From: curt <curt>
Date: Thu, 29 May 1997 22:39:49 +0000 (+0000)
Subject: Working on incorporating the LaRCsim flight model.
X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=3698b6ec3d3cdf52ec06446a989ddbe6bc0ea729;p=flightgear.git

Working on incorporating the LaRCsim flight model.
---

diff --git a/Aircraft/aircraft.c b/Aircraft/aircraft.c
index 080f366d2..d641ea892 100644
--- a/Aircraft/aircraft.c
+++ b/Aircraft/aircraft.c
@@ -24,10 +24,13 @@
  **************************************************************************/
 
 
+#include <math.h>
 #include <stdio.h>
 
 #include "aircraft.h"
 
+#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
+#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
 
 /* Display various parameters to stdout */
 void aircraft_debug(int type) {
@@ -37,17 +40,22 @@ void aircraft_debug(int type) {
     f = &current_aircraft.flight;
     c = &current_aircraft.controls;
 
-    printf("Pos = (%.2f,%.2f,%.2f)  Dir = %.2f\n", 
-           f->pos_x, f->pos_y, f->pos_z, f->Psi);
+    printf("Pos = (%.2f,%.2f,%.2f)  Dir = %.2f  Mach = %.2f\n", 
+           FG_LAT_2_DEG(FG_Latitude) * 3600.0, 
+	   FG_LON_2_DEG(FG_Longitude) * 3600.0, 
+	   FG_Altitude, FG_Psi, FG_Mach_number);
     printf("Elev = %.2f, Aileron = %.2f, Rudder = %.2f\n", 
 	   c->elev, c->aileron, c->rudder);
 }
 
 
 /* $Log$
-/* Revision 1.2  1997/05/23 15:40:29  curt
-/* Added GNU copyright headers.
+/* Revision 1.3  1997/05/29 22:39:56  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.2  1997/05/23 15:40:29  curt
+ * Added GNU copyright headers.
+ *
  * Revision 1.1  1997/05/16 15:58:24  curt
  * Initial revision.
  *
diff --git a/FDM/flight.c b/FDM/flight.c
index f0d5fa580..33d1df650 100644
--- a/FDM/flight.c
+++ b/FDM/flight.c
@@ -23,20 +23,48 @@
  * (Log is kept at end of this file)
  **************************************************************************/
 
-
+#include <stdio.h>
 #include "flight.h"
 
 
 /* Initialize the flight model parameters */
-int fgFlightModelInit(int model);
+int fgFlightModelInit(int model, struct flight_params *f, double dt) {
+    int result;
+
+    if ( model == FG_LARCSIM ) {
+	fgFlight_2_LaRCsim(f);  /* translate FG to LaRCsim structure */
+	fgLaRCsimInit(dt);
+	printf("FG pos = %.2f\n", FG_Latitude);
+	fgLaRCsim_2_Flight(f);  /* translate LaRCsim back to FG	structure */
+    } else {
+	printf("Unimplemented flight model == %d\n", model);
+    }
+
+    return(result);
+}
 
 
-/* Run an iteration of the flight model */
-int fgFlightModelUpdate(int model);
+/* Run multiloop iterations of the flight model */
+int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop) {
+    int result;
+
+    if ( model == FG_LARCSIM ) {
+	fgFlight_2_LaRCsim(f);  /* translate FG to LaRCsim structure */
+	fgLaRCsimUpdate(multiloop);
+	fgLaRCsim_2_Flight(f);  /* translate LaRCsim back to FG	structure */
+    } else {
+	printf("Unimplemented flight model == %d\n", model);
+    }
+
+    return(result);
+}
 
 
 /* $Log$
-/* Revision 1.1  1997/05/29 02:35:04  curt
-/* Initial revision.
+/* Revision 1.2  1997/05/29 22:39:57  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.1  1997/05/29 02:35:04  curt
+ * Initial revision.
+ *
  */
diff --git a/FDM/flight.h b/FDM/flight.h
index 2cc7233b0..2f978bc75 100644
--- a/FDM/flight.h
+++ b/FDM/flight.h
@@ -42,35 +42,377 @@
 
 
 /* Define a structure containing the shared flight model parameters */
-struct flight_params {
-    double pos_x, pos_y, pos_z;   /* temporary position variables */
-    double vel_x, vel_y, vel_z;   /* temporary velocity variables */
+/* struct flight_params {
+    double pos_x, pos_y, pos_z;
+    double vel_x, vel_y, vel_z;
 
