From: Erik Hofman <erik@ehofman.com>
Date: Tue, 26 Oct 2010 07:48:56 +0000 (+0200)
Subject: Sync with JSBSim cvs + Anders' patch to get it working with FlightGear.
X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=68f54290481701429a04cd33c06be2674fc2b3a4;p=flightgear.git

Sync with JSBSim cvs + Anders' patch to get it working with FlightGear.
---

diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp
index 4cba2d0f9..bc81cd6f8 100644
--- a/src/FDM/JSBSim/FGFDMExec.cpp
+++ b/src/FDM/JSBSim/FGFDMExec.cpp
@@ -71,16 +71,9 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.80 2010/08/21 22:56:10 jberndt Exp $";
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.82 2010/10/07 03:17:29 jberndt Exp $";
 static const char *IdHdr = ID_FDMEXEC;
 
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-unsigned int FGFDMExec::FDMctr = 0;
-FGPropertyManager* FGFDMExec::master=0;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -102,11 +95,21 @@ void checkTied ( FGPropertyManager *node )
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Constructor
-
+// Constructors
 FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
 {
+  FDMctr = new unsigned int;
+  *FDMctr = 0;
+  Initialize();
+}
+
+FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
+{
+  Initialize();
+}
 
+void FGFDMExec::Initialize()
+{
   Frame           = 0;
   Error           = 0;
   GroundCallback  = 0;
@@ -138,22 +141,26 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
   dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
                   // run in standalone mode with no initialization file.
 
-  IdFDM = FDMctr; // The main (parent) JSBSim instance is always the "zeroth"
-  FDMctr++;       // instance. "child" instances are loaded last.
-
   try {
     char* num = getenv("JSBSIM_DEBUG");
     if (num) debug_lvl = atoi(num); // set debug level
-  } catch (...) {               // if error set to 1
+  } catch (...) {                   // if error set to 1
     debug_lvl = 1;
   }
 
-  if (Root == 0) {
-    if (master == 0)
-      master = new FGPropertyManager;
-    Root = master;
+  if (Root == 0) {                 // Then this is the root FDM
+    Root = new FGPropertyManager;  // Create the property manager
+    
+    FDMctr = new unsigned int;     // Create and initialize the child FDM counter
+    (*FDMctr) = 0;
   }
 
+  // Store this FDM's ID
+  IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
+                                                                      
+  // Prepare FDMctr for the next child FDM id
+  (*FDMctr)++;       // instance. "child" instances are loaded last.
+
   instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
   Debug(0);
   // this is to catch errors in binding member functions to the property tree.
@@ -186,7 +193,17 @@ FGFDMExec::~FGFDMExec()
   try {
     checkTied( instance );
     DeAllocate();
-    if (Root == 0)  delete master;
+    
+    if (IdFDM == 0) { // Meaning this is no child FDM
+      if(Root != 0) {
+         delete Root;
+         Root = 0;
+      }
+      if(FDMctr != 0) {
+         delete FDMctr;
+         FDMctr = 0;
+      }
+    }
   } catch ( string msg ) {
     cout << "Caught error: " << msg << endl;
   }
@@ -439,7 +456,7 @@ vector <string> FGFDMExec::EnumerateFDMs(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::LoadScript(string script, double deltaT)
+bool FGFDMExec::LoadScript(const string& script, double deltaT)
 {
   bool result;
 
@@ -451,8 +468,8 @@ bool FGFDMExec::LoadScript(string script, double deltaT)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
-                string model, bool addModelToPath)
+bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
+                const string& model, bool addModelToPath)
 {
   FGFDMExec::AircraftPath = RootDir + AircraftPath;
   FGFDMExec::EnginePath = RootDir + EnginePath;
@@ -463,7 +480,7 @@ bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string Systems
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::LoadModel(string model, bool addModelToPath)
+bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
 {
   string token;
   string aircraftCfgFileName;
@@ -730,7 +747,7 @@ void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFDMExec::QueryPropertyCatalog(string in)
+string FGFDMExec::QueryPropertyCatalog(const string& in)
 {
   string results="";
   for (unsigned i=0; i<PropertyCatalog.size(); i++) {
@@ -852,7 +869,7 @@ bool FGFDMExec::ReadChild(Element* el)
 
   struct childData* child = new childData;
 
