From: curt <curt>
Date: Sat, 11 Sep 1999 02:07:48 +0000 (+0000)
Subject: Norman's autopilot updates, now serving great circle routes direct to
X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=057fa8d37e7291a887d058758efde752331e4635;p=flightgear.git

Norman's autopilot updates, now serving great circle routes direct to
the center of airports.
---

diff --git a/src/Autopilot/autopilot.cxx b/src/Autopilot/autopilot.cxx
index 5c57eabd0..f2b8b46ae 100644
--- a/src/Autopilot/autopilot.cxx
+++ b/src/Autopilot/autopilot.cxx
@@ -34,9 +34,111 @@
 
 #include <Include/fg_constants.h>
 #include <Debug/logstream.hxx>
-#include <Main/options.hxx>
+#include <Airports/simple.hxx>
 #include <GUI/gui.h>
+#include <Main/fg_init.hxx>
+#include <Main/options.hxx>
+#include <Time/fg_time.hxx>
+
+
+#define mySlider puSlider
+
+/// These statics will eventually go into the class
+/// they are just here while I am experimenting -- NHV :-)
+// AutoPilot Gain Adjuster members
+static double MaxRollAdjust;        // MaxRollAdjust       = 2 * APData->MaxRoll;
+static double RollOutAdjust;        // RollOutAdjust       = 2 * APData->RollOut;
+static double MaxAileronAdjust;     // MaxAileronAdjust    = 2 * APData->MaxAileron;
+static double RollOutSmoothAdjust;  // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
+
+static float MaxRollValue;          // 0.1 -> 1.0
+static float RollOutValue;
+static float MaxAileronValue;
+static float RollOutSmoothValue;
+
+static float TmpMaxRollValue;       // for cancel operation
+static float TmpRollOutValue;
+static float TmpMaxAileronValue;
+static float TmpRollOutSmoothValue;
 
+static puDialogBox *APAdjustDialog;
+static puFrame     *APAdjustFrame;
+static puText      *APAdjustDialogMessage;
+static puFont      APAdjustLegendFont;
+static puFont      APAdjustLabelFont;
+
+static puOneShot *APAdjustOkButton;
+static puOneShot *APAdjustResetButton;
+static puOneShot *APAdjustCancelButton;
+
+//static puButton        *APAdjustDragButton;
+
+static puText *APAdjustMaxRollTitle;
+static puText *APAdjustRollOutTitle;
+static puText *APAdjustMaxAileronTitle;
+static puText *APAdjustRollOutSmoothTitle;
+
+static puText *APAdjustMaxAileronText;
+static puText *APAdjustMaxRollText;
+static puText *APAdjustRollOutText;
+static puText *APAdjustRollOutSmoothText;
+
+static mySlider *APAdjustHS0;
+static mySlider *APAdjustHS1;
+static mySlider *APAdjustHS2;
+static mySlider *APAdjustHS3;
+
+static char SliderText[ 4 ][ 8 ];
+
+///////// AutoPilot New Heading Dialog
+
+static puDialogBox     *ApHeadingDialog;
+static puFrame         *ApHeadingDialogFrame;
+static puText          *ApHeadingDialogMessage;
+static puInput         *ApHeadingDialogInput;
+static puOneShot       *ApHeadingDialogOkButton;
+static puOneShot       *ApHeadingDialogCancelButton;
+
+
+///////// AutoPilot New Altitude Dialog
+
+static puDialogBox     *ApAltitudeDialog = 0;
+static puFrame         *ApAltitudeDialogFrame = 0;
+static puText          *ApAltitudeDialogMessage = 0;
+static puInput         *ApAltitudeDialogInput = 0;
+
+static puOneShot       *ApAltitudeDialogOkButton = 0;
+static puOneShot       *ApAltitudeDialogCancelButton = 0;
+
+
+/// The beginnings of Lock AutoPilot to target location :-)
+//  Needs cleaning up but works
+//  These statics should disapear when this is a class
+static puDialogBox     *TgtAptDialog = 0;
+static puFrame         *TgtAptDialogFrame = 0;
+static puText          *TgtAptDialogMessage = 0;
+static puInput         *TgtAptDialogInput = 0;
+
+static char NewTgtAirportId[16];
+static char NewTgtAirportLabel[] = "Enter New TgtAirport ID"; 
+
+static puOneShot       *TgtAptDialogOkButton = 0;
+static puOneShot       *TgtAptDialogCancelButton = 0;
+static puOneShot       *TgtAptDialogResetButton = 0;
+
+
+// global variable holding the AP info
+// I want this gone.  Data should be in aircraft structure
+fgAPDataPtr APDataGlobal;
+
+// Local Prototype section
+static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 );
+static double NormalizeDegrees( double Input );
+// End Local ProtoTypes
+
+extern char *coord_format_lat(float);
+extern char *coord_format_lon(float);
+			
 
 // The below routines were copied right from hud.c ( I hate reinventing
 // the wheel more than necessary)
@@ -45,50 +147,85 @@
 // current state and return it to calling instrument display routines.
 // They should eventually be member functions of the aircraft.
 //
+static void get_control_values( void ) {
+    fgAPDataPtr APData;
+    APData = APDataGlobal;
+    APData->old_aileron = controls.get_aileron();
+    APData->old_elevator = controls.get_elevator();
+    APData->old_elevator_trim = controls.get_elevator_trim();
+    APData->old_rudder = controls.get_rudder();
+}
+
+static void MakeTargetHeadingStr( fgAPDataPtr APData, double bearing ) {
+    if( bearing < 0. )
+	bearing += 360.;
+    else if(bearing > 360. )
+	bearing -= 360.;
+    sprintf(APData->TargetHeadingStr, "APHeading  %6.1f", bearing);
+}
 
+static inline void MakeTargetDistanceStr( fgAPDataPtr APData, double distance ) {
+    sprintf(APData->TargetDistanceStr, "APDistance %.2f NM", distance*METER_TO_NM);
+}
 
-static double get_speed( void ) {
+static inline void MakeTargetAltitudeStr( fgAPDataPtr APData, double altitude ) {
+    sprintf(APData->TargetAltitudeStr, "APAltitude  %6.0f", altitude);
+}
+
+static inline void MakeTargetLatLonStr( fgAPDataPtr APData, double lat, double lon ) {
+    float tmp;
+    tmp = APData->TargetLatitude;
+    sprintf( APData->TargetLatitudeStr , "%s", coord_format_lat(tmp) );
+    tmp = APData->TargetLongitude;
+    sprintf( APData->TargetLongitudeStr, "%s", coord_format_lon(tmp) );
+		
+    sprintf(APData->TargetLatLonStr, "%s  %s",
+	    APData->TargetLatitudeStr,
+	    APData->TargetLongitudeStr );
+}
+
+static inline double get_speed( void ) {
     return( current_aircraft.fdm_state->get_V_equiv_kts() );
 }
 
-static double get_aoa( void )
-{
+static inline double get_aoa( void ) {
     return( current_aircraft.fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
 }
 
-static double fgAPget_roll( void )
-{
+static inline double fgAPget_latitude( void ) {
+    return( current_aircraft.fdm_state->get_Latitude() * RAD_TO_DEG );
+}
+
+static inline double fgAPget_longitude( void ) {
+    return( current_aircraft.fdm_state->get_Longitude() * RAD_TO_DEG );
+}
+
+static inline double fgAPget_roll( void ) {
     return( current_aircraft.fdm_state->get_Phi() * RAD_TO_DEG );
 }
 
-static double get_pitch( void )
-{
+static inline double get_pitch( void ) {
     return( current_aircraft.fdm_state->get_Theta() );
 }
 
-double fgAPget_heading( void )
-{
+double fgAPget_heading( void ) {
     return( current_aircraft.fdm_state->get_Psi() * RAD_TO_DEG );
 }
 
-static double fgAPget_altitude( void )
-{
+static inline double fgAPget_altitude( void ) {
     return( current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
 }
 
-static double fgAPget_climb( void )
-{
+static inline double fgAPget_climb( void ) {
     // return in meters per minute
     return( current_aircraft.fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
 }
 
-static double get_sideslip( void )
-{
+static inline double get_sideslip( void ) {
     return( current_aircraft.fdm_state->get_Beta() );
 }
 
-static double fgAPget_agl( void )
-{
+static inline double fgAPget_agl( void ) {
     double agl;
 
     agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
@@ -98,24 +235,78 @@ static double fgAPget_agl( void )
 }
 
 // End of copied section.  ( thanks for the wheel :-)
+double fgAPget_TargetLatitude( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetLatitude;
+}
 
-// Local Prototype section
+double fgAPget_TargetLongitude( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetLongitude;
+}
 
-double LinearExtrapolate( double x, double x1, double y1, double x2, double y2);
-double NormalizeDegrees( double Input);
+double fgAPget_TargetHeading( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetHeading;
+}
 
-// End Local ProtoTypes
+double fgAPget_TargetDistance( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetDistance;
+}
 
-fgAPDataPtr APDataGlobal;       // global variable holding the AP info
-// I want this gone.  Data should be in aircraft structure
+double fgAPget_TargetAltitude( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetAltitude;
+}
+
+char *fgAPget_TargetLatitudeStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetLatitudeStr;
+}
+
+char *fgAPget_TargetLongitudeStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetLongitudeStr;
+}
+
+char *fgAPget_TargetDistanceStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetDistanceStr;
+}
+
+char *fgAPget_TargetHeadingStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetHeadingStr;
+}
+
+char *fgAPget_TargetAltitudeStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetAltitudeStr;
+}
+
+char *fgAPget_TargetLatLonStr( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->TargetLatLonStr;
+}
+
+bool fgAPWayPointEnabled( void )
+{
+    fgAPDataPtr APData;
+
+    APData = APDataGlobal;
+
+    // heading hold enabled?
+    return APData->waypoint_hold;
+}
 
 
 bool fgAPHeadingEnabled( void )
 {
     fgAPDataPtr APData;
-    
+
     APData = APDataGlobal;
-    
+
     // heading hold enabled?
     return APData->heading_hold;
 }
@@ -123,9 +314,9 @@ bool fgAPHeadingEnabled( void )
 bool fgAPAltitudeEnabled( void )
 {
     fgAPDataPtr APData;
-    
+
     APData = APDataGlobal;
-    
+
     // altitude hold or terrain follow enabled?
     return APData->altitude_hold;
 }
@@ -133,9 +324,9 @@ bool fgAPAltitudeEnabled( void )
 bool fgAPTerrainFollowEnabled( void )
 {
     fgAPDataPtr APData;
-    
+
     APData = APDataGlobal;
-            
+
     // altitude hold or terrain follow enabled?
     return APData->terrain_follow ;
 }
@@ -143,7 +334,7 @@ bool fgAPTerrainFollowEnabled( void )
 bool fgAPAutoThrottleEnabled( void )
 {
     fgAPDataPtr APData;
-    
+
     APData = APDataGlobal;
 
     // autothrottle enabled?
@@ -166,8 +357,8 @@ void fgAPAltitudeAdjust( double inc )
 	target_agl = APData->TargetAGL;
     }
 
-    target_alt = (int)(target_alt / inc) * inc + inc;
-    target_agl = (int)(target_agl / inc) * inc + inc;
+    target_alt = ( int ) ( target_alt / inc ) * inc + inc;
+    target_agl = ( int ) ( target_agl / inc ) * inc + inc;
 
     if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
 	target_alt *= FEET_TO_METER;
@@ -176,6 +367,13 @@ void fgAPAltitudeAdjust( double inc )
 
     APData->TargetAltitude = target_alt;
     APData->TargetAGL = target_agl;
+	
+    if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
+	target_alt *= METER_TO_FEET;
+    ApAltitudeDialogInput->setValue((float)target_alt);
+    MakeTargetAltitudeStr( APData, target_alt);
+
+    get_control_values();
 }
 
 void fgAPAltitudeSet( double new_altitude ) {
@@ -183,113 +381,60 @@ void fgAPAltitudeSet( double new_altitude ) {
     fgAPDataPtr APData = APDataGlobal;
     // end section
     double target_alt = new_altitude;
-    
+
     if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
-        target_alt = new_altitude * FEET_TO_METER;
+	target_alt = new_altitude * FEET_TO_METER;
 
     if( target_alt < scenery.cur_elev )
-        target_alt = scenery.cur_elev;
-        
+	target_alt = scenery.cur_elev;
+
     APData->TargetAltitude = target_alt;
+	
+    if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
+	target_alt *= METER_TO_FEET;
+    ApAltitudeDialogInput->setValue((float)target_alt);
+    MakeTargetAltitudeStr( APData, target_alt);
+	
+    get_control_values();
 }
 
