos = " << current_view.get_abs_view_pos());
-    // current_view.UpdateWorldToEye(f);
-
-    // Initialize the planetary subsystem
-    // global_events.Register( "fgPlanetsInit()", fgPlanetsInit,
-    //			    fgEVENT::FG_EVENT_READY, 600000);
-
-    // Initialize the sun's position
-    // global_events.Register( "fgSunInit()", fgSunInit,
-    //			    fgEVENT::FG_EVENT_READY, 30000 );
-
-    // Intialize the moon's position
-    // global_events.Register( "fgMoonInit()", fgMoonInit,
-    //			    fgEVENT::FG_EVENT_READY, 600000 );
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the view manager subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+    // Initialize win_ratio parameters
+    for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
+	globals->get_viewmgr()->get_view(i)->
+	    set_win_ratio( fgGetInt("/sim/startup/xsize") /
+			   fgGetInt("/sim/startup/ysize") );
+    }
+
+    // Initialize pilot view
+    FGViewerRPH *pilot_view =
+	(FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
+
+    pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(), 
+				   cur_fdm_state->get_Lat_geocentric(), 
+				   cur_fdm_state->get_Altitude() *
+				   SG_FEET_TO_METER );
+    pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
+				      SG_FEET_TO_METER ); 
+    pilot_view->set_rph( cur_fdm_state->get_Phi(),
+			 cur_fdm_state->get_Theta(),
+			 cur_fdm_state->get_Psi() );
+
+    // set current view to 0 (first) which is our main pilot view
+    globals->set_current_view( pilot_view );
+
+    SG_LOG( SG_GENERAL, SG_DEBUG, "  abs_view_pos = "
+	    << globals->get_current_view()->get_abs_view_pos());
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the lighting subsystem.
+    ////////////////////////////////////////////////////////////////////
 
     // fgUpdateSunPos() needs a few position and view parameters set
     // so it can calculate local relative sun angle and a few other
@@ -425,28 +632,43 @@ bool fgInitSubsystems( void ) {
 			    fgMethodCallback<fgLIGHT>( &cur_light_params,
 						       &fgLIGHT::Update),
 			    fgEVENT::FG_EVENT_READY, 30000 );
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the local time subsystem.
+    ////////////////////////////////////////////////////////////////////
+
     // update the current timezone each 30 minutes
-    global_events.Register( "fgTIME::updateLocal()",
-			    fgMethodCallback<FGTime>(FGTime::cur_time_params, 
-						     &FGTime::updateLocal),
+    global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
 			    fgEVENT::FG_EVENT_READY, 1800000);
 
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the weather subsystem.
+    ////////////////////////////////////////////////////////////////////
+
     // Initialize the weather modeling subsystem
 #ifndef FG_OLD_WEATHER
     // Initialize the WeatherDatabase
-    FG_LOG(FG_GENERAL, FG_INFO, "Creating LocalWeatherDatabase");
+    SG_LOG(SG_GENERAL, SG_INFO, "Creating LocalWeatherDatabase");
     sgVec3 position;
     sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
 	       current_aircraft.fdm_state->get_Longitude(),
-	       current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
+	       current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER );
     FGLocalWeatherDatabase::theFGLocalWeatherDatabase = 
-	new FGLocalWeatherDatabase( position );
+	new FGLocalWeatherDatabase( position,
+				    globals->get_fg_root() );
     // cout << theFGLocalWeatherDatabase << endl;
     // cout << "visibility = " 
     //      << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
 
     WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
-     
+    
+    double init_vis = fgGetDouble("/environment/visibility-m");
+    if ( init_vis > 0 ) {
+	WeatherDatabase->setWeatherVisibility( init_vis );
+    }
+
     // register the periodic update of the weather
     global_events.Register( "weather update", fgUpdateWeatherDatabase,
                             fgEVENT::FG_EVENT_READY, 30000);
@@ -454,85 +676,139 @@ bool fgInitSubsystems( void ) {
     current_weather.Init();
 #endif
 
+    ////////////////////////////////////////////////////////////////////
     // Initialize vor/ndb/ils/fix list management and query systems
-    FG_LOG(FG_GENERAL, FG_INFO, "Loading Navaids");
+    ////////////////////////////////////////////////////////////////////
 
+    SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaids");
+
+    SG_LOG(SG_GENERAL, SG_INFO, "  VOR/NDB");
     current_navlist = new FGNavList;
-    FGPath p_nav( current_options.get_fg_root() );
+    SGPath p_nav( globals->get_fg_root() );
     p_nav.append( "Navaids/default.nav" );
     current_navlist->init( p_nav );
 