-    double Phi;    /* Roll angle */
-    double Theta;  /* Pitch angle */
-    double Psi;    /* Heading angle */
+    double Phi;
+    double Theta;
+    double Psi;
     double vel_Phi;
     double vel_Theta;
     double vel_Psi;
+}; */
+
+
+typedef double FG_VECTOR_3[3];
+
+/* This is based heavily on LaRCsim/ls_generic.h */
+struct flight_params {
+
+/*================== Mass properties and geometry values ==================*/
+
+    double    mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
+#define FG_Mass                    f->mass
+#define FG_I_xx                    f->i_xx
+#define FG_I_yy                    f->i_yy
+#define FG_I_zz                    f->i_zz
+#define FG_I_xz                    f->i_xz
+
+    FG_VECTOR_3    d_pilot_rp_body_v;      /* Pilot location rel to ref pt */
+#define FG_D_pilot_rp_body_v       f->d_pilot_rp_body_v
+#define FG_Dx_pilot                f->d_pilot_rp_body_v[0]
+#define FG_Dy_pilot                f->d_pilot_rp_body_v[1]
+#define FG_Dz_pilot                f->d_pilot_rp_body_v[2]
+
+    FG_VECTOR_3    d_cg_rp_body_v; /* CG position w.r.t. ref. point */
+#define FG_D_cg_rp_body_v          f->d_cg_rp_body_v
+#define FG_Dx_cg                   f->d_cg_rp_body_v[0]
+#define FG_Dy_cg                   f->d_cg_rp_body_v[1]
+#define FG_Dz_cg                   f->d_cg_rp_body_v[2]
+
+/*================================ Forces =================================*/
+
+    FG_VECTOR_3    f_body_total_v;
+#define FG_F_body_total_v          f->f_body_total_v
+#define FG_F_X                     f->f_body_total_v[0]
+#define FG_F_Y                     f->f_body_total_v[1]
+#define FG_F_Z                     f->f_body_total_v[2]
+
+    FG_VECTOR_3    f_local_total_v;
+#define FG_F_local_total_v         f->f_local_total_v
+#define FG_F_north                 f->f_local_total_v[0]
+#define FG_F_east                  f->f_local_total_v[1]
+#define FG_F_down                  f->f_local_total_v[2]
+
+    FG_VECTOR_3    f_aero_v;
+#define FG_F_aero_v                f->f_aero_v
+#define FG_F_X_aero                f->f_aero_v[0]
+#define FG_F_Y_aero                f->f_aero_v[1]
+#define FG_F_Z_aero                f->f_aero_v[2]
+
+    FG_VECTOR_3    f_engine_v;
+#define FG_F_engine_v              f->f_engine_v
+#define FG_F_X_engine              f->f_engine_v[0]
+#define FG_F_Y_engine              f->f_engine_v[1]
+#define FG_F_Z_engine              f->f_engine_v[2]
+
+    FG_VECTOR_3    f_gear_v;
+#define FG_F_gear_v                f->f_gear_v
+#define FG_F_X_gear                f->f_gear_v[0]
+#define FG_F_Y_gear                f->f_gear_v[1]
+#define FG_F_Z_gear                f->f_gear_v[2]
+
+/*================================ Moments ================================*/
+
+    FG_VECTOR_3    m_total_rp_v;
+#define FG_M_total_rp_v            f->m_total_rp_v
+#define FG_M_l_rp                  f->m_total_rp_v[0]
+#define FG_M_m_rp                  f->m_total_rp_v[1]
+#define FG_M_n_rp                  f->m_total_rp_v[2]
+
+    FG_VECTOR_3    m_total_cg_v;
+#define FG_M_total_cg_v            f->m_total_cg_v
+#define FG_M_l_cg                  f->m_total_cg_v[0]
+#define FG_M_m_cg                  f->m_total_cg_v[1]
+#define FG_M_n_cg                  f->m_total_cg_v[2]
+
+    FG_VECTOR_3    m_aero_v;
+#define FG_M_aero_v                f->m_aero_v
+#define FG_M_l_aero                f->m_aero_v[0]
+#define FG_M_m_aero                f->m_aero_v[1]
+#define FG_M_n_aero                f->m_aero_v[2]
+
+    FG_VECTOR_3    m_engine_v;
+#define FG_M_engine_v              f->m_engine_v
+#define FG_M_l_engine              f->m_engine_v[0]
+#define FG_M_m_engine              f->m_engine_v[1]
+#define FG_M_n_engine              f->m_engine_v[2]
+
+    FG_VECTOR_3    m_gear_v;
+#define FG_M_gear_v                f->m_gear_v
+#define FG_M_l_gear                f->m_gear_v[0]
+#define FG_M_m_gear                f->m_gear_v[1]
+#define FG_M_n_gear                f->m_gear_v[2]
+
+/*============================== Accelerations ============================*/
+
+    FG_VECTOR_3    v_dot_local_v;
+#define FG_V_dot_local_v           f->v_dot_local_v
+#define FG_V_dot_north             f->v_dot_local_v[0]
+#define FG_V_dot_east              f->v_dot_local_v[1]
+#define FG_V_dot_down              f->v_dot_local_v[2]
+
+    FG_VECTOR_3    v_dot_body_v;
+#define FG_V_dot_body_v            f->v_dot_body_v
+#define FG_U_dot_body              f->v_dot_body_v[0]
+#define FG_V_dot_body              f->v_dot_body_v[1]
+#define FG_W_dot_body              f->v_dot_body_v[2]
+
+    FG_VECTOR_3    a_cg_body_v;
+#define FG_A_cg_body_v             f->a_cg_body_v
+#define FG_A_X_cg                  f->a_cg_body_v[0]
+#define FG_A_Y_cg                  f->a_cg_body_v[1]
+#define FG_A_Z_cg                  f->a_cg_body_v[2]
+
+    FG_VECTOR_3    a_pilot_body_v;
+#define FG_A_pilot_body_v          f->a_pilot_body_v
+#define FG_A_X_pilot               f->a_pilot_body_v[0]
+#define FG_A_Y_pilot               f->a_pilot_body_v[1]
+#define FG_A_Z_pilot               f->a_pilot_body_v[2]
+
+    FG_VECTOR_3    n_cg_body_v;
+#define FG_N_cg_body_v             f->n_cg_body_v
+#define FG_N_X_cg                  f->n_cg_body_v[0]
+#define FG_N_Y_cg                  f->n_cg_body_v[1]
+#define FG_N_Z_cg                  f->n_cg_body_v[2]
+
+    FG_VECTOR_3    n_pilot_body_v;
+#define FG_N_pilot_body_v          f->n_pilot_body_v
+#define FG_N_X_pilot               f->n_pilot_body_v[0]
+#define FG_N_Y_pilot               f->n_pilot_body_v[1]
+#define FG_N_Z_pilot               f->n_pilot_body_v[2]
+
+    FG_VECTOR_3    omega_dot_body_v;
+#define FG_Omega_dot_body_v        f->omega_dot_body_v
+#define FG_P_dot_body              f->omega_dot_body_v[0]
+#define FG_Q_dot_body              f->omega_dot_body_v[1]
+#define FG_R_dot_body              f->omega_dot_body_v[2]
+
+
+/*============================== Velocities ===============================*/
+
+    FG_VECTOR_3    v_local_v;
+#define FG_V_local_v               f->v_local_v
+#define FG_V_north                 f->v_local_v[0]
+#define FG_V_east                  f->v_local_v[1]
+#define FG_V_down                  f->v_local_v[2]
+
+    FG_VECTOR_3    v_local_rel_ground_v; /* V rel w.r.t. earth surface   */
+#define FG_V_local_rel_ground_v    f->v_local_rel_ground_v
+#define FG_V_north_rel_ground      f->v_local_rel_ground_v[0]
+#define FG_V_east_rel_ground       f->v_local_rel_ground_v[1]
+#define FG_V_down_rel_ground       f->v_local_rel_ground_v[2]
+
+    FG_VECTOR_3    v_local_airmass_v;   /* velocity of airmass (steady winds) */
+#define FG_V_local_airmass_v       f->v_local_airmass_v
+#define FG_V_north_airmass         f->v_local_airmass_v[0]
+#define FG_V_east_airmass          f->v_local_airmass_v[1]
+#define FG_V_down_airmass          f->v_local_airmass_v[2]
+
+    FG_VECTOR_3    v_local_rel_airmass_v;  /* velocity of veh. relative to */
+                                           /* airmass */
+#define FG_V_local_rel_airmass_v   f->v_local_rel_airmass_v
+#define FG_V_north_rel_airmass     f->v_local_rel_airmass_v[0]
+#define FG_V_east_rel_airmass      f->v_local_rel_airmass_v[1]
+#define FG_V_down_rel_airmass      f->v_local_rel_airmass_v[2]
+
+    FG_VECTOR_3    v_local_gust_v; /* linear turbulence components, L frame */
+#define FG_V_local_gust_v          f->v_local_gust_v
+#define FG_U_gust                  f->v_local_gust_v[0]
+#define FG_V_gust                  f->v_local_gust_v[1]
+#define FG_W_gust                  f->v_local_gust_v[2]
+
+    FG_VECTOR_3    v_wind_body_v;  /* Wind-relative velocities in body axis */
+#define FG_V_wind_body_v           f->v_wind_body_v
+#define FG_U_body                  f->v_wind_body_v[0]
+#define FG_V_body                  f->v_wind_body_v[1]