-void fgAPHeadingAdjust( double inc )
-{
-    fgAPDataPtr APData;
-    APData = APDataGlobal;
+void fgAPHeadingAdjust( double inc ) {
+    fgAPDataPtr APData = APDataGlobal;
 
-    double target = (int)(APData->TargetHeading / inc) * inc + inc;
+    if ( APData->waypoint_hold )
+	APData->waypoint_hold = false;
+	
+    double target = ( int ) ( APData->TargetHeading / inc ) * inc + inc;
 
-    APData->TargetHeading = NormalizeDegrees(target);
+    APData->TargetHeading = NormalizeDegrees( target );
+    // following cast needed ambiguous plib
+    ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
+    MakeTargetHeadingStr( APData, APData->TargetHeading );			
+    get_control_values();
 }
 
 void fgAPHeadingSet( double new_heading ) {
     fgAPDataPtr APData = APDataGlobal;
-
+	
+    if ( APData->waypoint_hold )
+	APData->waypoint_hold = false;
+	
     new_heading = NormalizeDegrees( new_heading );
     APData->TargetHeading = new_heading;
+    // following cast needed ambiguous plib
+    ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
+    MakeTargetHeadingStr( APData, APData->TargetHeading );			
+    get_control_values();
 }
 
-void fgAPAutoThrottleAdjust( double inc )
-{
-    fgAPDataPtr APData;
-    APData = APDataGlobal;
+void fgAPAutoThrottleAdjust( double inc ) {
+    fgAPDataPtr APData = APDataGlobal;
 
-    double target = (int)(APData->TargetSpeed / inc) * inc + inc;
+    double target = ( int ) ( APData->TargetSpeed / inc ) * inc + inc;
 
     APData->TargetSpeed = target;
 }
 
-void fgAPReset(void)
-{
-    fgAPDataPtr APData = APDataGlobal;
-    
-    if( fgAPTerrainFollowEnabled() )
-	fgAPToggleTerrainFollow( );
-
-    if( fgAPAltitudeEnabled() )
-	fgAPToggleAltitude();
-		
-    if( fgAPHeadingEnabled() )
-	fgAPToggleHeading();
-		
-    if( fgAPAutoThrottleEnabled() )
-	fgAPToggleAutoThrottle();
-    
-    APData->TargetHeading = 0.0;     // default direction, due north
-    APData->TargetAltitude = 3000;   // default altitude in meters
-    APData->alt_error_accum = 0.0;
-}
-
-#define mySlider puSlider
-
-/// These statics will eventually go into the class
-/// they are just here while I am experimenting -- NHV :-)
-
-static double MaxRollAdjust;       // MaxRollAdjust       = 2 * APData->MaxRoll;
-static double RollOutAdjust;       // RollOutAdjust       = 2 * APData->RollOut;
-static double MaxAileronAdjust;    // MaxAileronAdjust    = 2 * APData->MaxAileron;
-static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
-
-static float MaxRollValue;         // 0.1 -> 1.0
-static float RollOutValue;
-static float MaxAileronValue;
-static float RollOutSmoothValue;
-
-static float TmpMaxRollValue;      // for cancel operation
-static float TmpRollOutValue;
-static float TmpMaxAileronValue;
-static float TmpRollOutSmoothValue;
-
-static puDialogBox     *APAdjustDialog;
-static puFrame         *APAdjustFrame;
-static puText          *APAdjustDialogMessage;
-static puFont          APAdjustLegendFont;
-static puFont          APAdjustLabelFont;
-
-static puOneShot       *APAdjustOkButton;
-static puOneShot       *APAdjustResetButton;
-static puOneShot       *APAdjustCancelButton;
-
-//static puButton        *APAdjustDragButton;
-
-static puText          *APAdjustMaxRollTitle;
-static puText          *APAdjustRollOutTitle;
-static puText          *APAdjustMaxAileronTitle;
-static puText          *APAdjustRollOutSmoothTitle;
-
-static puText          *APAdjustMaxAileronText;
-static puText          *APAdjustMaxRollText;
-static puText          *APAdjustRollOutText;
-static puText          *APAdjustRollOutSmoothText;
-
-static mySlider        *APAdjustHS0;
-static mySlider        *APAdjustHS1;
-static mySlider        *APAdjustHS2;
-static mySlider        *APAdjustHS3;
-
-static char SliderText[4][8];
-
 // THIS NEEDS IMPROVEMENT !!!!!!!!!!!!!
 static int scan_number(char *s, double *new_value)
 {
@@ -299,38 +444,29 @@ static int scan_number(char *s, double *new_value)
     char *WordBufPtr = WordBuf;
 
     if (*cptr == '+')
-        cptr++;
+	cptr++;
     if (*cptr == '-') {
-        *WordBufPtr++ = *cptr++;
+	*WordBufPtr++ = *cptr++;
     }
     while (isdigit(*cptr) ) {
-        *WordBufPtr++ = *cptr++;
-        ret = 1;
+	*WordBufPtr++ = *cptr++;
+	ret = 1;
     }
     if (*cptr == '.') 
-        *WordBufPtr++ = *cptr++;  // put the '.' into the string
+	*WordBufPtr++ = *cptr++;  // put the '.' into the string
     while (isdigit(*cptr)) {
-        *WordBufPtr++ = *cptr++;
-        ret = 1;
+	*WordBufPtr++ = *cptr++;
+	ret = 1;
     }
     if( ret == 1 ) {
-        *WordBufPtr = '\0';
-        sscanf(WordBuf, "%lf", new_value);
+	*WordBufPtr = '\0';
+	sscanf(WordBuf, "%lf", new_value);
     }
-    
+
     return(ret);
 } // scan_number
 
 
-///////// AutoPilot New Heading Dialog
-
-static puDialogBox     *ApHeadingDialog;
-static puFrame         *ApHeadingDialogFrame;
-static puText          *ApHeadingDialogMessage;
-static puInput         *ApHeadingDialogInput;
-static puOneShot       *ApHeadingDialogOkButton;
-static puOneShot       *ApHeadingDialogCancelButton;
-
 void ApHeadingDialog_Cancel(puObject *)
 {
     ApHeadingDialogInput->rejectInput();
@@ -343,10 +479,10 @@ void ApHeadingDialog_OK (puObject *me)
     char *c;
     string s;
     ApHeadingDialogInput -> getValue( &c );
-    
+
     if( strlen(c) ) {
-        double NewHeading;
-        if( scan_number( c, &NewHeading ) )
+	double NewHeading;
+	if( scan_number( c, &NewHeading ) )
 	    {
 		if(!fgAPHeadingEnabled())
 		    fgAPToggleHeading();
@@ -363,56 +499,46 @@ void ApHeadingDialog_OK (puObject *me)
 
 void NewHeading(puObject *cb)
 {
-    //  string ApHeadingLabel( "Enter New Heading" );
-    //  ApHeadingDialogMessage  -> setLabel(ApHeadingLabel.c_str());
+    //	string ApHeadingLabel( "Enter New Heading" );
+    //	ApHeadingDialogMessage  -> setLabel(ApHeadingLabel.c_str());
     ApHeadingDialogInput    -> acceptInput();
     FG_PUSH_PUI_DIALOG( ApHeadingDialog );
 }
 
 void NewHeadingInit(void)
 {
-    //  printf("NewHeadingInit\n");
+    //	printf("NewHeadingInit\n");
     char NewHeadingLabel[] = "Enter New Heading";
     char *s;
 
     float heading = fgAPget_heading();
     int len = 260/2 -
 	(puGetStringWidth( puGetDefaultLabelFont(), NewHeadingLabel ) /2 );
-    
+
     ApHeadingDialog = new puDialogBox (150, 50);
     {
-        ApHeadingDialogFrame   = new puFrame (0, 0, 260, 150);
-        
-        ApHeadingDialogMessage = new puText   (len, 110);
-        ApHeadingDialogMessage    -> setDefaultValue (NewHeadingLabel);
-        ApHeadingDialogMessage    -> getDefaultValue (&s);
-        ApHeadingDialogMessage    -> setLabel        (s);
-    
-        ApHeadingDialogInput   = new puInput  ( 50, 70, 210, 100 );
-        ApHeadingDialogInput   ->    setValue ( heading );
+	ApHeadingDialogFrame   = new puFrame (0, 0, 260, 150);
 
-        ApHeadingDialogOkButton     =  new puOneShot         (50, 10, 110, 50);
-        ApHeadingDialogOkButton     ->     setLegend         (gui_msg_OK);
-        ApHeadingDialogOkButton     ->     makeReturnDefault (TRUE);
-        ApHeadingDialogOkButton     ->     setCallback       (ApHeadingDialog_OK);
-        
-        ApHeadingDialogCancelButton =  new puOneShot         (140, 10, 210, 50);
-        ApHeadingDialogCancelButton ->     setLegend         (gui_msg_CANCEL);
-        ApHeadingDialogCancelButton ->     setCallback       (ApHeadingDialog_Cancel);
-        
-    }
-    FG_FINALIZE_PUI_DIALOG( ApHeadingDialog );
-}
+	ApHeadingDialogMessage = new puText   (len, 110);
+	ApHeadingDialogMessage    -> setDefaultValue (NewHeadingLabel);
+	ApHeadingDialogMessage    -> getDefaultValue (&s);
+	ApHeadingDialogMessage    -> setLabel        (s);
 
-///////// AutoPilot New Altitude Dialog
+	ApHeadingDialogInput   = new puInput  ( 50, 70, 210, 100 );
+	ApHeadingDialogInput   ->    setValue ( heading );
 
-static puDialogBox     *ApAltitudeDialog = 0;
-static puFrame         *ApAltitudeDialogFrame = 0;
-static puText          *ApAltitudeDialogMessage = 0;
-static puInput         *ApAltitudeDialogInput = 0;
+	ApHeadingDialogOkButton     =  new puOneShot         (50, 10, 110, 50);
+	ApHeadingDialogOkButton     ->     setLegend         (gui_msg_OK);
+	ApHeadingDialogOkButton     ->     makeReturnDefault (TRUE);
+	ApHeadingDialogOkButton     ->     setCallback       (ApHeadingDialog_OK);
 
-static puOneShot       *ApAltitudeDialogOkButton = 0;
-static puOneShot       *ApAltitudeDialogCancelButton = 0;
+	ApHeadingDialogCancelButton =  new puOneShot         (140, 10, 210, 50);
+	ApHeadingDialogCancelButton ->     setLegend         (gui_msg_CANCEL);
+	ApHeadingDialogCancelButton ->     setCallback       (ApHeadingDialog_Cancel);
+
+    }
+    FG_FINALIZE_PUI_DIALOG( ApHeadingDialog );
+}
 
 void ApAltitudeDialog_Cancel(puObject *)
 {
@@ -428,8 +554,8 @@ void ApAltitudeDialog_OK (puObject *me)
     ApAltitudeDialogInput->getValue( &c );
 
     if( strlen( c ) ) {
-        double NewAltitude;
-        if( scan_number( c, &NewAltitude) )
+	double NewAltitude;
+	if( scan_number( c, &NewAltitude) )
 	    {
 		if(!(fgAPAltitudeEnabled()))
 		    fgAPToggleAltitude();
@@ -442,6 +568,7 @@ void ApAltitudeDialog_OK (puObject *me)
     }
     ApAltitudeDialog_Cancel(me);
     if( error )  mkDialog(s.c_str());
+    get_control_values();
 }
 
 void NewAltitude(puObject *cb)
@@ -452,106 +579,104 @@ void NewAltitude(puObject *cb)
 
 void NewAltitudeInit(void)
 {
-    //  printf("NewAltitudeInit\n");
+    //	printf("NewAltitudeInit\n");
     char NewAltitudeLabel[] = "Enter New Altitude";
     char *s;
 