-  child->exec = new FGFDMExec();
+  child->exec = new FGFDMExec(Root, FDMctr);
   child->exec->SetChild(true);
 
   string childAircraft = el->GetAttributeValue("name");
@@ -922,7 +939,7 @@ void FGFDMExec::EnableOutput(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::SetOutputDirectives(string fname)
+bool FGFDMExec::SetOutputDirectives(const string& fname)
 {
   bool result;
 
diff --git a/src/FDM/JSBSim/FGFDMExec.h b/src/FDM/JSBSim/FGFDMExec.h
index 8c91cb2c9..231cadcaa 100644
--- a/src/FDM/JSBSim/FGFDMExec.h
+++ b/src/FDM/JSBSim/FGFDMExec.h
@@ -60,7 +60,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.52 2010/07/04 13:50:21 jberndt Exp $"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.54 2010/10/07 03:17:29 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -169,7 +169,7 @@ CLASS DOCUMENTATION
                                 property actually maps toa function call of DoTrim().
 
     @author Jon S. Berndt
-    @version $Revision: 1.52 $
+    @version $Revision: 1.54 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -206,8 +206,9 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
 
 public:
 
-  /// Default constructor
+  /// Default constructors
   FGFDMExec(FGPropertyManager* root = 0);
+  FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr);
 
   /// Default destructor
   ~FGFDMExec();
@@ -252,8 +253,8 @@ public:
       @param addModelToPath set to true to add the model name to the
       AircraftPath, defaults to true
       @return true if successful */
-  bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
-                 string model, bool addModelToPath = true);
+  bool LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
+                 const string& model, bool addModelToPath = true);
 
   /** Loads an aircraft model.  The paths to the aircraft and engine
       config file directories must be set prior to calling this.  See
@@ -265,28 +266,28 @@ public:
       @param addModelToPath set to true to add the model name to the
       AircraftPath, defaults to true
       @return true if successful*/
-  bool LoadModel(string model, bool addModelToPath = true);
+  bool LoadModel(const string& model, bool addModelToPath = true);
 
   /** Loads a script
       @param Script the full path name and file name for the script to be loaded.
       @return true if successfully loadsd; false otherwise. */
-  bool LoadScript(string Script, double deltaT);
+  bool LoadScript(const string& Script, double deltaT);
 
   /** Sets the path to the engine config file directories.
       @param path path to the directory under which engine config
       files are kept, for instance "engine"  */
-  bool SetEnginePath(string path)   { EnginePath = RootDir + path; return true; }
+  bool SetEnginePath(const string& path)   { EnginePath = RootDir + path; return true; }
 
   /** Sets the path to the aircraft config file directories.
       @param path path to the aircraft directory. For instance:
       "aircraft". Under aircraft, then, would be directories for various
       modeled aircraft such as C172/, x15/, etc.  */
-  bool SetAircraftPath(string path) { AircraftPath = RootDir + path; return true; }
+  bool SetAircraftPath(const string& path) { AircraftPath = RootDir + path; return true; }
   
   /** Sets the path to the systems config file directories.
       @param path path to the directory under which systems config
       files are kept, for instance "systems"  */
-  bool SetSystemsPath(string path)   { SystemsPath = RootDir + path; return true; }
+  bool SetSystemsPath(const string& path)   { SystemsPath = RootDir + path; return true; }
   
   /// @name Top-level executive State and Model retrieval mechanism
   //@{
@@ -327,28 +328,28 @@ public:
   //@}
 