+#define FG_W_body                  f->v_wind_body_v[2]
+
+    double    v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
+    double    v_ground_speed, v_equiv, v_equiv_kts;
+    double    v_calibrated, v_calibrated_kts;
+#define FG_V_rel_wind              f->v_rel_wind
+#define FG_V_true_kts              f->v_true_kts
+#define FG_V_rel_ground            f->v_rel_ground
+#define FG_V_inertial              f->v_inertial
+#define FG_V_ground_speed          f->v_ground_speed
+#define FG_V_equiv                 f->v_equiv
+#define FG_V_equiv_kts             f->v_equiv_kts
+#define FG_V_calibrated            f->v_calibrated
+#define FG_V_calibrated_kts        f->v_calibrated_kts
+
+    FG_VECTOR_3    omega_body_v;   /* Angular B rates      */
+#define FG_Omega_body_v            f->omega_body_v
+#define FG_P_body                  f->omega_body_v[0]
+#define FG_Q_body                  f->omega_body_v[1]
+#define FG_R_body                  f->omega_body_v[2]
+
+    FG_VECTOR_3    omega_local_v;  /* Angular L rates      */
+#define FG_Omega_local_v           f->omega_local_v
+#define FG_P_local                 f->omega_local_v[0]
+#define FG_Q_local                 f->omega_local_v[1]
+#define FG_R_local                 f->omega_local_v[2]
+
+    FG_VECTOR_3    omega_total_v;  /* Diff btw B & L       */
+#define FG_Omega_total_v           f->omega_total_v
+#define FG_P_total                 f->omega_total_v[0]
+#define FG_Q_total                 f->omega_total_v[1]
+#define FG_R_total                 f->omega_total_v[2]
+
+    FG_VECTOR_3    euler_rates_v;
+#define FG_Euler_rates_v           f->euler_rates_v
+#define FG_Phi_dot                 f->euler_rates_v[0]
+#define FG_Theta_dot               f->euler_rates_v[1]
+#define FG_Psi_dot                 f->euler_rates_v[2]
+
+    FG_VECTOR_3    geocentric_rates_v;     /* Geocentric linear velocities */
+#define FG_Geocentric_rates_v      f->geocentric_rates_v
+#define FG_Latitude_dot            f->geocentric_rates_v[0]
+#define FG_Longitude_dot           f->geocentric_rates_v[1]
+#define FG_Radius_dot              f->geocentric_rates_v[2]
+
+/*=============================== Positions ===============================*/
+
+    FG_VECTOR_3    geocentric_position_v;
+#define FG_Geocentric_position_v   f->geocentric_position_v
+#define FG_Lat_geocentric          f->geocentric_position_v[0]
+#define FG_Lon_geocentric          f->geocentric_position_v[1]
+#define FG_Radius_to_vehicle       f->geocentric_position_v[2]
+
+    FG_VECTOR_3    geodetic_position_v;
+#define FG_Geodetic_position_v     f->geodetic_position_v
+#define FG_Latitude                f->geodetic_position_v[0]
+#define FG_Longitude               f->geodetic_position_v[1]
+#define FG_Altitude                f->geodetic_position_v[2]
+
+    FG_VECTOR_3    euler_angles_v;
+#define FG_Euler_angles_v          f->euler_angles_v
+#define FG_Phi                     f->euler_angles_v[0]
+#define FG_Theta                   f->euler_angles_v[1]
+#define FG_Psi                     f->euler_angles_v[2]
+
+/*======================= Miscellaneous quantities ========================*/
+
+    double    t_local_to_body_m[3][3];    /* Transformation matrix L to B */
+#define FG_T_local_to_body_m       f->t_local_to_body_m
+#define FG_T_local_to_body_11      f->t_local_to_body_m[0][0]
+#define FG_T_local_to_body_12      f->t_local_to_body_m[0][1]
+#define FG_T_local_to_body_13      f->t_local_to_body_m[0][2]
+#define FG_T_local_to_body_21      f->t_local_to_body_m[1][0]
+#define FG_T_local_to_body_22      f->t_local_to_body_m[1][1]
+#define FG_T_local_to_body_23      f->t_local_to_body_m[1][2]
+#define FG_T_local_to_body_31      f->t_local_to_body_m[2][0]
+#define FG_T_local_to_body_32      f->t_local_to_body_m[2][1]
+#define FG_T_local_to_body_33      f->t_local_to_body_m[2][2]
+
+    double    gravity;            /* Local acceleration due to G  */
+#define FG_Gravity                 f->gravity
+
+    double    centrifugal_relief; /* load factor reduction due to speed */
+#define FG_Centrifugal_relief      f->centrifugal_relief
+
+    double    alpha, beta, alpha_dot, beta_dot;   /* in radians   */
+#define FG_Alpha                   f->alpha
+#define FG_Beta                    f->beta
+#define FG_Alpha_dot               f->alpha_dot
+#define FG_Beta_dot                f->beta_dot
+
+    double    cos_alpha, sin_alpha, cos_beta, sin_beta;
+#define FG_Cos_alpha               f->cos_alpha
+#define FG_Sin_alpha               f->sin_alpha
+#define FG_Cos_beta                f->cos_beta
+#define FG_Sin_beta                f->sin_beta
+
+    double    cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
+#define FG_Cos_phi                 f->cos_phi
+#define FG_Sin_phi                 f->sin_phi
+#define FG_Cos_theta               f->cos_theta
+#define FG_Sin_theta               f->sin_theta
+#define FG_Cos_psi                 f->cos_psi
+#define FG_Sin_psi                 f->sin_psi
+
+    double    gamma_vert_rad, gamma_horiz_rad;    /* Flight path angles   */
+#define FG_Gamma_vert_rad          f->gamma_vert_rad
+#define FG_Gamma_horiz_rad         f->gamma_horiz_rad
+
+    double    sigma, density, v_sound, mach_number;
+#define FG_Sigma                   f->sigma
+#define FG_Density                 f->density
+#define FG_V_sound                 f->v_sound
+#define FG_Mach_number             f->mach_number
+
+    double    static_pressure, total_pressure, impact_pressure;
+    double    dynamic_pressure;
+#define FG_Static_pressure         f->static_pressure
+#define FG_Total_pressure          f->total_pressure
+#define FG_Impact_pressure         f->impact_pressure
+#define FG_Dynamic_pressure        f->dynamic_pressure
+
+    double    static_temperature, total_temperature;
+#define FG_Static_temperature      f->static_temperature
+#define FG_Total_temperature       f->total_temperature
+
+    double    sea_level_radius, earth_position_angle;
+#define FG_Sea_level_radius        f->sea_level_radius
+#define FG_Earth_position_angle    f->earth_position_angle
+
+    double    runway_altitude, runway_latitude, runway_longitude;
+    double    runway_heading;
+#define FG_Runway_altitude         f->runway_altitude
+#define FG_Runway_latitude         f->runway_latitude
+#define FG_Runway_longitude        f->runway_longitude
+#define FG_Runway_heading          f->runway_heading
+
+    double    radius_to_rwy;
+#define FG_Radius_to_rwy           f->radius_to_rwy
+
+    FG_VECTOR_3    d_cg_rwy_local_v;       /* CG rel. to rwy in local coords */
+#define FG_D_cg_rwy_local_v        f->d_cg_rwy_local_v
+#define FG_D_cg_north_of_rwy       f->d_cg_rwy_local_v[0]
+#define FG_D_cg_east_of_rwy        f->d_cg_rwy_local_v[1]
+#define FG_D_cg_above_rwy          f->d_cg_rwy_local_v[2]
+
+    FG_VECTOR_3    d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
+#define FG_D_cg_rwy_rwy_v          f->d_cg_rwy_rwy_v
+#define FG_X_cg_rwy                f->d_cg_rwy_rwy_v[0]
+#define FG_Y_cg_rwy                f->d_cg_rwy_rwy_v[1]
+#define FG_H_cg_rwy                f->d_cg_rwy_rwy_v[2]
+
+    FG_VECTOR_3    d_pilot_rwy_local_v;  /* pilot rel. to rwy in local coords */
+#define FG_D_pilot_rwy_local_v     f->d_pilot_rwy_local_v
+#define FG_D_pilot_north_of_rwy    f->d_pilot_rwy_local_v[0]
+#define FG_D_pilot_east_of_rwy     f->d_pilot_rwy_local_v[1]
+#define FG_D_pilot_above_rwy       f->d_pilot_rwy_local_v[2]
+
+    FG_VECTOR_3   d_pilot_rwy_rwy_v;   /* pilot rel. to rwy, in rwy coords. */
+#define FG_D_pilot_rwy_rwy_v       f->d_pilot_rwy_rwy_v
+#define FG_X_pilot_rwy             f->d_pilot_rwy_rwy_v[0]
+#define FG_Y_pilot_rwy             f->d_pilot_rwy_rwy_v[1]
+#define FG_H_pilot_rwy             f->d_pilot_rwy_rwy_v[2]
+
 };
 