     float alt = current_aircraft.fdm_state->get_Altitude();
+
+    if ( current_options.get_units() == fgOPTIONS::FG_UNITS_METERS) {
+	alt *= FEET_TO_METER;
+    }
+
     int len = 260/2 -
 	(puGetStringWidth( puGetDefaultLabelFont(), NewAltitudeLabel )/2);
-    
-    ApAltitudeDialog = new puDialogBox (150, 50);
+
+    //	ApAltitudeDialog = new puDialogBox (150, 50);
+    ApAltitudeDialog = new puDialogBox (150, 200);
     {
-        ApAltitudeDialogFrame   = new puFrame  (0, 0, 260, 150);
-        ApAltitudeDialogMessage = new puText   (len, 110);
-        ApAltitudeDialogMessage    -> setDefaultValue (NewAltitudeLabel);
-        ApAltitudeDialogMessage    -> getDefaultValue (&s);
-        ApAltitudeDialogMessage    -> setLabel (s);
-        
-        ApAltitudeDialogInput   = new puInput  ( 50, 70, 210, 100 );
-        ApAltitudeDialogInput      -> setValue ( alt );
-        // Uncomment the next line to have input active on startup
-        // ApAltitudeDialogInput   ->    acceptInput       ( );
-        // cursor at begining or end of line ?
-        //len = strlen(s);
-	//      len = 0;
-	//      ApAltitudeDialogInput   ->    setCursor         ( len );
-	//      ApAltitudeDialogInput   ->    setSelectRegion   ( 5, 9 );
-
-        ApAltitudeDialogOkButton     =  new puOneShot         (50, 10, 110, 50);
-        ApAltitudeDialogOkButton     ->     setLegend         (gui_msg_OK);
-        ApAltitudeDialogOkButton     ->     makeReturnDefault (TRUE);
-        ApAltitudeDialogOkButton     ->     setCallback       (ApAltitudeDialog_OK);
-        
-        ApAltitudeDialogCancelButton =  new puOneShot         (140, 10, 210, 50);
-        ApAltitudeDialogCancelButton ->     setLegend         (gui_msg_CANCEL);
-        ApAltitudeDialogCancelButton ->     setCallback       (ApAltitudeDialog_Cancel);
-        
+	ApAltitudeDialogFrame   = new puFrame  (0, 0, 260, 150);
+	ApAltitudeDialogMessage = new puText   (len, 110);
+	ApAltitudeDialogMessage    -> setDefaultValue (NewAltitudeLabel);
+	ApAltitudeDialogMessage    -> getDefaultValue (&s);
+	ApAltitudeDialogMessage    -> setLabel (s);
+
+	ApAltitudeDialogInput   = new puInput  ( 50, 70, 210, 100 );
+	ApAltitudeDialogInput      -> setValue ( alt );
+	// Uncomment the next line to have input active on startup
+	// ApAltitudeDialogInput   ->    acceptInput       ( );
+	// cursor at begining or end of line ?
+	//len = strlen(s);
+	//		len = 0;
+	//		ApAltitudeDialogInput   ->    setCursor         ( len );
+	//		ApAltitudeDialogInput   ->    setSelectRegion   ( 5, 9 );
+
+	ApAltitudeDialogOkButton     =  new puOneShot         (50, 10, 110, 50);
+	ApAltitudeDialogOkButton     ->     setLegend         (gui_msg_OK);
+	ApAltitudeDialogOkButton     ->     makeReturnDefault (TRUE);
+	ApAltitudeDialogOkButton     ->     setCallback       (ApAltitudeDialog_OK);
+
+	ApAltitudeDialogCancelButton =  new puOneShot         (140, 10, 210, 50);
+	ApAltitudeDialogCancelButton ->     setLegend         (gui_msg_CANCEL);
+	ApAltitudeDialogCancelButton ->     setCallback       (ApAltitudeDialog_Cancel);
+
     }
     FG_FINALIZE_PUI_DIALOG( ApAltitudeDialog );
 }
 
 /////// simple AutoPilot GAIN / LIMITS ADJUSTER
 
-   
 #define fgAP_CLAMP(val,min,max) \
 ( (val) = (val) > (max) ? (max) : (val) < (min) ? (min) : (val) )
 
-    static void maxroll_adj(puObject *hs)
-{
-    float val ;
-    fgAPDataPtr APData;
-    APData = APDataGlobal;
-    
-    hs -> getValue ( &val ) ;
-    fgAP_CLAMP ( val, 0.1, 1.0 ) ;
-    //    printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
-    APData->MaxRoll = MaxRollAdjust * val;
-    sprintf(SliderText[0],"%05.2f", APData->MaxRoll );
-    APAdjustMaxRollText -> setLabel ( SliderText[0] ) ;
+    static void maxroll_adj( puObject *hs ) {
+	float val ;
+	fgAPDataPtr APData = APDataGlobal;
+
+	hs-> getValue ( &val ) ;
+	fgAP_CLAMP ( val, 0.1, 1.0 ) ;
+	//    printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
+	APData-> MaxRoll = MaxRollAdjust * val;
+	sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
+	APAdjustMaxRollText -> setLabel ( SliderText[ 0 ] ) ;
 }
 
-static void rollout_adj(puObject *hs)
-{
+static void rollout_adj( puObject *hs ) {
     float val ;
-    fgAPDataPtr APData;
-    APData = APDataGlobal;
-    
-    hs -> getValue ( &val ) ;
+    fgAPDataPtr APData = APDataGlobal;
+
+    hs-> getValue ( &val ) ;
     fgAP_CLAMP ( val, 0.1, 1.0 ) ;
     //    printf ( "rollout_adj( %p ) %f %f\n", hs, val, RollOutAdjust * val ) ;
-    APData->RollOut = RollOutAdjust * val;
-    sprintf(SliderText[1],"%05.2f", APData->RollOut );
-    APAdjustRollOutText -> setLabel ( SliderText[1] );
+    APData-> RollOut = RollOutAdjust * val;
+    sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
+    APAdjustRollOutText -> setLabel ( SliderText[ 1 ] );
 }
 
-static void maxaileron_adj( puObject *hs )
-{
+static void maxaileron_adj( puObject *hs ) {
     float val ;
     fgAPDataPtr APData;
     APData = APDataGlobal;
-    
-    hs -> getValue ( &val ) ;
+
+    hs-> getValue ( &val ) ;
     fgAP_CLAMP ( val, 0.1, 1.0 ) ;
     //    printf ( "maxaileron_adj( %p ) %f %f\n", hs, val, MaxAileronAdjust * val ) ;
-    APData->MaxAileron = MaxAileronAdjust * val;
-    sprintf(SliderText[3],"%05.2f", APData->MaxAileron );
-    APAdjustMaxAileronText -> setLabel ( SliderText[3] );
+    APData-> MaxAileron = MaxAileronAdjust * val;
+    sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
+    APAdjustMaxAileronText -> setLabel ( SliderText[ 3 ] );
 }
 
-static void rolloutsmooth_adj( puObject *hs )
-{
+static void rolloutsmooth_adj( puObject *hs ) {
     float val ;
-    fgAPDataPtr APData;
-    APData = APDataGlobal;
-    
+    fgAPDataPtr APData = APDataGlobal;
+
     hs -> getValue ( &val ) ;
     fgAP_CLAMP ( val, 0.1, 1.0 ) ;
     //    printf ( "rolloutsmooth_adj( %p ) %f %f\n", hs, val, RollOutSmoothAdjust * val ) ;
     APData->RollOutSmooth = RollOutSmoothAdjust * val;
-    sprintf(SliderText[2],"%5.2f", APData->RollOutSmooth );
-    APAdjustRollOutSmoothText -> setLabel ( SliderText[2] );
-	
+    sprintf( SliderText[ 2 ], "%5.2f", APData-> RollOutSmooth );
+    APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
+
 }
 
 static void goAwayAPAdjust (puObject *)
@@ -559,60 +684,55 @@ static void goAwayAPAdjust (puObject *)
     FG_POP_PUI_DIALOG( APAdjustDialog );
 }
 
-void cancelAPAdjust(puObject *self)
-{
-    fgAPDataPtr APData  = APDataGlobal;
-	
-    APData->MaxRoll       = TmpMaxRollValue;
-    APData->RollOut       = TmpRollOutValue;
-    APData->MaxAileron    = TmpMaxAileronValue;
-    APData->RollOutSmooth = TmpRollOutSmoothValue;
-    
+void cancelAPAdjust( puObject *self ) {
+    fgAPDataPtr APData = APDataGlobal;
+
+    APData-> MaxRoll       = TmpMaxRollValue;
+    APData-> RollOut       = TmpRollOutValue;
+    APData-> MaxAileron    = TmpMaxAileronValue;
+    APData-> RollOutSmooth = TmpRollOutSmoothValue;
+
     goAwayAPAdjust(self);
 }
 
-void resetAPAdjust(puObject *self)
-{
-    fgAPDataPtr APData  = APDataGlobal;
-	
-    APData->MaxRoll       = MaxRollAdjust / 2;
-    APData->RollOut       = RollOutAdjust / 2;
-    APData->MaxAileron    = MaxAileronAdjust / 2;
-    APData->RollOutSmooth = RollOutSmoothAdjust / 2;
-    
+void resetAPAdjust( puObject *self ) {
+    fgAPDataPtr APData = APDataGlobal;
+
+    APData-> MaxRoll       = MaxRollAdjust / 2;
+    APData-> RollOut       = RollOutAdjust / 2;
+    APData-> MaxAileron    = MaxAileronAdjust / 2;
+    APData-> RollOutSmooth = RollOutSmoothAdjust / 2;
+
     FG_POP_PUI_DIALOG( APAdjustDialog );
-    
+
     fgAPAdjust( self );
 }
 
-void fgAPAdjust( puObject * )
-{
-    fgAPDataPtr APData  = APDataGlobal;
-	
-    TmpMaxRollValue        = APData->MaxRoll;
-    TmpRollOutValue        = APData->RollOut;
-    TmpMaxAileronValue     = APData->MaxAileron;
-    TmpRollOutSmoothValue  = APData->RollOutSmooth;
-
-    MaxRollValue        = APData->MaxRoll       / MaxRollAdjust;
-    RollOutValue        = APData->RollOut       / RollOutAdjust;
-    MaxAileronValue     = APData->MaxAileron    / MaxAileronAdjust;
-    RollOutSmoothValue  = APData->RollOutSmooth / RollOutSmoothAdjust;
-
-    APAdjustHS0 -> setValue ( MaxRollValue ) ;
-    APAdjustHS1 -> setValue ( RollOutValue ) ;
-    APAdjustHS2 -> setValue ( RollOutSmoothValue ) ;
-    APAdjustHS3 -> setValue ( MaxAileronValue ) ;
-    
+void fgAPAdjust( puObject * ) {
+    fgAPDataPtr APData = APDataGlobal;
+
+    TmpMaxRollValue       = APData-> MaxRoll;
+    TmpRollOutValue       = APData-> RollOut;
+    TmpMaxAileronValue    = APData-> MaxAileron;
+    TmpRollOutSmoothValue = APData-> RollOutSmooth;
+
+    MaxRollValue       = APData-> MaxRoll / MaxRollAdjust;
+    RollOutValue       = APData-> RollOut / RollOutAdjust;
+    MaxAileronValue    = APData-> MaxAileron / MaxAileronAdjust;
+    RollOutSmoothValue = APData-> RollOutSmooth / RollOutSmoothAdjust;
+
+    APAdjustHS0-> setValue ( MaxRollValue ) ;
+    APAdjustHS1-> setValue ( RollOutValue ) ;
+    APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
+    APAdjustHS3-> setValue ( MaxAileronValue ) ;
+
     FG_PUSH_PUI_DIALOG( APAdjustDialog );
 }
 
-
-// Done once at system initialization
 // Done once at system initialization
 void fgAPAdjustInit( void ) {
 
-    //  printf("fgAPAdjustInit\n");
+    //	printf("fgAPAdjustInit\n");
 #define HORIZONTAL  FALSE
 
     int DialogX = 40;
@@ -635,7 +755,7 @@ void fgAPAdjustInit( void ) {
     int slider_title_x = 15;
     int slider_value_x = 160;
     float slider_delta = 0.1f;
-    
+
     TmpMaxRollValue       = APData-> MaxRoll;
     TmpRollOutValue       = APData-> RollOut;
     TmpMaxAileronValue    = APData-> MaxAileron;
@@ -648,119 +768,270 @@ void fgAPAdjustInit( void ) {
 
     puGetDefaultFonts (  &APAdjustLegendFont,  &APAdjustLabelFont );
     APAdjustDialog = new puDialogBox ( DialogX, DialogY ); {
-        int horiz_slider_height = puGetStringHeight (APAdjustLabelFont) +
+	int horiz_slider_height = puGetStringHeight (APAdjustLabelFont) +
 	    puGetStringDescender (APAdjustLabelFont) +
 	    PUSTR_TGAP + PUSTR_BGAP + 5;
 