   /// Retrieves the engine path.
-  inline string GetEnginePath(void)          {return EnginePath;}
+  inline const string& GetEnginePath(void)    {return EnginePath;}
   /// Retrieves the aircraft path.
-  inline string GetAircraftPath(void)        {return AircraftPath;}
+  inline const string& GetAircraftPath(void)  {return AircraftPath;}
   /// Retrieves the systems path.
-  inline string GetSystemsPath(void)         {return SystemsPath;}
+  inline const string& GetSystemsPath(void)   {return SystemsPath;}
   /// Retrieves the full aircraft path name.
-  inline string GetFullAircraftPath(void)    {return FullAircraftPath;}
+  inline const string& GetFullAircraftPath(void) {return FullAircraftPath;}
 
   /** Retrieves the value of a property.
       @param property the name of the property
       @result the value of the specified property */
-  inline double GetPropertyValue(string property) {return instance->GetDouble(property);}
+  inline double GetPropertyValue(const string& property) {return instance->GetDouble(property);}
 
   /** Sets a property value.
       @param property the property to be set
       @param value the value to set the property to */
-  inline void SetPropertyValue(string property, double value) {
+  inline void SetPropertyValue(const string& property, double value) {
     instance->SetDouble(property, value);
   }
 
   /// Returns the model name.
-  string GetModelName(void) { return modelName; }
+  const string& GetModelName(void) { return modelName; }
 /*
   /// Returns the current time.
   double GetSimTime(void);
@@ -382,12 +383,12 @@ public:
       be logged.
       @param fname the filename of an output directives file.
     */
-  bool SetOutputDirectives(string fname);
+  bool SetOutputDirectives(const string& fname);
 
   /** Sets (or overrides) the output filename
       @param fname the name of the file to output data to
       @return true if successful, false if there is no output specified for the flight model */
-  bool SetOutputFileName(string fname) {
+  bool SetOutputFileName(const string& fname) {
     if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
     else return false;
     return true;
@@ -447,7 +448,7 @@ public:
   *   @param check The string to search for in the property catalog.
   *   @return the carriage-return-delimited string containing all matching strings
   *               in the catalog.  */
-  string QueryPropertyCatalog(string check);
+  string QueryPropertyCatalog(const string& check);
 
   // Print the contents of the property catalog for the loaded aircraft.
   void PrintPropertyCatalog(void);
@@ -495,11 +496,11 @@ public:
 
   /** Sets the root directory where JSBSim starts looking for its system directories.
       @param rootDir the string containing the root directory. */
-  void SetRootDir(string rootDir) {RootDir = rootDir;}
+  void SetRootDir(const string& rootDir) {RootDir = rootDir;}
 
   /** Retrieves teh Root Directory.
       @return the string representing the root (base) JSBSim directory. */
-  string GetRootDir(void) const {return RootDir;}
+  const string& GetRootDir(void) const {return RootDir;}
 
   /** Increments the simulation time.
       @return the new simulation time.     */
@@ -512,7 +513,6 @@ public:
   int GetDebugLevel(void) const {return debug_lvl;};
 
 private:
-  static unsigned int FDMctr;
   int Error;
   unsigned int Frame;
   unsigned int IdFDM;
@@ -536,8 +536,6 @@ private:
   bool trim_status;
   int ta_mode;
 
-  static FGPropertyManager *master;
-
   FGGroundCallback*   GroundCallback;
   FGAtmosphere*       Atmosphere;
   FGFCS*              FCS;
@@ -558,12 +556,16 @@ private:
 
   FGPropertyManager* Root;
   FGPropertyManager* instance;
+  
+  // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
+  unsigned int*      FDMctr;
 
   vector <string> PropertyCatalog;
   vector <FGOutput*> Outputs;
   vector <childData*> ChildFDMList;
   vector <FGModel*> Models;
 