 
 /* General interface to the flight model routines */
 
 /* Initialize the flight model parameters */
-int fgFlightModelInit(int model);
+int fgFlightModelInit(int model, struct flight_params *f, double dt);
 
-/* Run an iteration of the flight model */
-int fgFlightModelUpdate(int model);
+/* Run multiloop iterations of the flight model */
+int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
 
 
 #endif FLIGHT_H
 
 
 /* $Log$
-/* Revision 1.3  1997/05/29 02:32:25  curt
-/* Starting to build generic flight model interface.
+/* Revision 1.4  1997/05/29 22:39:57  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.3  1997/05/29 02:32:25  curt
+ * Starting to build generic flight model interface.
+ *
  * Revision 1.2  1997/05/23 15:40:37  curt
  * Added GNU copyright headers.
  *
diff --git a/LaRCsim/ls_init.c b/LaRCsim/ls_init.c
index 731f91162..399929e87 100644
--- a/LaRCsim/ls_init.c
+++ b/LaRCsim/ls_init.c
@@ -34,6 +34,9 @@
 
 $Header$
 $Log$
+Revision 1.2  1997/05/29 22:39:58  curt
+Working on incorporating the LaRCsim flight model.
+
 Revision 1.1  1997/05/29 00:09:57  curt
 Initial Flight Gear revision.
 
@@ -85,6 +88,9 @@ static char rcsid[] = "$Id$";
 #include "ls_types.h"
 #include "ls_sym.h"
 
+/* temp */
+#include "ls_generic.h"
+
 #define MAX_NUMBER_OF_CONTINUOUS_STATES 100
 #define MAX_NUMBER_OF_DISCRETE_STATES  20
 #define HARDWIRED 13
@@ -175,7 +181,11 @@ void ls_init()
 
     Simtime = 0;
 
+    printf("LS in init() pos = %.2f\n", Latitude);
+
     ls_init_init();
+
+    printf("LS after init_init() pos = %.2f\n", Latitude);
     /* move the states to proper values */
 
     /* commented out by CLO
@@ -192,7 +202,11 @@ void ls_init()
   
     model_init();
 
+    printf("LS after model_init() pos = %.2f\n", Latitude);
+
     ls_step(0.0, -1);
+
+    printf("LS after ls_step() pos = %.2f\n", Latitude);
 }
 
 
diff --git a/LaRCsim/ls_interface.c b/LaRCsim/ls_interface.c
index 81f6ca580..9e591c6c0 100644
--- a/LaRCsim/ls_interface.c
+++ b/LaRCsim/ls_interface.c
@@ -222,17 +222,6 @@ $Original log: LaRCsim.c,v $
 
 --------------------------------------------------------------------------*/
 
-#include "ls_interface.h"
-
-#include "ls_types.h"
-#include "ls_constants.h"
-#include "ls_generic.h"
-#include "ls_sim_control.h"
-#include "ls_cockpit.h"
-/* #include "ls_tape.h" */
-#ifndef linux
-# include <libgen.h>
-#endif
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <stdlib.h>
@@ -240,6 +229,14 @@ $Original log: LaRCsim.c,v $
 #include <math.h>
 #include <time.h>
 
+#include "ls_types.h"
+#include "ls_constants.h"
+#include "ls_generic.h"
+#include "ls_sim_control.h"
+#include "ls_cockpit.h"
+#include "ls_interface.h"
+#include "../flight.h"
+
 /* global variable declarations */
 
 /* TAPE		*Tape; */
@@ -497,14 +494,13 @@ int initialize;
 
 
 int ls_cockpit() {
-
     sim_control_.paused = 0;
 
-    Throttle_pct = 0.85;
+    Throttle_pct = 0.25;
 
-    /* printf("Mach = %.2f  ", Mach_number);
+    printf("Mach = %.2f  ", Mach_number);
     printf("%.4f,%.4f,%.2f  ", Latitude, Longitude, Altitude);
-    printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi); */
+    printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi);
 
 }
 
@@ -512,35 +508,10 @@ int ls_cockpit() {
 /* Initialize the LaRCsim flight model, dt is the time increment for
    each subsequent iteration through the EOM */
 int fgLaRCsimInit(double dt) {
-
     model_dt = dt;
 
     ls_setdefopts();		/* set default options */
 	
-    /* Number_of_Continuous_States = 22; */
-
-    generic_.geodetic_position_v[0] = 2.793445E-05;
-    generic_.geodetic_position_v[1] = 3.262070E-07;
-    generic_.geodetic_position_v[2] = 3.758099E+00;
-    generic_.v_local_v[0]   = 7.287719E+00;
-    generic_.v_local_v[1]   = 1.521770E+03;
-    generic_.v_local_v[2]   = -1.265722E-05;
-    generic_.euler_angles_v[0]      = -2.658474E-06;
-    generic_.euler_angles_v[1]      = 7.401790E-03;
-    generic_.euler_angles_v[2]      = 1.391358E-03;
-    generic_.omega_body_v[0]        = 7.206685E-05;
-    generic_.omega_body_v[1]        = 0.000000E+00;
-    generic_.omega_body_v[2]        = 9.492658E-05;
-    generic_.earth_position_angle   = 0.000000E+00;
-    generic_.mass   = 8.547270E+01;
-    generic_.i_xx   = 1.048000E+03;
-    generic_.i_yy   = 3.000000E+03;
-    generic_.i_zz   = 3.530000E+03;
-    generic_.i_xz   = 0.000000E+00;
-    generic_.d_cg_rp_body_v[0]      = 0.000000E+00;
-    generic_.d_cg_rp_body_v[1]      = 0.000000E+00;
-    generic_.d_cg_rp_body_v[2]      = 0.000000E+00;
-
     ls_stamp();   /* ID stamp; record time and date of run */
 
     if (speedup == 0.0) {
@@ -548,8 +519,12 @@ int fgLaRCsimInit(double dt) {
 	return 1;
     }
 
+    printf("LS pre Init pos = %.2f\n", Latitude);
+
     ls_init();
 
+    printf("LS post Init pos = %.2f\n", Latitude);
+
     if (speedup > 0) {
 	/* Initialize (get) cockpit (controls) settings */
 	ls_cockpit();
@@ -575,9 +550,359 @@ int fgLaRCsimUpdate(int multiloop) {
 }
 