+    SG_LOG(SG_GENERAL, SG_INFO, "  ILS and Marker Beacons");
+    current_beacons = new FGMarkerBeacons;
+    current_beacons->init();
     current_ilslist = new FGILSList;
-    FGPath p_ils( current_options.get_fg_root() );
+    SGPath p_ils( globals->get_fg_root() );
     p_ils.append( "Navaids/default.ils" );
     current_ilslist->init( p_ils );
 
+    SG_LOG(SG_GENERAL, SG_INFO, "  Fixes");
     current_fixlist = new FGFixList;
-    FGPath p_fix( current_options.get_fg_root() );
+    SGPath p_fix( globals->get_fg_root() );
     p_fix.append( "Navaids/default.fix" );
     current_fixlist->init( p_fix );
 
-    // Initialize the underlying radio stack model
-    current_radiostack = new FGRadioStack;
 
-    current_radiostack->set_nav1_freq( 110.30 );
-    current_radiostack->set_nav1_radial( 299.0 );
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the built-in commands.
+    ////////////////////////////////////////////////////////////////////
+    fgInitCommands();
+
 
-    current_radiostack->set_nav2_freq( 115.70 );
-    current_radiostack->set_nav2_radial( 45.0 );
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the radio stack subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+				// A textbook example of how FGSubsystem
+				// should work...
+    current_radiostack = new FGRadioStack;
+    current_radiostack->init();
+    current_radiostack->bind();
 
-    current_radiostack->set_adf_freq( 266.0 );
 
-    current_radiostack->update( cur_fdm_state->get_Longitude(),
-				cur_fdm_state->get_Latitude(),
-				cur_fdm_state->get_Altitude() * FEET_TO_METER );
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the cockpit subsystem
+    ////////////////////////////////////////////////////////////////////
 
-    // Initialize the Cockpit subsystem
     if( fgCockpitInit( &current_aircraft )) {
 	// Cockpit initialized ok.
     } else {
-    	FG_LOG( FG_GENERAL, FG_ALERT, "Error in Cockpit initialization!" );
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error in Cockpit initialization!" );
 	exit(-1);
     }
 
-    // Initialize the flight model subsystem data structures base on
-    // above values
 
-    // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
-    //            1.0 / current_options.get_model_hz() );
-    cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the joystick subsystem.
+    ////////////////////////////////////////////////////////////////////
 
-    // I'm just sticking this here for now, it should probably move
-    // eventually
-    scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
+    // if ( ! fgJoystickInit() ) {
+    //   SG_LOG( SG_GENERAL, SG_ALERT, "Error in Joystick initialization!" );
+    // }
 
-    if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
-	cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
-    }
 
-    FG_LOG( FG_GENERAL, FG_INFO,
-	    "Updated position (after elevation adj): ("
-	    << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
-	    << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
-	    << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
-    // end of thing that I just stuck in that I should probably move
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the autopilot subsystem.
+    ////////////////////////////////////////////////////////////////////
 
-    // Joystick support
-    if ( fgJoystickInit() ) {
-	// Joystick initialized ok.
-    } else {
-    	FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
-    }
+    current_autopilot = new FGAutopilot;
+    current_autopilot->init();
 
-    // Autopilot init added here, by Jeff Goeke-Smith
-    fgAPInit(&current_aircraft);
+    // initialize the gui parts of the autopilot
+    NewTgtAirportInit();
+    fgAPAdjustInit() ;
+    NewHeadingInit();
+    NewAltitudeInit();
+
+    
+    ////////////////////////////////////////////////////////////////////
+    // Initialize I/O subsystem.
+    ////////////////////////////////////////////////////////////////////
 
-    // Initialize I/O channels
-#if ! defined( MACOS )
+#if ! defined( macintosh )
     fgIOInit();
 #endif
 
-    FG_LOG( FG_GENERAL, FG_INFO, endl);
+    // Initialize the 2D panel.
+    string panel_path = fgGetString("/sim/panel/path",
+				    "Panels/Default/default.xml");
+    current_panel = fgReadPanel(panel_path);
+    if (current_panel == 0) {
+	SG_LOG( SG_INPUT, SG_ALERT, 
+		"Error reading new panel from " << panel_path );
+    } else {
+	SG_LOG( SG_INPUT, SG_INFO, "Loaded new panel from " << panel_path );
+	current_panel->init();
+	current_panel->bind();
+    }
+
+    
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the default (kludged) properties.
+    ////////////////////////////////////////////////////////////////////
+
+    fgInitProps();
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the controls subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+    controls.init();
+    controls.bind();
+
+
+    ////////////////////////////////////////////////////////////////////
+    // Initialize the input subsystem.
+    ////////////////////////////////////////////////////////////////////
+
+    current_input.init();
+    current_input.bind();
+
+
+    ////////////////////////////////////////////////////////////////////////
+    // End of subsystem initialization.
+    ////////////////////////////////////////////////////////////////////
+
+    SG_LOG( SG_GENERAL, SG_INFO, endl);
+
+				// Save the initial state for future
+				// reference.
+    globals->saveInitialState();
 