+  void Initialize();
   bool ReadFileHeader(Element*);
   bool ReadChild(Element*);
   bool ReadPrologue(Element*);
diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp
deleted file mode 100644
index 08e38a690..000000000
--- a/src/FDM/JSBSim/FGState.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module:       FGState.cpp
- Author:       Jon Berndt
- Date started: 11/17/98
- Called by:    FGFDMExec and accessed by all models.
-
- ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
-
- This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU Lesser General Public License as published by the Free Software
- Foundation; either version 2 of the License, or (at your option) any later
- version.
-
- This program is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
- details.
-
- You should have received a copy of the GNU Lesser General Public License along with
- this program; if not, write to the Free Software Foundation, Inc., 59 Temple
- Place - Suite 330, Boston, MA  02111-1307, USA.
-
- Further information about the GNU Lesser General Public License can also be found on
- the world wide web at http://www.gnu.org.
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-See header file.
-
-HISTORY
---------------------------------------------------------------------------------
-11/17/98   JSB   Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include <cmath>
-#include <iostream>
-
-#include "FGState.h"
-
-using namespace std;
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id: FGState.cpp,v 1.15 2009/10/24 22:59:30 jberndt Exp $";
-static const char *IdHdr = ID_STATE;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-MACROS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGState::FGState(FGFDMExec* fdex)
-{
-  FDMExec = fdex;
-
-  sim_time = 0.0;
-  dt = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
-                  // run in standalone mode with no initialization file.
-
-  Aircraft     = FDMExec->GetAircraft();
-  Propagate    = FDMExec->GetPropagate();
-  Auxiliary    = FDMExec->GetAuxiliary();
-  FCS          = FDMExec->GetFCS();
-  Atmosphere   = FDMExec->GetAtmosphere();
-  Aerodynamics = FDMExec->GetAerodynamics();
-  GroundReactions = FDMExec->GetGroundReactions();
-  Propulsion      = FDMExec->GetPropulsion();
-  PropertyManager = FDMExec->GetPropertyManager();
-
-  bind();
-
-  Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGState::~FGState()
-{
-  Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::Initialize(FGInitialCondition *FGIC)
-{
-  sim_time = 0.0;
-
-  Propagate->SetInitialState( FGIC );
-
-  Atmosphere->Run();
-  Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
-                          FGIC->GetWindEFpsIC(),
-                          FGIC->GetWindDFpsIC() );
-
-  FGColumnVector3 vAeroUVW;
-  vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
-
-  double alpha, beta;
-  if (vAeroUVW(eW) != 0.0)
-    alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
-  else
-    alpha = 0.0;
-  if (vAeroUVW(eV) != 0.0)
-    beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
-  else
-    beta = 0.0;
-
-  Auxiliary->SetAB(alpha, beta);
-
-  double Vt = vAeroUVW.Magnitude();
-  Auxiliary->SetVt(Vt);
-
-  Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
-
-  double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
-  Auxiliary->Setqbar(qbar);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::bind(void)
-{
-  PropertyManager->Tie("sim-time-sec", this, &FGState::Getsim_time);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//    The bitmasked value choices are as follows:
-//    unset: In this case (the default) JSBSim would only print
-//       out the normally expected messages, essentially echoing
-//       the config files as they are read. If the environment
-//       variable is not set, debug_lvl is set to 1 internally
-//    0: This requests JSBSim not to output any messages
-//       whatsoever.
-//    1: This value explicity requests the normal JSBSim
-//       startup messages
-//    2: This value asks for a message to be printed out when
-//       a class is instantiated
-//    4: When this value is set, a message is displayed when a
-//       FGModel object executes its Run() method
-//    8: When this value is set, various runtime state variables
-//       are printed out periodically
-//    16: When set various parameters are sanity checked and
-//       a message is printed out when they go out of bounds
-
-void FGState::Debug(int from)
-{
-  if (debug_lvl <= 0) return;
-
-  if (debug_lvl & 1) { // Standard console startup message output
-    if (from == 0) { // Constructor
-
-    }
-  }
-  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
-    if (from == 0) cout << "Instantiated: FGState" << endl;
-    if (from == 1) cout << "Destroyed:    FGState" << endl;
-  }
-  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
-  }