-        APAdjustFrame = new puFrame ( 0, 0,
-                                      DialogWidth, 85 + nSliders * horiz_slider_height );
-
-        APAdjustDialogMessage = new puText ( labelX, 52 + nSliders * horiz_slider_height );
-        APAdjustDialogMessage -> setDefaultValue ( Label );
-        APAdjustDialogMessage -> getDefaultValue ( &s );
-        APAdjustDialogMessage -> setLabel        ( s );
-
-        APAdjustHS0 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
-        APAdjustHS0-> setDelta ( slider_delta ) ;
-        APAdjustHS0-> setValue ( MaxRollValue ) ;
-        APAdjustHS0-> setCBMode ( PUSLIDER_DELTA ) ;
-        APAdjustHS0-> setCallback ( maxroll_adj ) ;
-
-        sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
-        APAdjustMaxRollTitle = new puText ( slider_title_x, slider_y ) ;
-        APAdjustMaxRollTitle-> setDefaultValue ( "MaxRoll" ) ;
-        APAdjustMaxRollTitle-> getDefaultValue ( &s ) ;
-        APAdjustMaxRollTitle-> setLabel ( s ) ;
-        APAdjustMaxRollText = new puText ( slider_value_x, slider_y ) ;
-        APAdjustMaxRollText-> setLabel ( SliderText[ 0 ] ) ;
-
-        slider_y += horiz_slider_height;
-
-        APAdjustHS1 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
-        APAdjustHS1-> setDelta ( slider_delta ) ;
-        APAdjustHS1-> setValue ( RollOutValue ) ;
-        APAdjustHS1-> setCBMode ( PUSLIDER_DELTA ) ;
-        APAdjustHS1-> setCallback ( rollout_adj ) ;
-
-        sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
-        APAdjustRollOutTitle = new puText ( slider_title_x, slider_y ) ;
-        APAdjustRollOutTitle-> setDefaultValue ( "AdjustRollOut" ) ;
-        APAdjustRollOutTitle-> getDefaultValue ( &s ) ;
-        APAdjustRollOutTitle-> setLabel ( s ) ;
-        APAdjustRollOutText = new puText ( slider_value_x, slider_y ) ;
-        APAdjustRollOutText-> setLabel ( SliderText[ 1 ] );
-
-        slider_y += horiz_slider_height;
-
-        APAdjustHS2 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
-        APAdjustHS2-> setDelta ( slider_delta ) ;
-        APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
-        APAdjustHS2-> setCBMode ( PUSLIDER_DELTA ) ;
-        APAdjustHS2-> setCallback ( rolloutsmooth_adj ) ;
-
-        sprintf( SliderText[ 2 ], "%5.2f", APData->RollOutSmooth );
-        APAdjustRollOutSmoothTitle = new puText ( slider_title_x, slider_y ) ;
-        APAdjustRollOutSmoothTitle-> setDefaultValue ( "RollOutSmooth" ) ;
-        APAdjustRollOutSmoothTitle-> getDefaultValue ( &s ) ;
-        APAdjustRollOutSmoothTitle-> setLabel ( s ) ;
-        APAdjustRollOutSmoothText = new puText ( slider_value_x, slider_y ) ;
-        APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
-
-        slider_y += horiz_slider_height;
-
-        APAdjustHS3 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
-        APAdjustHS3-> setDelta ( slider_delta ) ;
-        APAdjustHS3-> setValue ( MaxAileronValue ) ;
-        APAdjustHS3-> setCBMode ( PUSLIDER_DELTA ) ;
-        APAdjustHS3-> setCallback ( maxaileron_adj ) ;
-
-        sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
-        APAdjustMaxAileronTitle = new puText ( slider_title_x, slider_y ) ;
-        APAdjustMaxAileronTitle-> setDefaultValue ( "MaxAileron" ) ;
-        APAdjustMaxAileronTitle-> getDefaultValue ( &s ) ;
-        APAdjustMaxAileronTitle-> setLabel ( s ) ;
-        APAdjustMaxAileronText = new puText ( slider_value_x, slider_y ) ;
-        APAdjustMaxAileronText-> setLabel ( SliderText[ 3 ] );
-
-        APAdjustOkButton = new puOneShot ( 10, 10, 60, 50 );
-        APAdjustOkButton-> setLegend ( gui_msg_OK );
-        APAdjustOkButton-> makeReturnDefault ( TRUE );
-        APAdjustOkButton-> setCallback ( goAwayAPAdjust );
-
-        APAdjustCancelButton = new puOneShot ( 70, 10, 150, 50 );
-        APAdjustCancelButton-> setLegend ( gui_msg_CANCEL );
-        APAdjustCancelButton-> setCallback ( cancelAPAdjust );
-
-        APAdjustResetButton = new puOneShot ( 160, 10, 220, 50 );
-        APAdjustResetButton-> setLegend ( gui_msg_RESET );
-        APAdjustResetButton-> setCallback ( resetAPAdjust );
+	APAdjustFrame = new puFrame ( 0, 0,
+				      DialogWidth, 85 + nSliders * horiz_slider_height );
+
+	APAdjustDialogMessage = new puText ( labelX, 52 + nSliders * horiz_slider_height );
+	APAdjustDialogMessage -> setDefaultValue ( Label );
+	APAdjustDialogMessage -> getDefaultValue ( &s );
+	APAdjustDialogMessage -> setLabel        ( s );
+
+	APAdjustHS0 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
+	APAdjustHS0-> setDelta ( slider_delta ) ;
+	APAdjustHS0-> setValue ( MaxRollValue ) ;
+	APAdjustHS0-> setCBMode ( PUSLIDER_DELTA ) ;
+	APAdjustHS0-> setCallback ( maxroll_adj ) ;
+
+	sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
+	APAdjustMaxRollTitle = new puText ( slider_title_x, slider_y ) ;
+	APAdjustMaxRollTitle-> setDefaultValue ( "MaxRoll" ) ;
+	APAdjustMaxRollTitle-> getDefaultValue ( &s ) ;
+	APAdjustMaxRollTitle-> setLabel ( s ) ;
+	APAdjustMaxRollText = new puText ( slider_value_x, slider_y ) ;
+	APAdjustMaxRollText-> setLabel ( SliderText[ 0 ] ) ;
+
+	slider_y += horiz_slider_height;
+
+	APAdjustHS1 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
+	APAdjustHS1-> setDelta ( slider_delta ) ;
+	APAdjustHS1-> setValue ( RollOutValue ) ;
+	APAdjustHS1-> setCBMode ( PUSLIDER_DELTA ) ;
+	APAdjustHS1-> setCallback ( rollout_adj ) ;
+
+	sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
+	APAdjustRollOutTitle = new puText ( slider_title_x, slider_y ) ;
+	APAdjustRollOutTitle-> setDefaultValue ( "AdjustRollOut" ) ;
+	APAdjustRollOutTitle-> getDefaultValue ( &s ) ;
+	APAdjustRollOutTitle-> setLabel ( s ) ;
+	APAdjustRollOutText = new puText ( slider_value_x, slider_y ) ;
+	APAdjustRollOutText-> setLabel ( SliderText[ 1 ] );
+
+	slider_y += horiz_slider_height;
+
+	APAdjustHS2 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
+	APAdjustHS2-> setDelta ( slider_delta ) ;
+	APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
+	APAdjustHS2-> setCBMode ( PUSLIDER_DELTA ) ;
+	APAdjustHS2-> setCallback ( rolloutsmooth_adj ) ;
+
+	sprintf( SliderText[ 2 ], "%5.2f", APData->RollOutSmooth );
+	APAdjustRollOutSmoothTitle = new puText ( slider_title_x, slider_y ) ;
+	APAdjustRollOutSmoothTitle-> setDefaultValue ( "RollOutSmooth" ) ;
+	APAdjustRollOutSmoothTitle-> getDefaultValue ( &s ) ;
+	APAdjustRollOutSmoothTitle-> setLabel ( s ) ;
+	APAdjustRollOutSmoothText = new puText ( slider_value_x, slider_y ) ;
+	APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
+
+	slider_y += horiz_slider_height;
+
+	APAdjustHS3 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
+	APAdjustHS3-> setDelta ( slider_delta ) ;
+	APAdjustHS3-> setValue ( MaxAileronValue ) ;
+	APAdjustHS3-> setCBMode ( PUSLIDER_DELTA ) ;
+	APAdjustHS3-> setCallback ( maxaileron_adj ) ;
+
+	sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
+	APAdjustMaxAileronTitle = new puText ( slider_title_x, slider_y ) ;
+	APAdjustMaxAileronTitle-> setDefaultValue ( "MaxAileron" ) ;
+	APAdjustMaxAileronTitle-> getDefaultValue ( &s ) ;
+	APAdjustMaxAileronTitle-> setLabel ( s ) ;
+	APAdjustMaxAileronText = new puText ( slider_value_x, slider_y ) ;
+	APAdjustMaxAileronText-> setLabel ( SliderText[ 3 ] );
+
+	APAdjustOkButton = new puOneShot ( 10, 10, 60, 50 );
+	APAdjustOkButton-> setLegend ( gui_msg_OK );
+	APAdjustOkButton-> makeReturnDefault ( TRUE );
+	APAdjustOkButton-> setCallback ( goAwayAPAdjust );
+
+	APAdjustCancelButton = new puOneShot ( 70, 10, 150, 50 );
+	APAdjustCancelButton-> setLegend ( gui_msg_CANCEL );
+	APAdjustCancelButton-> setCallback ( cancelAPAdjust );
+
+	APAdjustResetButton = new puOneShot ( 160, 10, 220, 50 );
+	APAdjustResetButton-> setLegend ( gui_msg_RESET );
+	APAdjustResetButton-> setCallback ( resetAPAdjust );
     }
     FG_FINALIZE_PUI_DIALOG( APAdjustDialog );
-    
+
 #undef HORIZONTAL
 }
 
-void fgAPInit( fgAIRCRAFT *current_aircraft )
+// Simple Dialog to input Target Airport
+void TgtAptDialog_Cancel(puObject *)
 {
-    fgAPDataPtr APData ;
+    FG_POP_PUI_DIALOG( TgtAptDialog );
+}
 
-    FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+void TgtAptDialog_OK (puObject *)
+{
+    fgAPDataPtr APData;
+    APData = APDataGlobal;
+    string TgtAptId;
+    
+    //    FGTime *t = FGTime::cur_time_params;
+    //    int PauseMode = t->getPause();
+    //    if(!PauseMode)
+    //        t->togglePauseMode();
+    
+    char *s;
+    TgtAptDialogInput->getValue(&s);
+    TgtAptId = s;
+    
+    TgtAptDialog_Cancel( NULL );
+    
+    if ( TgtAptId.length() ) {
+        // set initial position from TgtAirport id
+        
+        fgAIRPORTS airports;
+        fgAIRPORT a;
+        
+        FG_LOG( FG_GENERAL, FG_INFO,
+                "Attempting to set starting position from airport code "
+                << s );
+        
+        airports.load("apt_simple");
+        if ( airports.search( TgtAptId, &a ) )
+	    {
+		double course, reverse, distance;
+		//            fgAPset_tgt_airport_id( TgtAptId.c_str() );
+		current_options.set_airport_id( TgtAptId.c_str() );
+		sprintf( NewTgtAirportId, "%s", TgtAptId.c_str() );
+			
+		APData->TargetLatitude = a.latitude; // * DEG_TO_RAD; 
+		APData->TargetLongitude = a.longitude; // * DEG_TO_RAD;
+		MakeTargetLatLonStr( APData,
+				     APData->TargetLatitude,
+				     APData->TargetLongitude);
+			
+		APData->old_lat = fgAPget_latitude();
+		APData->old_lon = fgAPget_longitude();
+			
+		// need to test for iter
+		if( ! geo_inverse_wgs_84( fgAPget_altitude(),
+					  fgAPget_latitude(),
+					  fgAPget_longitude(),
+					  APData->TargetLatitude,
+					  APData->TargetLongitude,
+					  &course,
+					  &reverse,
+					  &distance ) ) {
+		    APData->TargetHeading = course;
+		    MakeTargetHeadingStr( APData, APData->TargetHeading );			
+		    APData->TargetDistance = distance;
+		    MakeTargetDistanceStr( APData, distance );
+		    // This changes the AutoPilot Heading
+		    // following cast needed
+		    ApHeadingDialogInput->setValue ((float)APData->TargetHeading );
+		    // Force this !
+		    APData->waypoint_hold = true ;
+		    APData->heading_hold = true;
+		}
+	    } else {
+		TgtAptId  += " not in database.";
+		mkDialog(TgtAptId.c_str());
+	    }
+    }
+    get_control_values();
+    //    if( PauseMode != t->getPause() )
+    //        t->togglePauseMode();
+}
+
+void TgtAptDialog_Reset(puObject *)
+{
+    //  strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
+    sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
+    TgtAptDialogInput->setValue ( NewTgtAirportId );
+    TgtAptDialogInput->setCursor( 0 ) ;
+}
+
+void NewTgtAirport(puObject *cb)
+{
+    //  strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
+    sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
+    TgtAptDialogInput->setValue( NewTgtAirportId );
+    
+    FG_PUSH_PUI_DIALOG( TgtAptDialog );
+}
 