 
+/* Convert from the FG flight_params struct to the LaRCsim generic_ struct */
+int fgFlight_2_LaRCsim (struct flight_params *f) {
+    Mass =      FG_Mass;
+    I_xx =      FG_I_xx;
+    I_yy =      FG_I_yy;
+    I_zz =      FG_I_zz;
+    I_xz =      FG_I_xz;
+    Dx_pilot =  FG_Dx_pilot;
+    Dy_pilot =  FG_Dy_pilot;
+    Dz_pilot =  FG_Dz_pilot;
+    Dx_cg =     FG_Dx_cg;
+    Dy_cg =     FG_Dy_cg;
+    Dz_cg =     FG_Dz_cg;
+    F_X =       FG_F_X;
+    F_Y =       FG_F_Y;
+    F_Z =       FG_F_Z;
+    F_north =   FG_F_north;
+    F_east =    FG_F_east;
+    F_down =    FG_F_down;
+    F_X_aero =  FG_F_X_aero;
+    F_Y_aero =  FG_F_Y_aero;
+    F_Z_aero =  FG_F_Z_aero;
+    F_X_engine =        FG_F_X_engine;
+    F_Y_engine =        FG_F_Y_engine;
+    F_Z_engine =        FG_F_Z_engine;
+    F_X_gear =  FG_F_X_gear;
+    F_Y_gear =  FG_F_Y_gear;
+    F_Z_gear =  FG_F_Z_gear;
+    M_l_rp =    FG_M_l_rp;
+    M_m_rp =    FG_M_m_rp;
+    M_n_rp =    FG_M_n_rp;
+    M_l_cg =    FG_M_l_cg;
+    M_m_cg =    FG_M_m_cg;
+    M_n_cg =    FG_M_n_cg;
+    M_l_aero =  FG_M_l_aero;
+    M_m_aero =  FG_M_m_aero;
+    M_n_aero =  FG_M_n_aero;
+    M_l_engine =        FG_M_l_engine;
+    M_m_engine =        FG_M_m_engine;
+    M_n_engine =        FG_M_n_engine;
+    M_l_gear =  FG_M_l_gear;
+    M_m_gear =  FG_M_m_gear;
+    M_n_gear =  FG_M_n_gear;
+    V_dot_north =       FG_V_dot_north;
+    V_dot_east =        FG_V_dot_east;
+    V_dot_down =        FG_V_dot_down;
+    U_dot_body =        FG_U_dot_body;
+    V_dot_body =        FG_V_dot_body;
+    W_dot_body =        FG_W_dot_body;
+    A_X_cg =    FG_A_X_cg;
+    A_Y_cg =    FG_A_Y_cg;
+    A_Z_cg =    FG_A_Z_cg;
+    A_X_pilot = FG_A_X_pilot;
+    A_Y_pilot = FG_A_Y_pilot;
+    A_Z_pilot = FG_A_Z_pilot;
+    N_X_cg =    FG_N_X_cg;
+    N_Y_cg =    FG_N_Y_cg;
+    N_Z_cg =    FG_N_Z_cg;
+    N_X_pilot = FG_N_X_pilot;
+    N_Y_pilot = FG_N_Y_pilot;
+    N_Z_pilot = FG_N_Z_pilot;
+    P_dot_body =        FG_P_dot_body;
+    Q_dot_body =        FG_Q_dot_body;
+    R_dot_body =        FG_R_dot_body;
+    V_north =   FG_V_north;
+    V_east =    FG_V_east;
+    V_down =    FG_V_down;
+    V_north_rel_ground =        FG_V_north_rel_ground;
+    V_east_rel_ground = FG_V_east_rel_ground;
+    V_down_rel_ground = FG_V_down_rel_ground;
+    V_north_airmass =   FG_V_north_airmass;
+    V_east_airmass =    FG_V_east_airmass;
+    V_down_airmass =    FG_V_down_airmass;
+    V_north_rel_airmass =       FG_V_north_rel_airmass;
+    V_east_rel_airmass =        FG_V_east_rel_airmass;
+    V_down_rel_airmass =        FG_V_down_rel_airmass;
+    U_gust =    FG_U_gust;
+    V_gust =    FG_V_gust;
+    W_gust =    FG_W_gust;
+    U_body =    FG_U_body;
+    V_body =    FG_V_body;
+    W_body =    FG_W_body;
+    V_rel_wind =        FG_V_rel_wind;
+    V_true_kts =        FG_V_true_kts;
+    V_rel_ground =      FG_V_rel_ground;
+    V_inertial =        FG_V_inertial;
+    V_ground_speed =    FG_V_ground_speed;
+    V_equiv =   FG_V_equiv;
+    V_equiv_kts =       FG_V_equiv_kts;
+    V_calibrated =      FG_V_calibrated;
+    V_calibrated_kts =  FG_V_calibrated_kts;
+    P_body =    FG_P_body;
+    Q_body =    FG_Q_body;
+    R_body =    FG_R_body;
+    P_local =   FG_P_local;
+    Q_local =   FG_Q_local;
+    R_local =   FG_R_local;
+    P_total =   FG_P_total;
+    Q_total =   FG_Q_total;
+    R_total =   FG_R_total;
+    Phi_dot =   FG_Phi_dot;
+    Theta_dot = FG_Theta_dot;
+    Psi_dot =   FG_Psi_dot;
+    Latitude_dot =      FG_Latitude_dot;
+    Longitude_dot =     FG_Longitude_dot;
+    Radius_dot =        FG_Radius_dot;
+    Lat_geocentric =    FG_Lat_geocentric;
+    Lon_geocentric =    FG_Lon_geocentric;
+    Radius_to_vehicle = FG_Radius_to_vehicle;
+    Latitude =  FG_Latitude;
+    Longitude = FG_Longitude;
+    Altitude =  FG_Altitude;
+    Phi =       FG_Phi;
+    Theta =     FG_Theta;
+    Psi =       FG_Psi;
+    T_local_to_body_11 =        FG_T_local_to_body_11;
+    T_local_to_body_12 =        FG_T_local_to_body_12;
+    T_local_to_body_13 =        FG_T_local_to_body_13;
+    T_local_to_body_21 =        FG_T_local_to_body_21;
+    T_local_to_body_22 =        FG_T_local_to_body_22;
+    T_local_to_body_23 =        FG_T_local_to_body_23;
+    T_local_to_body_31 =        FG_T_local_to_body_31;
+    T_local_to_body_32 =        FG_T_local_to_body_32;
+    T_local_to_body_33 =        FG_T_local_to_body_33;
+    Gravity =   FG_Gravity;
+    Centrifugal_relief =        FG_Centrifugal_relief;
+    Alpha =     FG_Alpha;
+    Beta =      FG_Beta;
+    Alpha_dot = FG_Alpha_dot;
+    Beta_dot =  FG_Beta_dot;
+    Cos_alpha = FG_Cos_alpha;
+    Sin_alpha = FG_Sin_alpha;
+    Cos_beta =  FG_Cos_beta;
+    Sin_beta =  FG_Sin_beta;
+    Cos_phi =   FG_Cos_phi;
+    Sin_phi =   FG_Sin_phi;
+    Cos_theta = FG_Cos_theta;
+    Sin_theta = FG_Sin_theta;
+    Cos_psi =   FG_Cos_psi;
+    Sin_psi =   FG_Sin_psi;
+    Gamma_vert_rad =    FG_Gamma_vert_rad;
+    Gamma_horiz_rad =   FG_Gamma_horiz_rad;
+    Sigma =     FG_Sigma;
+    Density =   FG_Density;
+    V_sound =   FG_V_sound;
+    Mach_number =       FG_Mach_number;
+    Static_pressure =   FG_Static_pressure;
+    Total_pressure =    FG_Total_pressure;
+    Impact_pressure =   FG_Impact_pressure;
+    Dynamic_pressure =  FG_Dynamic_pressure;
+    Static_temperature =        FG_Static_temperature;
+    Total_temperature = FG_Total_temperature;
+    Sea_level_radius =  FG_Sea_level_radius;
+    Earth_position_angle =      FG_Earth_position_angle;
+    Runway_altitude =   FG_Runway_altitude;
+    Runway_latitude =   FG_Runway_latitude;
+    Runway_longitude =  FG_Runway_longitude;
+    Runway_heading =    FG_Runway_heading;
+    Radius_to_rwy =     FG_Radius_to_rwy;
+    D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
+    D_cg_east_of_rwy =  FG_D_cg_east_of_rwy;
+    D_cg_above_rwy =    FG_D_cg_above_rwy;
+    X_cg_rwy =  FG_X_cg_rwy;
+    Y_cg_rwy =  FG_Y_cg_rwy;
+    H_cg_rwy =  FG_H_cg_rwy;
+    D_pilot_north_of_rwy =      FG_D_pilot_north_of_rwy;
+    D_pilot_east_of_rwy =       FG_D_pilot_east_of_rwy;
+    D_pilot_above_rwy = FG_D_pilot_above_rwy;
+    X_pilot_rwy =       FG_X_pilot_rwy;
+    Y_pilot_rwy =       FG_Y_pilot_rwy;
+    H_pilot_rwy =       FG_H_pilot_rwy;
+}
+
+
+/* Convert from the LaRCsim generic_ struct to the FG flight_params struct */
+int fgLaRCsim_2_Flight (struct flight_params *f) {
+    FG_Mass =   Mass;
+    FG_I_xx =   I_xx;
+    FG_I_yy =   I_yy;
+    FG_I_zz =   I_zz;
+    FG_I_xz =   I_xz;