-  if (debug_lvl & 8 ) { // Runtime state variables
-  }
-  if (debug_lvl & 16) { // Sanity checking
-  }
-  if (debug_lvl & 64) {
-    if (from == 0) { // Constructor
-      cout << IdSrc << endl;
-      cout << IdHdr << endl;
-    }
-  }
-}
-}
diff --git a/src/FDM/JSBSim/FGState.h b/src/FDM/JSBSim/FGState.h
deleted file mode 100644
index 220f042fd..000000000
--- a/src/FDM/JSBSim/FGState.h
+++ /dev/null
@@ -1,166 +0,0 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header:       FGState.h
- Author:       Jon S. Berndt
- Date started: 11/17/98
-
- ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
-
- This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU Lesser General Public License as published by the Free Software
- Foundation; either version 2 of the License, or (at your option) any later
- version.
-
- This program is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
- details.
-
- You should have received a copy of the GNU Lesser General Public License along with
- this program; if not, write to the Free Software Foundation, Inc., 59 Temple
- Place - Suite 330, Boston, MA  02111-1307, USA.
-
- Further information about the GNU Lesser General Public License can also be found on
- the world wide web at http://www.gnu.org.
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-11/17/98   JSB   Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGSTATE_H
-#define FGSTATE_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include <fstream>
-#include <string>
-#include <map>
-#include "FGJSBBase.h"
-#include "initialization/FGInitialCondition.h"
-#include "math/FGColumnVector3.h"
-#include "math/FGQuaternion.h"
-#include "FGFDMExec.h"
-#include "models/FGAtmosphere.h"
-#include "models/FGFCS.h"
-#include "models/FGPropagate.h"
-#include "models/FGAuxiliary.h"
-#include "models/FGAerodynamics.h"
-#include "models/FGAircraft.h"
-#include "models/FGGroundReactions.h"
-#include "models/FGPropulsion.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_STATE "$Id: FGState.h,v 1.15 2009/10/02 10:30:07 jberndt Exp $"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates the calculation of aircraft state.
-    <h3>Properties</h3>
-    @property sim-time-sec (read only) cumulative simulation in seconds.
-    @author Jon S. Berndt
-    @version $Revision: 1.15 $
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGState : public FGJSBBase
-{
-public:
-  /** Constructor
-      @param Executive a pointer to the parent executive object */
-  FGState(FGFDMExec*);
-  /// Destructor
-  ~FGState();
-
-  /** Initializes the simulation state based on parameters from an Initial Conditions object.
-      @param FGIC pointer to an initial conditions object.
-      @see FGInitialConditions.    */
-  void Initialize(FGInitialCondition *FGIC);
-
-  /// Returns the cumulative simulation time in seconds.
-  inline double Getsim_time(void) const { return sim_time; }
-
-  /// Returns the simulation delta T.
-  inline double Getdt(void) {return dt;}
-
-  /// Suspends the simulation and sets the delta T to zero.
-  inline void SuspendIntegration(void) {saved_dt = dt; dt = 0.0;}
-
-  /// Resumes the simulation by resetting delta T to the correct value.
-  inline void ResumeIntegration(void)  {dt = saved_dt;}
-
-  /** Returns the simulation suspension state.
-      @return true if suspended, false if executing  */
-  bool IntegrationSuspended(void) {return dt == 0.0;}
-
-  /** Sets the current sim time.
-      @param cur_time the current time
-      @return the current simulation time.      */
-  inline double Setsim_time(double cur_time) {
-    sim_time = cur_time;
-    return sim_time;
-  }
-
-  /** Sets the integration time step for the simulation executive.
-      @param delta_t the time step in seconds.     */
-  inline void  Setdt(double delta_t) { dt = delta_t; }
-
-  /** Increments the simulation time.
-      @return the new simulation time.     */
-  inline double IncrTime(void) {
-    sim_time+=dt;
-    return sim_time;
-  }
-
-  /** Prints a summary of simulator state (speed, altitude,
-      configuration, etc.)  */
-//  void ReportState(void);
-
-private:
-  double sim_time, dt;
-  double saved_dt;
-
-  FGFDMExec* FDMExec;
-
-  FGAircraft* Aircraft;
-  FGPropagate* Propagate;
-  FGAtmosphere* Atmosphere;
-  FGFCS* FCS;
-  FGAerodynamics* Aerodynamics;
-  FGGroundReactions* GroundReactions;
-  FGPropulsion* Propulsion;
-  FGAuxiliary* Auxiliary;
-  FGPropertyManager* PropertyManager;
-
-  void bind();
-
-  void Debug(int from);
-};
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-#endif
-
diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index a915539cc..612424629 100644
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -18,7 +18,7 @@
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 //
-// $Id: JSBSim.cxx,v 1.62 2010/07/14 05:50:40 ehofman Exp $
+// $Id: JSBSim.cxx,v 1.63 2010/10/07 03:45:40 jberndt Exp $
 