-    APData  = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
+void NewTgtAirportInit(void)
+{
+    FG_LOG( FG_AUTOPILOT, FG_INFO, " enter NewTgtAirportInit()" );
+    //	fgAPset_tgt_airport_id( current_options.get_airport_id() );	
+    sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
+    FG_LOG( FG_AUTOPILOT, FG_INFO, " NewTgtAirportId " << NewTgtAirportId );
+    //	printf(" NewTgtAirportId %s\n", NewTgtAirportId);
+    int len = 150 - puGetStringWidth( puGetDefaultLabelFont(),
+                                      NewTgtAirportLabel ) / 2;
     
-    if (APData == NULL) {
+    TgtAptDialog = new puDialogBox (150, 50);
+    {
+        TgtAptDialogFrame   = new puFrame           (0,0,350, 150);
+        TgtAptDialogMessage = new puText            (len, 110);
+        TgtAptDialogMessage ->    setLabel          (NewTgtAirportLabel);
+        
+        TgtAptDialogInput   = new puInput           (50, 70, 300, 100);
+        TgtAptDialogInput   ->    setValue          (NewTgtAirportId);
+        TgtAptDialogInput   ->    acceptInput();
+        
+        TgtAptDialogOkButton     =  new puOneShot   (50, 10, 110, 50);
+        TgtAptDialogOkButton     ->     setLegend   (gui_msg_OK);
+        TgtAptDialogOkButton     ->     setCallback (TgtAptDialog_OK);
+        TgtAptDialogOkButton     ->     makeReturnDefault(TRUE);
+        
+        TgtAptDialogCancelButton =  new puOneShot   (140, 10, 210, 50);
+        TgtAptDialogCancelButton ->     setLegend   (gui_msg_CANCEL);
+        TgtAptDialogCancelButton ->     setCallback (TgtAptDialog_Cancel);
+        
+        TgtAptDialogResetButton  =  new puOneShot   (240, 10, 300, 50);
+        TgtAptDialogResetButton  ->     setLegend   (gui_msg_RESET);
+        TgtAptDialogResetButton  ->     setCallback (TgtAptDialog_Reset);
+    }
+    FG_FINALIZE_PUI_DIALOG( TgtAptDialog );
+    printf("leave NewTgtAirportInit()");
+}
+
+
+// Finally actual guts of AutoPilot
+void fgAPInit( fgAIRCRAFT *current_aircraft ) {
+    fgAPDataPtr APData;
+
+    FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+
+    APData = ( fgAPDataPtr ) calloc( sizeof( fgAPData ), 1 );
+
+    if ( APData == NULL ) {
 	// I couldn't get the mem.  Dying
-	FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying.");
-	exit(-1);
+	FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying." );
+	exit( -1 );
     }
-    
-    APData->heading_hold = false ;     // turn the heading hold off
-    APData->altitude_hold = false ;    // turn the altitude hold off
 
-    APData->TargetHeading = 0.0;    // default direction, due north
-    APData->TargetAltitude = 3000;  // default altitude in meters
+    FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot allocated " );
+	
+    APData->waypoint_hold = false ;     // turn the target hold off
+    APData->heading_hold = false ;      // turn the heading hold off
+    APData->altitude_hold = false ;     // turn the altitude hold off
+
+    // Initialize target location to startup location
+    //	FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot setting startup location" );
+    APData->old_lat = 
+	APData->TargetLatitude = fgAPget_latitude();
+    APData->old_lon =
+	APData->TargetLongitude = fgAPget_longitude();
+
+    //	FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot setting TargetLatitudeStr" );
+    MakeTargetLatLonStr( APData, APData->TargetLatitude, APData->TargetLongitude);
+	
+    APData->TargetHeading = 0.0;     // default direction, due north
+    APData->TargetAltitude = 3000;   // default altitude in meters
     APData->alt_error_accum = 0.0;
 
+    MakeTargetAltitudeStr( APData, 3000.0);
+    MakeTargetHeadingStr( APData, 0.0 );
+	
     // These eventually need to be read from current_aircaft somehow.
 
 #if 0
@@ -770,7 +1041,7 @@ void fgAPInit( fgAIRCRAFT *current_aircraft )
     // the deg from heading to start rolling out at, in Deg
     APData->RollOut = 30;
     // how far can I move the aleron from center.
-    APData->MaxAileron= .1;
+    APData->MaxAileron = .1;
     // Smoothing distance for alerion control
     APData->RollOutSmooth = 10;
 #endif
@@ -782,56 +1053,192 @@ void fgAPInit( fgAIRCRAFT *current_aircraft )
     APData->RollOut = 20;
 
     // how far can I move the aleron from center.
-    APData->MaxAileron= .2;
+    APData->MaxAileron = .2;
 
     // Smoothing distance for alerion control
     APData->RollOutSmooth = 10;
 
     //Remove at a later date
     APDataGlobal = APData;
-    
+
+    // Hardwired for now should be in options
+    // 25% max control variablilty  0.5 / 2.0
+    APData->disengage_threshold = 0.5;
+
 #if !defined( USING_SLIDER_CLASS )
-    MaxRollAdjust       = 2 * APData->MaxRoll;
-    RollOutAdjust       = 2 * APData->RollOut;
-    MaxAileronAdjust    = 2 * APData->MaxAileron;
+    MaxRollAdjust = 2 * APData->MaxRoll;
+    RollOutAdjust = 2 * APData->RollOut;
+    MaxAileronAdjust = 2 * APData->MaxAileron;
     RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
-#endif // !defined( USING_SLIDER_CLASS )
+#endif  // !defined( USING_SLIDER_CLASS )
 
-    fgAPAdjustInit( ) ;
+    get_control_values();
+	
+    //	FG_LOG( FG_AUTOPILOT, FG_INFO, " calling NewTgtAirportInit" );
+    NewTgtAirportInit();
+    fgAPAdjustInit() ;
     NewHeadingInit();
     NewAltitudeInit();
 };
 
-int fgAPRun( void )
-{
+
+void fgAPReset( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+
+    if ( fgAPTerrainFollowEnabled() )
+	fgAPToggleTerrainFollow( );
+
+    if ( fgAPAltitudeEnabled() )
+	fgAPToggleAltitude();
+
+    if ( fgAPHeadingEnabled() )
+	fgAPToggleHeading();
+
+    if ( fgAPAutoThrottleEnabled() )
+	fgAPToggleAutoThrottle();
+
+    APData->TargetHeading = 0.0;     // default direction, due north
+    MakeTargetHeadingStr( APData, APData->TargetHeading );			
+	
+    APData->TargetAltitude = 3000;   // default altitude in meters
+    MakeTargetAltitudeStr( APData, 3000);
+	
+    APData->alt_error_accum = 0.0;
+	
+	
+    get_control_values();
+
+    sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
+	
+    APData->TargetLatitude = fgAPget_latitude();
+    APData->TargetLongitude = fgAPget_longitude();
+    MakeTargetLatLonStr( APData,
+			 APData->TargetLatitude,
+			 APData->TargetLongitude);
+}
+
+
+int fgAPRun( void ) {
     // Remove the following lines when the calling funcitons start
     // passing in the data pointer
 
     fgAPDataPtr APData;
-    
+
     APData = APDataGlobal;
     // end section
-    
+
+    // get control settings 
+    double aileron = controls.get_aileron();
+    double elevator = controls.get_elevator();
+    double elevator_trim = controls.get_elevator_trim();
+    double rudder = controls.get_rudder();
+	
+    double lat = fgAPget_latitude();
+    double lon = fgAPget_longitude();
+
+	// see if somebody else has changed them
+    if( fabs(aileron - APData->old_aileron) > APData->disengage_threshold ||
+	fabs(elevator - APData->old_elevator) > APData->disengage_threshold ||		
+	fabs(elevator_trim - APData->old_elevator_trim) > APData->disengage_threshold ||		
+	fabs(rudder - APData->old_rudder) > APData->disengage_threshold )
+	{
+	    // if controls changed externally turn autopilot off
+	    APData->waypoint_hold = false ;     // turn the target hold off
+	    APData->heading_hold = false ;      // turn the heading hold off
+	    APData->altitude_hold = false ;     // turn the altitude hold off
+	    APData->terrain_follow = false;     // turn the terrain_follow hold off
+	    //		APData->auto_throttle = false;      // turn the auto_throttle off
+
+		// stash this runs control settings
+	    APData->old_aileron = aileron;
+	    APData->old_elevator = elevator;
+	    APData->old_elevator_trim = elevator_trim;
+	    APData->old_rudder = rudder;
+		
+	    return(0);
+	}
+	
+    // waypoint hold enabled?
+    if ( APData->waypoint_hold == true )
+	{
+	    double wp_course, wp_reverse, wp_distance;
+
+#ifdef DO_fgAP_CORRECTED_COURSE
+	    // compute course made good
+	    // this needs lots of special casing before use
+	    double course, reverse, distance, corrected_course;
+	    // need to test for iter
+	    geo_inverse_wgs_84( 0, //fgAPget_altitude(),
+				APData->old_lat,
+				APData->old_lon,
+				lat,
+				lon,
+				&course,
+				&reverse,
+				&distance );
+#endif // DO_fgAP_CORRECTED_COURSE
+
+	    // compute course to way_point
+	    // need to test for iter
+	    if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
+				      lat,
+				      lon,
+				      APData->TargetLatitude,
+				      APData->TargetLongitude,
+				      &wp_course,
+				      &wp_reverse,
+				      &wp_distance ) ) {
+		
+#ifdef DO_fgAP_CORRECTED_COURSE
+		corrected_course = course - wp_course;
+		if( fabs(corrected_course) > 0.1 )
+		    printf("fgAP: course %f  wp_course %f  %f  %f\n",
+			   course, wp_course, fabs(corrected_course), distance );
+#endif // DO_fgAP_CORRECTED_COURSE
+		
+		if ( wp_distance > 100 ) {
+		    // corrected_course = course - wp_course;
+		    APData->TargetHeading = NormalizeDegrees(wp_course);
+		} else {
+		    printf("APData->distance(%f) to close\n", wp_distance);
+		    // Real Close -- set heading hold to current heading
+		    // and Ring the arival bell !!
+		    NewTgtAirport(NULL);
+		    APData->waypoint_hold = false;
+		    // use previous
+		    APData->TargetHeading = fgAPget_heading();
+		}
+		MakeTargetHeadingStr( APData, APData->TargetHeading );
+		// Force this just in case
+		APData->TargetDistance = wp_distance;
+		MakeTargetDistanceStr( APData, wp_distance );
+		// This changes the AutoPilot Heading Read Out
+		// following cast needed
+		ApHeadingDialogInput   ->    setValue ((float)APData->TargetHeading );
+	    }
+	    APData->heading_hold = true;
+	}
+
     // heading hold enabled?
     if ( APData->heading_hold == true ) {
 	double RelHeading;
 	double TargetRoll;
 	double RelRoll;
 	double AileronSet;
-	
-	RelHeading =  
-	    NormalizeDegrees( APData->TargetHeading - fgAPget_heading());
+
+	RelHeading =
+	    NormalizeDegrees( APData->TargetHeading - fgAPget_heading() );
 	// figure out how far off we are from desired heading
-	
+
 	// Now it is time to deterime how far we should be rolled.
 	FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
-	
-	
+
+
 	// Check if we are further from heading than the roll out point
-	if ( fabs(RelHeading) > APData->RollOut ) {
+	if ( fabs( RelHeading ) > APData->RollOut ) {
 	    // set Target Roll to Max in desired direction
-	    if (RelHeading < 0 ) {
-		TargetRoll = 0-APData->MaxRoll;
+	    if ( RelHeading < 0 ) {
+		TargetRoll = 0 - APData->MaxRoll;
 	    } else {
 		TargetRoll = APData->MaxRoll;
 	    }
@@ -848,20 +1255,20 @@ int fgAPRun( void )
 					    -APData->MaxRoll, APData->RollOut,
 					    APData->MaxRoll );
 	}
-	
+
 	// Target Roll has now been Found.
 