+    FG_Dx_pilot =       Dx_pilot;
+    FG_Dy_pilot =       Dy_pilot;
+    FG_Dz_pilot =       Dz_pilot;
+    FG_Dx_cg =  Dx_cg;
+    FG_Dy_cg =  Dy_cg;
+    FG_Dz_cg =  Dz_cg;
+    FG_F_X =    F_X;
+    FG_F_Y =    F_Y;
+    FG_F_Z =    F_Z;
+    FG_F_north =        F_north;
+    FG_F_east = F_east;
+    FG_F_down = F_down;
+    FG_F_X_aero =       F_X_aero;
+    FG_F_Y_aero =       F_Y_aero;
+    FG_F_Z_aero =       F_Z_aero;
+    FG_F_X_engine =     F_X_engine;
+    FG_F_Y_engine =     F_Y_engine;
+    FG_F_Z_engine =     F_Z_engine;
+    FG_F_X_gear =       F_X_gear;
+    FG_F_Y_gear =       F_Y_gear;
+    FG_F_Z_gear =       F_Z_gear;
+    FG_M_l_rp = M_l_rp;
+    FG_M_m_rp = M_m_rp;
+    FG_M_n_rp = M_n_rp;
+    FG_M_l_cg = M_l_cg;
+    FG_M_m_cg = M_m_cg;
+    FG_M_n_cg = M_n_cg;
+    FG_M_l_aero =       M_l_aero;
+    FG_M_m_aero =       M_m_aero;
+    FG_M_n_aero =       M_n_aero;
+    FG_M_l_engine =     M_l_engine;
+    FG_M_m_engine =     M_m_engine;
+    FG_M_n_engine =     M_n_engine;
+    FG_M_l_gear =       M_l_gear;
+    FG_M_m_gear =       M_m_gear;
+    FG_M_n_gear =       M_n_gear;
+    FG_V_dot_north =    V_dot_north;
+    FG_V_dot_east =     V_dot_east;
+    FG_V_dot_down =     V_dot_down;
+    FG_U_dot_body =     U_dot_body;
+    FG_V_dot_body =     V_dot_body;
+    FG_W_dot_body =     W_dot_body;
+    FG_A_X_cg = A_X_cg;
+    FG_A_Y_cg = A_Y_cg;
+    FG_A_Z_cg = A_Z_cg;
+    FG_A_X_pilot =      A_X_pilot;
+    FG_A_Y_pilot =      A_Y_pilot;
+    FG_A_Z_pilot =      A_Z_pilot;
+    FG_N_X_cg = N_X_cg;
+    FG_N_Y_cg = N_Y_cg;
+    FG_N_Z_cg = N_Z_cg;
+    FG_N_X_pilot =      N_X_pilot;
+    FG_N_Y_pilot =      N_Y_pilot;
+    FG_N_Z_pilot =      N_Z_pilot;
+    FG_P_dot_body =     P_dot_body;
+    FG_Q_dot_body =     Q_dot_body;
+    FG_R_dot_body =     R_dot_body;
+    FG_V_north =        V_north;
+    FG_V_east = V_east;
+    FG_V_down = V_down;
+    FG_V_north_rel_ground =     V_north_rel_ground;
+    FG_V_east_rel_ground =      V_east_rel_ground;
+    FG_V_down_rel_ground =      V_down_rel_ground;
+    FG_V_north_airmass =        V_north_airmass;
+    FG_V_east_airmass = V_east_airmass;
+    FG_V_down_airmass = V_down_airmass;
+    FG_V_north_rel_airmass =    V_north_rel_airmass;
+    FG_V_east_rel_airmass =     V_east_rel_airmass;
+    FG_V_down_rel_airmass =     V_down_rel_airmass;
+    FG_U_gust = U_gust;
+    FG_V_gust = V_gust;
+    FG_W_gust = W_gust;
+    FG_U_body = U_body;
+    FG_V_body = V_body;
+    FG_W_body = W_body;
+    FG_V_rel_wind =     V_rel_wind;
+    FG_V_true_kts =     V_true_kts;
+    FG_V_rel_ground =   V_rel_ground;
+    FG_V_inertial =     V_inertial;
+    FG_V_ground_speed = V_ground_speed;
+    FG_V_equiv =        V_equiv;
+    FG_V_equiv_kts =    V_equiv_kts;
+    FG_V_calibrated =   V_calibrated;
+    FG_V_calibrated_kts =       V_calibrated_kts;
+    FG_P_body = P_body;
+    FG_Q_body = Q_body;
+    FG_R_body = R_body;
+    FG_P_local =        P_local;
+    FG_Q_local =        Q_local;
+    FG_R_local =        R_local;
+    FG_P_total =        P_total;
+    FG_Q_total =        Q_total;
+    FG_R_total =        R_total;
+    FG_Phi_dot =        Phi_dot;
+    FG_Theta_dot =      Theta_dot;
+    FG_Psi_dot =        Psi_dot;
+    FG_Latitude_dot =   Latitude_dot;
+    FG_Longitude_dot =  Longitude_dot;
+    FG_Radius_dot =     Radius_dot;
+    FG_Lat_geocentric = Lat_geocentric;
+    FG_Lon_geocentric = Lon_geocentric;
+    FG_Radius_to_vehicle =      Radius_to_vehicle;
+    FG_Latitude =       Latitude;
+    FG_Longitude =      Longitude;
+    FG_Altitude =       Altitude;
+    FG_Phi =    Phi;
+    FG_Theta =  Theta;
+    FG_Psi =    Psi;
+    FG_T_local_to_body_11 =     T_local_to_body_11;
+    FG_T_local_to_body_12 =     T_local_to_body_12;
+    FG_T_local_to_body_13 =     T_local_to_body_13;
+    FG_T_local_to_body_21 =     T_local_to_body_21;
+    FG_T_local_to_body_22 =     T_local_to_body_22;
+    FG_T_local_to_body_23 =     T_local_to_body_23;
+    FG_T_local_to_body_31 =     T_local_to_body_31;
+    FG_T_local_to_body_32 =     T_local_to_body_32;
+    FG_T_local_to_body_33 =     T_local_to_body_33;
+    FG_Gravity =        Gravity;
+    FG_Centrifugal_relief =     Centrifugal_relief;
+    FG_Alpha =  Alpha;
+    FG_Beta =   Beta;
+    FG_Alpha_dot =      Alpha_dot;
+    FG_Beta_dot =       Beta_dot;
+    FG_Cos_alpha =      Cos_alpha;
+    FG_Sin_alpha =      Sin_alpha;
+    FG_Cos_beta =       Cos_beta;
+    FG_Sin_beta =       Sin_beta;
+    FG_Cos_phi =        Cos_phi;
+    FG_Sin_phi =        Sin_phi;
+    FG_Cos_theta =      Cos_theta;
+    FG_Sin_theta =      Sin_theta;
+    FG_Cos_psi =        Cos_psi;
+    FG_Sin_psi =        Sin_psi;
+    FG_Gamma_vert_rad = Gamma_vert_rad;
+    FG_Gamma_horiz_rad =        Gamma_horiz_rad;
+    FG_Sigma =  Sigma;
+    FG_Density =        Density;
+    FG_V_sound =        V_sound;
+    FG_Mach_number =    Mach_number;
+    FG_Static_pressure =        Static_pressure;
+    FG_Total_pressure = Total_pressure;
+    FG_Impact_pressure =        Impact_pressure;
+    FG_Dynamic_pressure =       Dynamic_pressure;
+    FG_Static_temperature =     Static_temperature;
+    FG_Total_temperature =      Total_temperature;
+    FG_Sea_level_radius =       Sea_level_radius;
+    FG_Earth_position_angle =   Earth_position_angle;
+    FG_Runway_altitude =        Runway_altitude;
+    FG_Runway_latitude =        Runway_latitude;
+    FG_Runway_longitude =       Runway_longitude;
+    FG_Runway_heading = Runway_heading;
+    FG_Radius_to_rwy =  Radius_to_rwy;
+    FG_D_cg_north_of_rwy =      D_cg_north_of_rwy;
+    FG_D_cg_east_of_rwy =       D_cg_east_of_rwy;
+    FG_D_cg_above_rwy = D_cg_above_rwy;
+    FG_X_cg_rwy =       X_cg_rwy;
+    FG_Y_cg_rwy =       Y_cg_rwy;
+    FG_H_cg_rwy =       H_cg_rwy;
+    FG_D_pilot_north_of_rwy =   D_pilot_north_of_rwy;
+    FG_D_pilot_east_of_rwy =    D_pilot_east_of_rwy;
+    FG_D_pilot_above_rwy =      D_pilot_above_rwy;
+    FG_X_pilot_rwy =    X_pilot_rwy;
+    FG_Y_pilot_rwy =    Y_pilot_rwy;
+    FG_H_pilot_rwy =    H_pilot_rwy;
+}
+
 /* Flight Gear Modification Log
  *
  * $Log$
+ * Revision 1.2  1997/05/29 22:39:59  curt
+ * Working on incorporating the LaRCsim flight model.
+ *
  * Revision 1.1  1997/05/29 00:09:57  curt
  * Initial Flight Gear revision.
  *
diff --git a/LaRCsim/ls_interface.h b/LaRCsim/ls_interface.h
index 60d955015..2cc3773e8 100644
--- a/LaRCsim/ls_interface.h
+++ b/LaRCsim/ls_interface.h
@@ -28,18 +28,24 @@
 #define LS_INTERFACE_H
 