 
 #ifdef HAVE_CONFIG_H
@@ -97,14 +97,15 @@ public:
 
   /** Compute the altitude above ground. */
   virtual double GetAGLevel(double t, const FGLocation& l,
-                            FGLocation& cont,
-                            FGColumnVector3& n, FGColumnVector3& v) const {
+                            FGLocation& cont, FGColumnVector3& n,
+                            FGColumnVector3& v, FGColumnVector3& w) const {
     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
-    double contact[3], normal[3], vel[3], agl = 0;
+    double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
-                           vel, &agl);
+                           vel, angularVel, &agl);
     n = FGColumnVector3( normal[0], normal[1], normal[2] );
     v = FGColumnVector3( vel[0], vel[1], vel[2] );
+    w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
     return agl;
   }
@@ -489,7 +490,7 @@ void FGJSBsim::update( double dt )
       if ( startup_trim->getBoolValue() ) {
         double contact[3], d[3], agl;
         get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
-                   d, d, &agl);
+                   d, d, d, &agl);
         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 
@@ -743,7 +744,7 @@ bool FGJSBsim::copy_from_JSBsim()
       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
       double contact[3], d[3], sd, t;
       is_valid_m(&t, d, &sd);
-      get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
+      get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
       double rwrad
         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
@@ -1204,9 +1205,8 @@ void FGJSBsim::update_ic(void)
 bool
 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
                      double contact[3], double normal[3], double vel[3],
-                     double *agl)
+                     double angularVel[3], double *agl)
 {
-   double angularVel[3];
    const SGMaterial* material;
    simgear::BVHNode::Id id;
    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
@@ -1289,10 +1289,12 @@ void FGJSBsim::update_external_forces(double t_off)
     double contact[3];
     double ground_normal[3];
     double ground_vel[3];
+    double ground_angular_vel[3];
     double root_agl_ft;
 
     if (!got_wire) {
-        bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
+        bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
+                              ground_vel, ground_angular_vel, &root_agl_ft);
         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
diff --git a/src/FDM/JSBSim/JSBSim.hxx b/src/FDM/JSBSim/JSBSim.hxx
index 38c952bd2..6729a141f 100644
--- a/src/FDM/JSBSim/JSBSim.hxx
+++ b/src/FDM/JSBSim/JSBSim.hxx
@@ -58,7 +58,6 @@ FORWARD DECLARATIONS
 #include <FDM/JSBSim/FGFDMExec.h>
 
 namespace JSBSim {
-class FGState;
 class FGAtmosphere;
 class FGFCS;
 class FGPropulsion;
@@ -86,7 +85,7 @@ CLASS DOCUMENTATION
     documentation for main for direction on running JSBSim apart from FlightGear.
     @author Curtis L. Olson (original)
     @author Tony Peden (Maintained and refined)
-    @version $Id: JSBSim.hxx,v 1.13 2010/07/07 20:46:36 andgi Exp $
+    @version $Id: JSBSim.hxx,v 1.15 2010/10/07 03:45:40 jberndt Exp $
     @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
 */
 