     return true;
 }
@@ -540,97 +816,61 @@ bool fgInitSubsystems( void ) {
 
 void fgReInitSubsystems( void )
 {
-    FGTime *t = FGTime::cur_time_params;
-    
-    int toggle_pause = t->getPause();
-    
-    if( !toggle_pause )
-        t->togglePauseMode();
+    SG_LOG( SG_GENERAL, SG_INFO,
+	    "/position/altitude = " << fgGetDouble("/position/altitude-ft") );
+
+    bool freeze = globals->get_freeze();
+    if( !freeze )
+        globals->set_freeze( true );
     
-    fgInitPosition();
+    // Initialize the Scenery Management subsystem
+    if ( ! fgSceneryInit() ) {
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
+	exit(-1);
+    }
+
     if( global_tile_mgr.init() ) {
 	// Load the local scenery data
-	global_tile_mgr.update();
+	global_tile_mgr.update( fgGetDouble("/position/longitude-deg"),
+				fgGetDouble("/position/latitude-deg") );
     } else {
-    	FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
+    	SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
 		exit(-1);
     }
-    fgFDMSetGroundElevation( current_options.get_flight_model(), 
-			     scenery.cur_elev );
-
-    // Reset our altitude if we are below ground
-    FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
-    FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " << 
-	    cur_fdm_state->get_Runway_altitude() );
-
-    if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
-	cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
-    }
-    double sea_level_radius_meters;
-    double lat_geoc;
-    // Set the FG variables first
-    fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(), 
-		  &sea_level_radius_meters, &lat_geoc);
-    cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(), 
-				cur_fdm_state->get_Altitude() + 
-				(sea_level_radius_meters * METER_TO_FEET) );
-    cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
-	
-    cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
-    cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
-	
-    cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
-    cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
-
-    // The following section sets up the flight model EOM parameters
-    // and should really be read in from one or more files.
-
-    // Initial Velocity
-    cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
-                             current_options.get_vBody(),
-                             current_options.get_wBody());
-
-    // Initial Orientation
-    cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
-			 current_options.get_pitch() * DEG_TO_RAD,
-			 current_options.get_heading() * DEG_TO_RAD );
-
-    // Initial Angular Body rates
-    cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
-
-    cur_fdm_state->set_Earth_position_angle( 0.0 );
-
-    // Mass properties and geometry values
-    cur_fdm_state->set_Inertias( 8.547270E+01, 
-		     1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
-
-    // CG position w.r.t. ref. point
-    cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
 
     // Initialize view parameters
-    current_view.set_view_offset( 0.0 );
-    current_view.set_goal_view_offset( 0.0 );
-    pilot_view.set_view_offset( 0.0 );
-    pilot_view.set_goal_view_offset( 0.0 );
+    FGViewerRPH *pilot_view =
+	(FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
 
-    FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
-    current_view.UpdateViewMath(*cur_fdm_state);
-    pilot_view.UpdateViewMath(*cur_fdm_state);
-    FG_LOG( FG_GENERAL, FG_DEBUG, "  abs_view_pos = " << current_view.get_abs_view_pos());
+    pilot_view->set_view_offset( 0.0 );
+    pilot_view->set_goal_view_offset( 0.0 );
 
-    // fgFDMInit( current_options.get_flight_model(), cur_fdm_state, 
-    //            1.0 / current_options.get_model_hz() );
-    cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
+    pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(), 
+				   cur_fdm_state->get_Lat_geocentric(), 
+				   cur_fdm_state->get_Altitude() *
+				   SG_FEET_TO_METER );
+    pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
+				      SG_FEET_TO_METER ); 
+    pilot_view->set_rph( cur_fdm_state->get_Phi(),
+			 cur_fdm_state->get_Theta(),
+			 cur_fdm_state->get_Psi() );
 
-    scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
+    // set current view to 0 (first) which is our main pilot view
+    globals->set_current_view( pilot_view );
 
-    if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
-	cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
-    }
+    SG_LOG( SG_GENERAL, SG_DEBUG, "  abs_view_pos = "
+	    << globals->get_current_view()->get_abs_view_pos());
+
+    cur_fdm_state->init();
 
     controls.reset_all();
-    fgAPReset();
+    current_autopilot->reset();
+
+    fgUpdateSunPos();
+    fgUpdateMoonPos();
+    cur_light_params.Update();
+    fgUpdateLocalTime();
 
-    if( !toggle_pause )
-        t->togglePauseMode();
+    if( !freeze )
+        globals->set_freeze( false );
 }