 
+#include "../flight.h"
+
+
 /* reset flight params to a specific position */ 
 int fgLaRCsimInit(double dt);
 
 /* update position based on inputs, positions, velocities, etc. */
-int fgLaRCsimUpdate();
+int fgLaRCsimUpdate(int multiloop);
 
 
 #endif LS_INTERFACE_H
 
 
 /* $Log$
-/* Revision 1.1  1997/05/29 00:09:58  curt
-/* Initial Flight Gear revision.
+/* Revision 1.2  1997/05/29 22:39:59  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.1  1997/05/29 00:09:58  curt
+ * Initial Flight Gear revision.
+ *
  */
diff --git a/LaRCsim/navion_engine.c b/LaRCsim/navion_engine.c
index eebc849eb..2110275ea 100644
--- a/LaRCsim/navion_engine.c
+++ b/LaRCsim/navion_engine.c
@@ -71,8 +71,10 @@ void engine( SCALAR dt, int init )
     if (init || sim_control_.sim_type != cockpit) 
 	Throttle[3] = Throttle_pct;
 
-    F_X_engine = Throttle[3]*813.4/0.2;
-    F_Z_engine = Throttle[3]*11.36/0.2;
+    /* F_X_engine = Throttle[3]*813.4/0.2; */  /* original code */
+    /* F_Z_engine = Throttle[3]*11.36/0.2; */  /* original code */
+    F_X_engine = Throttle[3]*813.4/0.85;
+    F_Z_engine = Throttle[3]*11.36/0.85;
 
     Throttle_pct = Throttle[3];
 }
diff --git a/Main/GLmain.c b/Main/GLmain.c
index c3f84e5b7..b8025c84f 100644
--- a/Main/GLmain.c
+++ b/Main/GLmain.c
@@ -28,7 +28,12 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <signal.h>    /* for timer routines */
-#include <sys/time.h>  /* for timer routines */
+
+#if defined(__WATCOMC__) || defined(__MSC__)
+#  include <time.h>
+#else
+#  include <sys/time.h>
+#endif
 
 #ifdef GLUT
     #include <GL/glut.h>
@@ -42,6 +47,12 @@
 #include "../aircraft/aircraft.h"
 #include "../scenery/scenery.h"
 
+#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
+#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
+
+#define FG_DEG_2_LON(DEG) ((DEG) * M_PI / 180.0)
+#define FG_DEG_2_LAT(DEG) (-1.0 * (DEG) * M_PI / 180.0)
+
 /* This is a record containing all the info for the aircraft currently
    being operated */
 struct aircraft_params current_aircraft;
@@ -62,9 +73,8 @@ double fogDensity = 2000.0;
 
 /* Another hack */
 #define DEFAULT_MODEL_HZ 20
+#define DEFAULT_MULTILOOP 6
 double Simtime;
-int Overrun;
-int model_dt;
 
 
 /**************************************************************************
@@ -109,6 +119,7 @@ static void fgInitVisuals() {
  **************************************************************************/
 
 static void fgUpdateViewParams() {
+    double pos_x, pos_y, pos_z;
     struct flight_params *f;
 
     f = &current_aircraft.flight;
@@ -120,8 +131,13 @@ static void fgUpdateViewParams() {
 
     glMatrixMode(GL_MODELVIEW);
     glLoadIdentity();
-    gluLookAt(f->pos_x, f->pos_y, f->pos_z,
-	      f->pos_x + cos(f->Psi), f->pos_y + sin(f->Psi), f->pos_z,
+    
+    pos_x = FG_LAT_2_DEG(FG_Latitude) * 3600.0;
+    pos_y = FG_LON_2_DEG(FG_Longitude) * 3600.0;
+    pos_z = FG_Altitude;
+
+    gluLookAt(pos_x, pos_y, pos_z,
+	      pos_x + cos(FG_Psi), pos_y + sin(FG_Psi), pos_z,
 	      0.0, 0.0, 1.0);
 }
 
@@ -159,7 +175,11 @@ static struct itimerval t, ot;
 
 /* This routine catches the SIGALRM */
 void fgTimerCatch() {
+    struct flight_params *f;
     static double lastSimtime = -99.9;
+    int Overrun;
+
+    f = &current_aircraft.flight;
 
     /* printf("In fgTimerCatch()\n"); */
 
@@ -171,7 +191,7 @@ void fgTimerCatch() {
     } */
 
     /* update the flight model */
-    fgSlewUpdate();
+    fgFlightModelUpdate(FG_LARCSIM, f, DEFAULT_MULTILOOP);
 
     lastSimtime = Simtime;
     signal(SIGALRM, fgTimerCatch);
@@ -260,6 +280,10 @@ static void fgReshape( int width, int height ) {
  **************************************************************************/
 
 int main( int argc, char *argv[] ) {
+    struct flight_params *f;
+
+    f = &current_aircraft.flight;
+
     /* parse the scenery file */
     parse_scenery(argv[1]);
 
@@ -271,13 +295,13 @@ int main( int argc, char *argv[] ) {
       glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
 
       /* Define initial window size */
-      glutInitWindowSize(640, 400);
+      glutInitWindowSize(640, 480);
 