@@ -208,13 +207,12 @@ public:
 
     bool get_agl_ft(double t, const double pt[3], double alt_off,
                     double contact[3], double normal[3], double vel[3],
-                    double *agl);
+                    double angularVel[3], double *agl);
 private:
     JSBSim::FGFDMExec *fdmex;
     JSBSim::FGInitialCondition *fgic;
     bool needTrim;
 
-    JSBSim::FGState*        State;
     JSBSim::FGAtmosphere*   Atmosphere;
     JSBSim::FGFCS*          FCS;
     JSBSim::FGPropulsion*   Propulsion;
diff --git a/src/FDM/JSBSim/Makefile.am b/src/FDM/JSBSim/Makefile.am
index c2d2b93c7..2d3b6414a 100644
--- a/src/FDM/JSBSim/Makefile.am
+++ b/src/FDM/JSBSim/Makefile.am
@@ -2,8 +2,8 @@ SUBDIRS = initialization models input_output math
 
 noinst_LIBRARIES = libJSBSim.a
 
-libJSBSim_a_SOURCES =  FGFDMExec.cpp FGJSBBase.cpp FGState.cpp JSBSim.cxx
+libJSBSim_a_SOURCES =  FGFDMExec.cpp FGJSBBase.cpp JSBSim.cxx
 
-noinst_HEADERS = FGFDMExec.h FGJSBBase.h FGState.h JSBSim.hxx
+noinst_HEADERS = FGFDMExec.h FGJSBBase.h JSBSim.hxx
 
 INCLUDES = -I$(top_srcdir)/src -I$(top_srcdir)/src/FDM/JSBSim
diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
index ed17c6944..d8452c77b 100644
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
@@ -62,7 +62,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.44 2010/09/18 22:48:12 jberndt Exp $";
+static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.46 2010/09/29 02:19:05 jberndt Exp $";
 static const char *IdHdr = ID_INITIALCONDITION;
 
 //******************************************************************************
@@ -120,7 +120,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0,
   FGQuaternion Quat( phi, theta, psi );
   Quat.Normalize();
 
-  const FGMatrix33& _Tl2b  = Quat.GetT();     // local to body frame
+//  const FGMatrix33& _Tl2b  = Quat.GetT();     // local to body frame
   const FGMatrix33& _Tb2l  = Quat.GetTInv();  // body to local
 
   FGColumnVector3 _vUVW_BODY(u,v,w);
@@ -863,17 +863,22 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
   }
 
   double version = document->GetAttributeValueAsNumber("version");
+  bool result = false;
+
   if (version == HUGE_VAL) {
-    return Load_v1(); // Default to the old version
+    result = Load_v1(); // Default to the old version
   } else if (version >= 3.0) {
     cerr << "Only initialization file formats 1 and 2 are currently supported" << endl;
     exit (-1);
   } else if (version >= 2.0) {
-    return Load_v2();
+    result = Load_v2();
   } else if (version >= 1.0) {
-    return Load_v1();
+    result = Load_v1();
   } 
 
+  fdmex->GetPropagate()->DumpState();
+
+  return result;
 }
 
 //******************************************************************************
@@ -962,6 +967,7 @@ bool FGInitialCondition::Load_v1(void)
 bool FGInitialCondition::Load_v2(void)
 {
   int n;
+  double epa = 0.0;
   FGColumnVector3 vLoc, vOrient;
   bool result = true;
   FGInertial* Inertial = fdmex->GetInertial();
@@ -969,10 +975,10 @@ bool FGInitialCondition::Load_v2(void)
   FGColumnVector3 vOmegaEarth = FGColumnVector3(0.0, 0.0, Inertial->omega());
 
   if (document->FindElement("earth_position_angle")) {
-    double epa = document->FindElementValueAsNumberConvertTo("earth_position_angle", "RAD");
+    epa = document->FindElementValueAsNumberConvertTo("earth_position_angle", "RAD");
+  }
     Inertial->SetEarthPositionAngle(epa);
     Propagate->GetVState()->vLocation.SetEarthPositionAngle(epa);
-  }
 