 	// Compare Target roll to Current Roll, Generate Rel Roll
 
 	FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
-	
-	RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
+
+	RelRoll = NormalizeDegrees( TargetRoll - fgAPget_roll() );
 
 	// Check if we are further from heading than the roll out smooth point
-	if ( fabs(RelRoll) > APData->RollOutSmooth ) {
+	if ( fabs( RelRoll ) > APData->RollOutSmooth ) {
 	    // set Target Roll to Max in desired direction
-	    if (RelRoll < 0 ) {
-		AileronSet = 0-APData->MaxAileron;
+	    if ( RelRoll < 0 ) {
+		AileronSet = 0 - APData->MaxAileron;
 	    } else {
 		AileronSet = APData->MaxAileron;
 	    }
@@ -871,7 +1278,7 @@ int fgAPRun( void )
 					    APData->RollOutSmooth,
 					    APData->MaxAileron );
 	}
-	
+
 	controls.set_aileron( AileronSet );
 	controls.set_rudder( 0.0 );
     }
@@ -884,11 +1291,11 @@ int fgAPRun( void )
 
 	if ( APData->altitude_hold ) {
 	    // normal altitude hold
-	    APData->TargetClimbRate = 
-		(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
+	    APData->TargetClimbRate =
+		( APData->TargetAltitude - fgAPget_altitude() ) * 8.0;
 	} else if ( APData->terrain_follow ) {
 	    // brain dead ground hugging with no look ahead
-	    APData->TargetClimbRate = 
+	    APData->TargetClimbRate =
 		( APData->TargetAGL - fgAPget_agl() ) * 16.0;
 	} else {
 	    // just try to zero out rate of climb ...
@@ -900,16 +1307,19 @@ int fgAPRun( void )
 	if ( speed < 90.0 ) {
 	    max_climb = 0.0;
 	} else if ( speed < 100.0 ) {
-	    max_climb = (speed - 90.0) * 20;
-	} else {
+	    max_climb = ( speed - 90.0 ) * 20;
+	    //        } else if ( speed < 150.0 ) {
+	} else {			
 	    max_climb = ( speed - 100.0 ) * 4.0 + 200.0;
-	}
+	} //else { // this is NHV hack
+	//            max_climb = ( speed - 150.0 ) * 6.0 + 300.0;
+	//        }
 
 	if ( APData->TargetClimbRate > max_climb ) {
 	    APData->TargetClimbRate = max_climb;
 	}
 
-	if ( APData->TargetClimbRate < -400.0 ) {
+	else if ( APData->TargetClimbRate < -400.0 ) {
 	    APData->TargetClimbRate = -400.0;
 	}
 
@@ -923,14 +1333,18 @@ int fgAPRun( void )
 	int_error = APData->alt_error_accum;
 	// printf("error = %.2f  int_error = %.2f\n", error, int_error);
 	int_adj = int_error / 8000.0;
-	
+
 	// caclulate proportional error
 	prop_error = error;
 	prop_adj = prop_error / 2000.0;
 
 	total_adj = 0.9 * prop_adj + 0.1 * int_adj;
-	if ( total_adj >  0.6 ) { total_adj =  0.6; }
-	if ( total_adj < -0.2 ) { total_adj = -0.2; }
+	if ( total_adj > 0.6 ) {
+	    total_adj = 0.6;
+	}
+	else if ( total_adj < -0.2 ) {
+	    total_adj = -0.2;
+	}
 
 	controls.set_elevator( total_adj );
     }
@@ -949,7 +1363,7 @@ int fgAPRun( void )
 	if ( APData->speed_error_accum > 2000.0 ) {
 	    APData->speed_error_accum = 2000.0;
 	}
-	if ( APData->speed_error_accum < -2000.0 ) {
+	else if ( APData->speed_error_accum < -2000.0 ) {
 	    APData->speed_error_accum = -2000.0;
 	}
 
@@ -958,89 +1372,172 @@ int fgAPRun( void )
 
 	// printf("error = %.2f  int_error = %.2f\n", error, int_error);
 	int_adj = int_error / 200.0;
-	
+
 	// caclulate proportional error
 	prop_error = error;
 	prop_adj = 0.5 + prop_error / 50.0;
 
 	total_adj = 0.9 * prop_adj + 0.1 * int_adj;
-	if ( total_adj > 1.0 ) { total_adj = 1.0; }
-	if ( total_adj < 0.0 ) { total_adj = 0.0; }
+	if ( total_adj > 1.0 ) {
+	    total_adj = 1.0;
+	}
+	else if ( total_adj < 0.0 ) {
+	    total_adj = 0.0;
+	}
 
 	controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
     }
 
-    /*
+#ifdef THIS_CODE_IS_NOT_USED
     if (APData->Mode == 2) // Glide slope hold
-    {
-    double RelSlope;
-    double RelElevator;
-        
-    // First, calculate Relative slope and normalize it
-    RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
-    
-    // Now calculate the elevator offset from current angle
-    if ( abs(RelSlope) > APData->SlopeSmooth )
-    {
-        if ( RelSlope < 0 )     //  set RelElevator to max in the correct direction
-        RelElevator = -APData->MaxElevator;
-        else
-        RelElevator = APData->MaxElevator;
-    }
-        
-    else
-        RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
-        
-    // set the elevator
-    fgElevMove(RelElevator);
-        
-    }
-    */
-    
-    // Ok, we are done
-    return 0;
+	{
+	    double RelSlope;
+	    double RelElevator;
+
+	    // First, calculate Relative slope and normalize it
+	    RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
+
+	    // Now calculate the elevator offset from current angle
+	    if ( abs(RelSlope) > APData->SlopeSmooth )
+		{
+		    if ( RelSlope < 0 )     //  set RelElevator to max in the correct direction
+			RelElevator = -APData->MaxElevator;
+		    else
+			RelElevator = APData->MaxElevator;
+		}
+
+	    else
+		RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
 
+	    // set the elevator
+	    fgElevMove(RelElevator);
+
+	}
+#endif // THIS_CODE_IS_NOT_USED
+
+    // stash this runs control settings
+    //	get_control_values();
+    APData->old_aileron = controls.get_aileron();
+    APData->old_elevator = controls.get_elevator();
+    APData->old_elevator_trim = controls.get_elevator_trim();
+    APData->old_rudder = controls.get_rudder();
+
+    // for cross track error
+    APData->old_lat = lat;
+    APData->old_lon = lon;
+	
+	// Ok, we are done
+    return 0;
 }
 
 /*
 void fgAPSetMode( int mode)
 {
-    //Remove the following line when the calling funcitons start passing in the data pointer
-    fgAPDataPtr APData;
-    
-    APData = APDataGlobal;
-    // end section
-    
-    fgPrintf( FG_COCKPIT, FG_INFO, "APSetMode : %d\n", mode );
-    
-    APData->Mode = mode;  // set the new mode
+//Remove the following line when the calling funcitons start passing in the data pointer
+fgAPDataPtr APData;
+
+APData = APDataGlobal;
+// end section
+
+fgPrintf( FG_COCKPIT, FG_INFO, "APSetMode : %d\n", mode );
+
+APData->Mode = mode;  // set the new mode
 }
 */
+#if 0
+void fgAPset_tgt_airport_id( const string id ) {
+    FG_LOG( FG_AUTOPILOT, FG_INFO, "entering  fgAPset_tgt_airport_id " << id );
+    fgAPDataPtr APData;
+    APData = APDataGlobal;
+    APData->tgt_airport_id = id;
+    FG_LOG( FG_AUTOPILOT, FG_INFO, "leaving  fgAPset_tgt_airport_id "
+	    << APData->tgt_airport_id );
+};
 
-void fgAPToggleHeading( void )
-{
+string fgAPget_tgt_airport_id( void ) {
+    fgAPDataPtr APData = APDataGlobal;
+    return APData->tgt_airport_id;
+};
+#endif
+
+void fgAPToggleHeading( void ) {
     // Remove at a later date
     fgAPDataPtr APData;
 
     APData = APDataGlobal;
     // end section
 
-    if ( APData->heading_hold ) {
+    if ( APData->heading_hold || APData->waypoint_hold ) {
 	// turn off heading hold
 	APData->heading_hold = false;
+	APData->waypoint_hold = false;
     } else {
 	// turn on heading hold, lock at current heading
 	APData->heading_hold = true;
 	APData->TargetHeading = fgAPget_heading();
+	MakeTargetHeadingStr( APData, APData->TargetHeading );			
+	ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
     }
 
-    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: (" 
+    get_control_values();
+    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: ("
 	    << APData->heading_hold << ") " << APData->TargetHeading );
 }
 
+void fgAPToggleWayPoint( void ) {
+    // Remove at a later date
+    fgAPDataPtr APData;
+
+    APData = APDataGlobal;
+    // end section
 
-void fgAPToggleAltitude( void )
-{
+    if ( APData->waypoint_hold ) {
+	// turn off location hold
+	APData->waypoint_hold = false;
+	// set heading hold to current heading
+	//		APData->heading_hold = true;
+	APData->TargetHeading = fgAPget_heading();
+    } else {
+	double course, reverse, distance;
+	// turn on location hold
+	// turn on heading hold
+	APData->old_lat = fgAPget_latitude();
+	APData->old_lon = fgAPget_longitude();
+			
+			// need to test for iter
+	if(!geo_inverse_wgs_84( fgAPget_altitude(),
+				fgAPget_latitude(),
+				fgAPget_longitude(),
+				APData->TargetLatitude,
+				APData->TargetLongitude,
+				&course,
+				&reverse,
+				&distance ) ) {
+	    APData->TargetHeading = course;
+	    APData->TargetDistance = distance;
+	    MakeTargetDistanceStr( APData, distance );
+	}
+	// Force this !
+	APData->waypoint_hold = true;
+	APData->heading_hold = true;
+    }
+
+    // This changes the AutoPilot Heading
+    // following cast needed
+    ApHeadingDialogInput->setValue ((float)APData->TargetHeading );
+    MakeTargetHeadingStr( APData, APData->TargetHeading );
+	
+    get_control_values();
+	
+    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
+	    << APData->waypoint_hold   << " "
+	    << APData->TargetLatitude  << " "
+	    << APData->TargetLongitude << " ) "
+	    );
+}
+
+
+void fgAPToggleAltitude( void ) {
     // Remove at a later date
     fgAPDataPtr APData;
 
@@ -1056,17 +1553,23 @@ void fgAPToggleAltitude( void )
 	APData->terrain_follow = false;
 	APData->TargetAltitude = fgAPget_altitude();
 	APData->alt_error_accum = 0.0;
-	// alt_error_queue.erase( alt_error_queue.begin(), 
+	// alt_error_queue.erase( alt_error_queue.begin(),
 	//                        alt_error_queue.end() );
+	float target_alt = APData->TargetAltitude;
+	if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
+	    target_alt *= METER_TO_FEET;
+		
+	ApAltitudeDialogInput->setValue(target_alt);
+	MakeTargetAltitudeStr( APData, target_alt);
     }
 
-    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: (" 
+    get_control_values();
+    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: ("
 	    << APData->altitude_hold << ") " << APData->TargetAltitude );
 }
 
 
-void fgAPToggleAutoThrottle ( void )
-{
+void fgAPToggleAutoThrottle ( void ) {
     // Remove at a later date
     fgAPDataPtr APData;
 
@@ -1083,12 +1586,12 @@ void fgAPToggleAutoThrottle ( void )
 	APData->speed_error_accum = 0.0;
     }
 
-    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: (" 
+    get_control_values();
+    FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
 	    << APData->auto_throttle << ") " << APData->TargetSpeed );
 }
 
-void fgAPToggleTerrainFollow( void )
-{
+void fgAPToggleTerrainFollow( void ) {
     // Remove at a later date
     fgAPDataPtr APData;
 
@@ -1105,32 +1608,254 @@ void fgAPToggleTerrainFollow( void )
 	APData->TargetAGL = fgAPget_agl();
 	APData->alt_error_accum = 0.0;
     }
-
+    get_control_values();
+	
     FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: ("
 	    << APData->terrain_follow << ") " << APData->TargetAGL );
 }
 