       /* Initialize the main window */
       glutCreateWindow("Terrain Demo");
     #elif MESA_TK
       /* Define initial window size */
-      tkInitPosition(0, 0, 640, 400);
+      tkInitPosition(0, 0, 640, 480);
 
       /* Define Display Parameters */
       tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
@@ -291,10 +315,51 @@ int main( int argc, char *argv[] ) {
     /* setup view parameters, only makes GL calls */
     fgInitVisuals();
 
+    /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
+
+    /* Initial Position */
+    FG_Latitude  = FG_DEG_2_LAT( -398673.28 / 3600.0 );
+    FG_Longitude = FG_DEG_2_LON(  120625.64 / 3600.0 );
+    FG_Altitude  = 3.758099E+00;
+
+    printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude, 
+	   FG_Longitude, FG_Altitude);
+
+    /* Initial Velocity */
+    FG_V_north = 0.0 /*  7.287719E+00 */;
+    FG_V_east  = 0.0 /*  1.521770E+03 */;
+    FG_V_down  = 0.0 /* -1.265722E-05 */;
+
+    /* Initial Orientation */
+    FG_Phi   = -2.658474E-06;
+    FG_Theta =  7.401790E-03;
+    FG_Psi   =  1.391358E-03;
+
+    /* Initial Angular B rates */
+    FG_P_body = 7.206685E-05;
+    FG_Q_body = 0.000000E+00;
+    FG_R_body = 9.492658E-05;
+
+    FG_Earth_position_angle = 0.000000E+00;
+
+    /* Mass properties and geometry values */
+    FG_Mass = 8.547270E+01;
+    FG_I_xx = 1.048000E+03;
+    FG_I_yy = 3.000000E+03;
+    FG_I_zz = 3.530000E+03;
+    FG_I_xz = 0.000000E+00;
+
+    /* CG position w.r.t. ref. point */
+    FG_Dx_cg = 0.000000E+00;
+    FG_Dy_cg = 0.000000E+00;
+    FG_Dz_cg = 0.000000E+00;
+
     /* Set initial position and slew parameters */
     /* fgSlewInit(-398391.3, 120070.4, 244, 3.1415); */ /* GLOBE Airport */
     /* fgSlewInit(-335340,162540, 15, 4.38); */
-    fgSlewInit(-398673.28,120625.64, 53, 4.38);
+    /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
+
+    fgFlightModelInit(FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ);
 
     /* build all objects */
     fgSceneryInit();
@@ -343,9 +408,12 @@ int main( int argc, char *argv[] ) {
 
 
 /* $Log$
-/* Revision 1.6  1997/05/29 12:31:39  curt
-/* Minor tweaks, moving towards general flight model integration.
+/* Revision 1.7  1997/05/29 22:39:49  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.6  1997/05/29 12:31:39  curt
+ * Minor tweaks, moving towards general flight model integration.
+ *
  * Revision 1.5  1997/05/29 02:33:23  curt
  * Updated to reflect changing interfaces in other "modules."
  *
diff --git a/Main/Makefile b/Main/Makefile
index abf568b2c..dd4c51f12 100644
--- a/Main/Makefile
+++ b/Main/Makefile
@@ -67,7 +67,8 @@ LIBS =  $(INTERFACE_LIBS) $(GRAPHICS_LIBS) -lm -lfl
 CFILES = GLmain.c $(INTERFACE_FILES) mesh2GL.c
 OFILES = $(CFILES:.c=.o)
 AFILES = ../flight/libflight.a ../flight/slew/libslew.a \
-	../aircraft/libaircraft.a ../scenery/libscenery.a
+	../flight/LaRCsim/libLaRCsim.a ../aircraft/libaircraft.a \
+	../scenery/libscenery.a
 
 
 
@@ -103,6 +104,9 @@ mesh2GL.o: mesh2GL.c ../scenery/mesh.h
 
 #---------------------------------------------------------------------------
 # $Log$
+# Revision 1.7  1997/05/29 22:39:50  curt
+# Working on incorporating the LaRCsim flight model.
+#
 # Revision 1.6  1997/05/29 02:33:23  curt
 # Updated to reflect changing interfaces in other "modules."
 #
diff --git a/Main/mesh2GL.c b/Main/mesh2GL.c
index 5524fab31..ed3b555c0 100644
--- a/Main/mesh2GL.c
+++ b/Main/mesh2GL.c
@@ -59,7 +59,7 @@ GLint mesh2GL(struct mesh *m) {
     int i, j, istep, jstep, iend, jend;
     float temp;
 
-    istep = jstep = 8;  /* Detail level 1 -- 1200 ... */
+    istep = jstep = 100;  /* Detail level 1 -- 1200 ... */
 
     mesh = glGenLists(1);
     glNewList(mesh, GL_COMPILE);
@@ -119,9 +119,12 @@ GLint mesh2GL(struct mesh *m) {
 
 
 /* $Log$
-/* Revision 1.8  1997/05/29 12:31:40  curt
-/* Minor tweaks, moving towards general flight model integration.
+/* Revision 1.9  1997/05/29 22:39:51  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.8  1997/05/29 12:31:40  curt
+ * Minor tweaks, moving towards general flight model integration.
+ *
  * Revision 1.7  1997/05/29 02:33:24  curt
  * Updated to reflect changing interfaces in other "modules."
  *
diff --git a/Slew/slew.c b/Slew/slew.c
index 9c27575da..7123a1c02 100644
--- a/Slew/slew.c
+++ b/Slew/slew.c
@@ -32,6 +32,10 @@
 #include "../../controls/controls.h"
 
 
+#ifndef M_PI                                    
+#define M_PI        3.14159265358979323846      /* pi */
+#endif                                                           
+
 #ifndef PI2                                               
 #define PI2  (M_PI + M_PI)                      
 #endif        
@@ -43,7 +47,7 @@ void fgSlewInit(double pos_x, double pos_y, double pos_z, double heading) {
 
     f = &current_aircraft.flight;
 
-    f->pos_x = pos_x;
+    /*    f->pos_x = pos_x;
     f->pos_y = pos_y;
     f->pos_z = pos_z;
 
@@ -59,7 +63,7 @@ void fgSlewInit(double pos_x, double pos_y, double pos_z, double heading) {
     f->vel_Theta = 0.0;
     f->vel_Psi = 0.0;
 
-    f->Psi = heading;
+    f->Psi = heading; */
 }
 
 
@@ -71,7 +75,7 @@ void fgSlewUpdate() {
     f = &current_aircraft.flight;
     c = &current_aircraft.controls;
 
-    f->Psi += ( c->aileron / 8 );
+    /* f->Psi += ( c->aileron / 8 );
     if ( f->Psi > PI2 ) {
 	f->Psi -= PI2;
     } else if ( f->Psi < 0 ) {
@@ -81,14 +85,17 @@ void fgSlewUpdate() {
     f->vel_x = -c->elev;
 
     f->pos_x = f->pos_x + (cos(f->Psi) * f->vel_x);
-    f->pos_y = f->pos_y + (sin(f->Psi) * f->vel_x);
+    f->pos_y = f->pos_y + (sin(f->Psi) * f->vel_x); */
 }
 
 
 /* $Log$
-/* Revision 1.2  1997/05/29 12:30:19  curt
-/* Some initial mods to work better in a timer environment.
+/* Revision 1.3  1997/05/29 22:40:00  curt
+/* Working on incorporating the LaRCsim flight model.
 /*
+ * Revision 1.2  1997/05/29 12:30:19  curt
+ * Some initial mods to work better in a timer environment.
+ *
  * Revision 1.1  1997/05/29 02:29:42  curt
  * Moved to their own directory.
  *