-double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
-{
+static double NormalizeDegrees( double Input ) {
+    // normalize the input to the range (-180,180]
+    // Input should not be greater than -360 to 360.
+    // Current rules send the output to an undefined state.
+    if ( Input > 180 )
+	while(Input > 180 )
+	    Input -= 360;
+    else if ( Input <= -180 )
+	while ( Input <= -180 )
+	    Input += 360;
+    return ( Input );
+};
+
+static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
     // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
     //assert(x1 != x2); // Divide by zero error.  Cold abort for now
-    
-    double m, b, y;     // the constants to find in y=mx+b
-    m=(y2-y1)/(x2-x1);  // calculate the m
-    b= y1- m * x1;  // calculate the b
-    y = m * x + b;  // the final calculation
-    
-    return y;
+
+	// Could be
+	// static double y = 0.0;
+	// double dx = x2 -x1;
+	// if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
+	// {
+
+    double m, b, y;          // the constants to find in y=mx+b
+    // double m, b;
+
+    m = ( y2 - y1 ) / ( x2 - x1 );   // calculate the m
+
+    b = y1 - m * x1;       // calculate the b
+
+    y = m * x + b;       // the final calculation
+
+    // }
+
+    return ( y );
+
 };
 
-double NormalizeDegrees(double Input)
+
+/* Direct and inverse distance functions */
+/** Proceedings of the 7th International Symposium on Geodetic
+  Computations, 1985
+  "The Nested Coefficient Method for Accurate Solutions of Direct
+  and
+  Inverse Geodetic Problems With Any Length"
+  Zhang Xue-Lian
+  pp 747-763
+  */
+/* modified for FlightGear to use WGS84 only  Norman Vine */
+
+//#include "dstazfns.h"
+#include <math.h>
+#define GEOD_INV_PI      (3.14159265358979323846)
+
+/* s == distance */
+/* az = azimuth */
+
+/* for WGS_84 a = 6378137.000, rf = 298.257223563; */
+
+static double M0( double e2 )
+{	//double e4 = e2*e2;
+    return GEOD_INV_PI*(1.0 - e2*( 1.0/4.0 + e2*( 3.0/64.0 + e2*(5.0/256.0) )))/2.0;
+}
+/* s == distance */
+int geo_direct_wgs_84 ( double alt, double lat1, double lon1, double az1, double s, 
+			double *lat2, double *lon2,  double *az2 )
 {
-    // normalize the input to the range (-180,180]
-    // Input should not be greater than -360 to 360.  Current rules send the output to an undefined state.
-    if (Input > 180)
-	Input -= 360;
-    if (Input <= -180)
-	Input += 360;
+    double a = 6378137.000, rf = 298.257223563;
+    double RADDEG = (GEOD_INV_PI)/180.0, testv = 1.0E-10;
+    double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
+    double b = a*(1.0-f), e2 = f*(2.0-f);
+    double phi1 = lat1*RADDEG, lam1 = lon1*RADDEG;
+    double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
+    double azm1 = az1*RADDEG;
+    double sinaz1 = sin(azm1), cosaz1 = cos(azm1);
+	
+	
+    if( fabs(s) < 0.01 )  /* distance < centimeter => congruency */
+	{	*lat2 = lat1;
+	*lon2 = lon1;
+	*az2 = 180.0 + az1;
+	if( *az2 > 360.0 ) *az2 -= 360.0;
+	return 0;
+	}
+    else
+	if( cosphi1 )	 /* non-polar origin */
+	    {	/* u1 is reduced latitude */
+		double tanu1 = sqrt(1.0-e2)*sinphi1/cosphi1;
+   		double sig1 = atan2(tanu1,cosaz1);
+		double cosu1 = 1.0/sqrt( 1.0 + tanu1*tanu1 ), sinu1 = tanu1*cosu1;
+		double sinaz =  cosu1*sinaz1, cos2saz = 1.0-sinaz*sinaz;
+		double us = cos2saz*e2/(1.0-e2);
+		/*	Terms */
+		double	ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/16384.0,
+		    tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0,
+		    tc = 0;
+		/*	FIRST ESTIMATE OF SIGMA (SIG) */		
+		double first = s/(b*ta); /* !!*/
+		double sig = first;
+		double c2sigm, sinsig,cossig, temp,denom,rnumer, dlams, dlam;
+		do
+		    {	c2sigm = cos(2.0*sig1+sig);
+		    sinsig = sin(sig); cossig = cos(sig);
+		    temp = sig;
+		    sig = first + 
+			tb*sinsig*(c2sigm+tb*(cossig*(-1.0+2.0*pow(c2sigm,2.0)) - 
+					      tb*c2sigm*(-3.0+4.0*pow(sinsig,2.0))*(-3.0+4.0*pow(c2sigm,2.0))/6.0)/4.0);
+		    }
+		while( fabs(sig-temp) > testv);
+		/* 	LATITUDE OF POINT 2 */
+		/*	DENOMINATOR IN 2 PARTS (TEMP ALSO USED LATER) */
+		temp = sinu1*sinsig-cosu1*cossig*cosaz1;
+		denom = (1.0-f)*sqrt(sinaz*sinaz+temp*temp);
+		/* NUMERATOR */
+		rnumer = sinu1*cossig+cosu1*sinsig*cosaz1;
+		*lat2 = atan2(rnumer,denom)/RADDEG;
+		/* DIFFERENCE IN LONGITUDE ON AUXILARY SPHERE (DLAMS ) */
+		rnumer = sinsig*sinaz1;
+		denom = cosu1*cossig-sinu1*sinsig*cosaz1;
+		dlams = atan2(rnumer,denom);
+		/* TERM C */
+		tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
+		/* DIFFERENCE IN LONGITUDE */
+		dlam = dlams-(1.0-tc)*f*sinaz*(sig+tc*sinsig*(c2sigm+tc*cossig*(-1.0+2.0*
+										pow(c2sigm,2.0))));
+		*lon2 = (lam1+dlam)/RADDEG;
+		if(*lon2 > 180.0  ) *lon2 -= 360.0;
+		if(*lon2 < -180.0 ) *lon2 += 360.0;
+		/* AZIMUTH - FROM NORTH */
+		*az2 = atan2(-sinaz,temp)/RADDEG;
+		if( fabs(*az2) < testv ) *az2 = 0.0;
+		if( *az2 < 0.0) *az2 += 360.0;
+		return 0;
+	    }
+	else /* phi1 == 90 degrees, polar origin  */
+	    {	double dM = a*M0(e2) - s;
+	    double paz = ( phi1 < 0.0 ? 180.0 : 0.0 );
+	    return geo_direct_wgs_84( alt, 0.0, lon1, paz, dM,lat2,lon2,az2 );
+	    } 
+}
+
+int geo_inverse_wgs_84( double alt, double lat1, double lon1, double lat2,
+			double lon2, double *az1, double *az2, double *s )
+{
+    double a = 6378137.000, rf = 298.257223563;
+    int iter=0;
+    double RADDEG = (GEOD_INV_PI)/180.0, testv = 1.0E-10;
+    double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
+    double b = a*(1.0-f), e2 = f*(2.0-f);
+    double phi1 = lat1*RADDEG, lam1 = lon1*RADDEG;
+    double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
+    double phi2 = lat2*RADDEG, lam2 = lon2*RADDEG;
+    double sinphi2 = sin(phi2), cosphi2 = cos(phi2);
+	
+    if( (fabs(lat1-lat2) < testv && 
+	 ( fabs(lon1-lon2) < testv) || fabs(lat1-90.0) < testv ) )
+    {	/* TWO STATIONS ARE IDENTICAL : SET DISTANCE & AZIMUTHS TO ZERO */
+	*az1 = 0.0; *az2 = 0.0; *s = 0.0;
+	return 0;
+    } else
+	if(  fabs(cosphi1) < testv ) /* initial point is polar */
+	{
+	    int k = geo_inverse_wgs_84( alt, lat2,lon2,lat1,lon1, az1,az2,s );
+	    b = *az1; *az1 = *az2; *az2 = b;
+	    return 0;
+	} else
+	    if( fabs(cosphi2) < testv ) /* terminal point is polar */
+	    {
+		int k = geo_inverse_wgs_84( alt, lat1,lon1,lat1,lon1+180.0, 
+					    az1,az2,s );
+		*s /= 2.0;
+		*az2 = *az1 + 180.0;
+		if( *az2 > 360.0 ) *az2 -= 360.0; 
+		return 0;
+	    } else  	/* Geodesic passes through the pole (antipodal) */
+		if( (fabs( fabs(lon1-lon2) - 180 ) < testv) && 
+		    (fabs(lat1+lat2) < testv) ) 
+		{
+		    double s1,s2;
+		    geo_inverse_wgs_84( alt, lat1,lon1, lat1,lon2, az1,az2, &s1 );
+		    geo_inverse_wgs_84( alt, lat2,lon2, lat1,lon2, az1,az2, &s2 );
+		    *az2 = *az1;
+		    *s = s1 + s2;
+		    return 0;
+		} else  /* antipodal and polar points don't get here */
+		{
+		    double dlam = lam2 - lam1, dlams = dlam;
+		    double sdlams,cdlams, sig,sinsig,cossig, sinaz,
+			cos2saz, c2sigm;
+		    double tc,temp, us,rnumer,denom, ta,tb;
+		    double cosu1,sinu1, sinu2,cosu2;
+		    /* Reduced latitudes */
+		    temp = (1.0-f)*sinphi1/cosphi1;
+		    cosu1 = 1.0/sqrt(1.0+temp*temp);
+		    sinu1 = temp*cosu1;
+		    temp = (1.0-f)*sinphi2/cosphi2;
+		    cosu2 = 1.0/sqrt(1.0+temp*temp);
+		    sinu2 = temp*cosu2;
     
-    return (Input);
-};
+		    do {
+			sdlams = sin(dlams), cdlams = cos(dlams);
+			sinsig = sqrt(pow(cosu2*sdlams,2.0)+
+				      pow(cosu1*sinu2-sinu1*cosu2*cdlams,2.0));
+			cossig = sinu1*sinu2+cosu1*cosu2*cdlams;
+			
+			sig = atan2(sinsig,cossig);
+			sinaz = cosu1*cosu2*sdlams/sinsig;
+			cos2saz = 1.0-sinaz*sinaz;
+			c2sigm = (sinu1 == 0.0 || sinu2 == 0.0 ? cossig : 
+				  cossig-2.0*sinu1*sinu2/cos2saz);
+			tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
+			temp = dlams;
+			dlams = dlam+(1.0-tc)*f*sinaz*
+			    (sig+tc*sinsig*
+			     (c2sigm+tc*cossig*(-1.0+2.0*pow(c2sigm,2.0))));
+			if (fabs(dlams) > GEOD_INV_PI && iter++ > 50) 
+			    return iter;
+		    } while ( fabs(temp-dlams) > testv);
+
+		    us = cos2saz*(pow(a,2.0)-pow(b,2.0))/pow(b,2.0);	/* !! */
+		    /* BACK AZIMUTH FROM NORTH */
+		    rnumer = -(cosu1*sdlams);
+		    denom = sinu1*cosu2-cosu1*sinu2*cdlams;
+		    *az2 = atan2(rnumer,denom)/RADDEG;
+		    if( fabs(*az2) < testv ) *az2 = 0.0;
+		    if(*az2 < 0.0) *az2 += 360.0;
+		    /* FORWARD AZIMUTH FROM NORTH */
+		    rnumer = cosu2*sdlams;
+		    denom = cosu1*sinu2-sinu1*cosu2*cdlams;
+		    *az1 = atan2(rnumer,denom)/RADDEG;
+		    if( fabs(*az1) < testv ) *az1 = 0.0;
+		    if(*az1 < 0.0) *az1 += 360.0;
+		    /* Terms a & b */
+		    ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/
+			16384.0;
+		    tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0;
+		    /* GEODETIC DISTANCE */
+		    *s = b*ta*(sig-tb*sinsig*
+			       (c2sigm+tb*(cossig*(-1.0+2.0*pow(c2sigm,2.0))-tb*
+					   c2sigm*(-3.0+4.0*pow(sinsig,2.0))*
+					   (-3.0+4.0*pow(c2sigm,2.0))/6.0)/
+				4.0));
+		    return 0;
+		}
+}
diff --git a/src/Autopilot/autopilot.hxx b/src/Autopilot/autopilot.hxx
index 8d2871fb3..0dd777c8b 100644
--- a/src/Autopilot/autopilot.hxx
+++ b/src/Autopilot/autopilot.hxx
@@ -23,20 +23,31 @@
                        
 #ifndef _AUTOPILOT_HXX
 #define _AUTOPILOT_HXX
+
+#include <Include/compiler.h>
                        
+#include STL_STRING
+
+#include <string.h>
 
 #include <Aircraft/aircraft.hxx>
 #include <FDM/flight.hxx>
 #include <Controls/controls.hxx>
                        
-                       
+FG_USING_STD(string);
+
+                  
 // Structures
 typedef struct {
-    bool heading_hold;   // the current state of the heading hold
-    bool altitude_hold;  // the current state of the altitude hold
-    bool terrain_follow; // the current state of the terrain follower
-    bool auto_throttle;  // the current state of the auto throttle
+    bool waypoint_hold;       // the current state of the target hold
+    bool heading_hold;        // the current state of the heading hold
+    bool altitude_hold;       // the current state of the altitude hold
+    bool terrain_follow;      // the current state of the terrain follower
+    bool auto_throttle;       // the current state of the auto throttle
 
+    double TargetLatitude;    // the latitude the AP should steer to.
+    double TargetLongitude;   // the longitude the AP should steer to.
+    double TargetDistance;    // the distance to Target.
     double TargetHeading;     // the heading the AP should steer to.
     double TargetAltitude;    // altitude to hold
     double TargetAGL;         // the terrain separation
@@ -54,7 +65,31 @@ typedef struct {
     double RollOutSmooth; // deg to use for smoothing Aileron Control
     double MaxElevator; // the maximum elevator allowed
     double SlopeSmooth; // smoothing angle for elevator
-    
+	
+	// following for testing disengagement of autopilot
+	// apon pilot interaction with controls
+    double old_aileron;
+    double old_elevator;
+    double old_elevator_trim;
+    double old_rudder;
+	
+	// manual controls override beyond this value
+	double disengage_threshold; 
+
+	// For future cross track error adjust
+	double old_lat;
+	double old_lon;
+
+	// keeping these locally to save work inside main loop
+	char TargetLatitudeStr[32];
+	char TargetLongitudeStr[32];
+    char TargetLatLonStr[32];
+	char TargetDistanceStr[32];
+    char TargetHeadingStr[32];
+    char TargetAltitudeStr[32];
+//	char jnk[32];
+	// using current_options.airport_id for now
+//	string tgt_airport_id;  // ID of initial starting airport    
 } fgAPData, *fgAPDataPtr ;
 		
 
@@ -66,6 +101,7 @@ typedef struct {
 void fgAPInit( fgAIRCRAFT *current_aircraft );
 int fgAPRun( void );
 
+void fgAPToggleWayPoint( void );
 void fgAPToggleHeading( void );
 void fgAPToggleAltitude( void );
 void fgAPToggleTerrainFollow( void );
@@ -74,6 +110,7 @@ void fgAPToggleAutoThrottle( void );
 bool fgAPTerrainFollowEnabled( void );
 bool fgAPAltitudeEnabled( void );
 bool fgAPHeadingEnabled( void );
+bool fgAPWayPointEnabled( void );
 bool fgAPAutoThrottleEnabled( void );
 
 void fgAPAltitudeAdjust( double inc );
@@ -82,11 +119,37 @@ void fgAPAutoThrottleAdjust( double inc );
 
 void fgAPHeadingSet( double value );
 
+double fgAPget_TargetLatitude( void );
+double fgAPget_TargetLongitude( void );
+double fgAPget_TargetHeading( void );
+double fgAPget_TargetDistance( void );
+double fgAPget_TargetAltitude( void );
+
+char *fgAPget_TargetLatitudeStr( void );
+char *fgAPget_TargetLongitudeStr( void );
+char *fgAPget_TargetDistanceStr( void );
+char *fgAPget_TargetHeadingStr( void );
+char *fgAPget_TargetAltitudeStr( void );
+char *fgAPget_TargetLatLonStr( void );
+
+//void fgAPset_tgt_airport_id( const string );
+//string fgAPget_tgt_airport_id( void );
+
 void fgAPReset(void);
 
+int geo_inverse_wgs_84( double alt,
+						double lat1, double lon1,
+						double lat2, double lon2,
+						double *az1, double *az2,
+						double *s );
+
+int geo_direct_wgs_84(  double alt,
+						double lat1, double lon1,
+						double az1, double s,
+						double *lat2, double *lon2,
+						double *az2 );
+
 class puObject;
 void fgAPAdjust( puObject * );
 
 #endif // _AUTOPILOT_HXX
-
-
diff --git a/src/Cockpit/hud.cxx b/src/Cockpit/hud.cxx
index 91da17d59..c76f684d0 100644
--- a/src/Cockpit/hud.cxx
+++ b/src/Cockpit/hud.cxx
@@ -993,6 +993,7 @@ int brightness        = pHUDInstr->get_brightness();
   pHUDInstr->SetBrightness( brightness );
 }
 
+#if 0
 // fgUpdateHUD
 //
 // Performs a once around the list of calls to instruments installed in
@@ -1132,3 +1133,168 @@ void fgUpdateHUD( void ) {
   glMatrixMode(GL_MODELVIEW);
   glPopMatrix();
 }
+#endif
+
+
+// fgUpdateHUD
+//
+// Performs a once around the list of calls to instruments installed in
+// the HUD object with requests for redraw. Kinda. It will when this is
+// all C++.
+//
+void fgUpdateHUD( void ) {
+  int brightness;
+//  int day_night_sw = current_aircraft.controls->day_night_switch;
+  int day_night_sw = global_day_night_switch;
+  int hud_displays = HUD_deque.size();
+  instr_item *pHUDInstr;
+  float line_width;
+
+  if( !hud_displays ) {  // Trust everyone, but ALWAYS cut the cards!
+    return;
+    }
+
+  HUD_TextList.erase();
+  HUD_LineList.erase();
+//  HUD_StippleLineList.erase();
+  
+  pHUDInstr = HUD_deque[0];
+  brightness = pHUDInstr->get_brightness();
+//  brightness = HUD_deque.at(0)->get_brightness();
+
+  glMatrixMode(GL_PROJECTION);
+  glPushMatrix();
+
+  glLoadIdentity();
+  gluOrtho2D(0, 640, 0, 480);
+  glMatrixMode(GL_MODELVIEW);
+  glPushMatrix();
+  glLoadIdentity();
+
+  glColor3f(1.0, 1.0, 1.0);
+  glIndexi(7);
+
+  glDisable(GL_DEPTH_TEST);
+  glDisable(GL_LIGHTING);
+
+  // We can do translucency, so why not. :-)
+//  glEnable    ( GL_BLEND ) ;
+//  glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
+  
+  if( day_night_sw == DAY) {
+	  switch (brightness) {
+		  case BRT_LIGHT:
+//            glColor4f (0.1, 0.9, 0.1, 0.75);
+            glColor3f (0.1, 0.9, 0.1);
+            break;
+
+          case BRT_MEDIUM:
+//            glColor4f (0.1, 0.7, 0.0, 0.75);
+            glColor3f (0.1, 0.7, 0.0);
+            break;
+
+          case BRT_DARK:
+//            glColor4f (0.0, 0.6, 0.0, 0.75);
+            glColor3f(0.0, 0.6, 0.0);
+            break;
+
+          case BRT_BLACK:
+//            glColor4f( 0.0, 0.0, 0.0, 0.75);
+            glColor3f( 0.0, 0.0, 0.0);
+            break;
+
+          default:;
+	  }
+  }
+  else {
+	  if( day_night_sw == NIGHT) {
+		  switch (brightness) {
+			  case BRT_LIGHT:
+//                glColor4f (0.9, 0.1, 0.1, 0.75);
+                glColor3f (0.9, 0.1, 0.1);
+                break;
+
+              case BRT_MEDIUM:
+//                glColor4f (0.7, 0.0, 0.1, 0.75);
+                glColor3f (0.7, 0.0, 0.1);
+                break;
+
+			  case BRT_DARK:
+			  default:
+//				  glColor4f (0.6, 0.0, 0.0, 0.75);
+				  glColor3f (0.6, 0.0, 0.0);
+		  }
+	  }
+          else {     // Just in case default
+//			  glColor4f (0.1, 0.9, 0.1, 0.75);
+			  glColor3f (0.1, 0.9, 0.1);
+		  }
+  }
+
+  deque < instr_item * > :: iterator current = HUD_deque.begin();
+  deque < instr_item * > :: iterator last = HUD_deque.end();
+
+  for ( ; current != last; ++current ) {
+	  pHUDInstr = *current;
+
+	  if( pHUDInstr->enabled()) {
+		  //  fgPrintf( FG_COCKPIT, FG_DEBUG, "HUD Code %d  Status %d\n",
+		  //            hud->code, hud->status );
+		  pHUDInstr->draw();
+//	      HUD_deque.at(i)->draw(); // Responsible for broken or fixed variants.
+                              // No broken displays honored just now.
+	  }
+  }
+
+  char *gmt_str = get_formated_gmt_time();
+  HUD_TextList.add( fgText(40, 10, gmt_str) );
+
+  // temporary
+  extern bool fgAPAltitudeEnabled( void );
+  extern bool fgAPHeadingEnabled( void );
+  extern bool fgAPWayPointEnabled( void );
+  extern char *fgAPget_TargetDistanceStr( void );
+  extern char *fgAPget_TargetHeadingStr( void );
+  extern char *fgAPget_TargetAltitudeStr( void );
+  extern char *fgAPget_TargetLatLonStr( void );
+
+  int apY = 480 - 80;
+  char scratch[128];
+//  HUD_TextList.add( fgText( "AUTOPILOT", 20, apY) );
+//  apY -= 15;
+  if( fgAPHeadingEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetHeadingStr()) );	  
+	  apY -= 15;
+  }
+  if( fgAPAltitudeEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetAltitudeStr()) );	  
+	  apY -= 15;
+  }
+  if( fgAPWayPointEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetLatLonStr()) );
+	  apY -= 15;
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetDistanceStr() ) );	  
+	  apY -= 15;
+  }
+  
+  HUD_TextList.draw();
+
+  line_width = (current_options.get_xsize() > 1000) ? 1.0 : 0.5;
+  glLineWidth(line_width);
+  HUD_LineList.draw();
+
+//  glEnable(GL_LINE_STIPPLE);
+//  glLineStipple( 1, 0x00FF );
+//  HUD_StippleLineList.draw();
+//  glDisable(GL_LINE_STIPPLE);
+
+//  glDisable( GL_BLEND );
+  
+  glEnable(GL_DEPTH_TEST);
+  glEnable(GL_LIGHTING);
+  glMatrixMode(GL_PROJECTION);
+  glPopMatrix();
+  glMatrixMode(GL_MODELVIEW);
+  glPopMatrix();
+}
+
diff --git a/src/GUI/gui.cxx b/src/GUI/gui.cxx
index 0a8c45950..076e69b8d 100644
--- a/src/GUI/gui.cxx
+++ b/src/GUI/gui.cxx
@@ -107,6 +107,7 @@ extern void NewAltitude( puObject *cb );
 extern void NewHeading( puObject *cb );
 extern void fgAPAdjust( puObject * );
 extern void fgLatLonFormatToggle( puObject *);
+extern void NewTgtAirport( puObject *cb );
 
 /* --------------------------------------------------------------------
 Mouse stuff
@@ -714,10 +715,12 @@ puCallback viewSubmenuCb        [] = {
 };
 
 char *aircraftSubmenu           [] = {
-    "Autopilot", "Heading", "Altitude", "Navigation", "Communication", NULL
+    "Autopilot", "Heading", "Altitude", "Navigation", "Airport", 
+    "Communication", NULL
 };
 puCallback aircraftSubmenuCb    [] = {
-    fgAPAdjust, NewHeading, NewAltitude, fgLatLonFormatToggle, notCb, NULL
+    fgAPAdjust, NewHeading, NewAltitude, fgLatLonFormatToggle, NewTgtAirport, 
+    notCb, NULL
 };
 
 char *environmentSubmenu        [] = {
@@ -736,7 +739,8 @@ puCallback optionsSubmenuCb     [] = {
 
 #ifdef FG_NETWORK_OLK
 char *networkSubmenu            [] = {
-    "Unregister from FGD ", "Send MSG to All", "Send MSG", "Show Pilots", "Register to FGD",
+    "Unregister from FGD ", "Send MSG to All", "Send MSG", "Show Pilots", 
+    "Register to FGD",
     "Scan for Deamons", "Enter Callsign", "Display Netinfos", "Toggle Display",
     "Hyper Blast", NULL
 };
diff --git a/src/Main/keyboard.cxx b/src/Main/keyboard.cxx
index de273655b..5063874d0 100644
--- a/src/Main/keyboard.cxx
+++ b/src/Main/keyboard.cxx
@@ -400,6 +400,9 @@ void GLUTspecialkey(int k, int x, int y) {
 		    t->togglePauseMode();
 		return;
 	    }
+        case GLUT_KEY_F6: // F6 toggles Autopilot target location
+                fgAPToggleWayPoint();
+                return;
 	case GLUT_KEY_F8: // F8 toggles fog ... off fastest nicest...
 	    current_options.cycle_fog();