   Propagate->SetSeaLevelRadius(GetSeaLevelRadiusFtIC());
 
@@ -989,15 +995,15 @@ bool FGInitialCondition::Load_v2(void)
 
   Element* position = document->FindElement("position");
   if (position) {
-    vLoc = position->FindElementTripletConvertTo("FT");
     string frame = position->GetAttributeValue("frame");
     frame = to_lower(frame);
     if (frame == "eci") { // Need to transform vLoc to ECEF for storage and use in FGLocation.
+      vLoc = position->FindElementTripletConvertTo("FT");
       vLoc = Propagate->GetTi2ec()*vLoc;
       Propagate->SetLocation(vLoc);
     } else if (frame == "ecef") {
       double AltitudeASL = 0.0;
-      if (vLoc.Magnitude() == 0.0) {
+      if (!position->FindElement("x") && !position->FindElement("y") && !position->FindElement("z")) {
         if (position->FindElement("radius")) {
           AltitudeASL = position->FindElementValueAsNumberConvertTo("radius", "FT") - sea_level_radius;
         } else if (position->FindElement("altitudeAGL")) {
@@ -1008,11 +1014,15 @@ bool FGInitialCondition::Load_v2(void)
           cerr << endl << "  No altitude or radius initial condition is given." << endl;
           result = false;
         }
-        Propagate->SetPosition(
-                         position->FindElementValueAsNumberConvertTo("longitude", "RAD"),
-                         position->FindElementValueAsNumberConvertTo("latitude", "RAD"),
-                         AltitudeASL + GetSeaLevelRadiusFtIC());
+        double lat_rad=0.0;
+        double long_rad = 0.0;
+        if (position->FindElement("longitude"))
+            long_rad = position->FindElementValueAsNumberConvertTo("longitude", "RAD");
+        if (position->FindElement("latitude"))
+            lat_rad = position->FindElementValueAsNumberConvertTo("latitude", "RAD");
+        Propagate->SetPosition(long_rad, lat_rad, AltitudeASL + GetSeaLevelRadiusFtIC());
       } else {
+        vLoc = position->FindElementTripletConvertTo("FT");
         Propagate->SetLocation(vLoc);
       }
     } else {
@@ -1072,7 +1082,9 @@ bool FGInitialCondition::Load_v2(void)
       // Q_b/i = Q_e/i * Q_b/e
 
       FGQuaternion QuatEC2Body(vOrient); // Store relationship of Body frame wrt ECEF frame, Q_b/e
+      QuatEC2Body.Normalize();
       FGQuaternion QuatI2EC = Propagate->GetTi2ec(); // Get Q_e/i from matrix
+      QuatI2EC.Normalize();
       QuatI2Body = QuatI2EC * QuatEC2Body; // Q_b/i = Q_e/i * Q_b/e 
 
     } else if (frame == "local") {
@@ -1089,8 +1101,11 @@ bool FGInitialCondition::Load_v2(void)
       // Q_b/i = Q_e/i * Q_n/e * Q_b/n
 
       FGQuaternion QuatLocal2Body = FGQuaternion(vOrient); // Store relationship of Body frame wrt local (NED) frame, Q_b/n
+      QuatLocal2Body.Normalize();
       FGQuaternion QuatEC2Local = Propagate->GetTec2l();   // Get Q_n/e from matrix
+      QuatEC2Local.Normalize();
       FGQuaternion QuatI2EC = Propagate->GetTi2ec(); // Get Q_e/i from matrix
+      QuatI2EC.Normalize();
       QuatI2Body = QuatI2EC * QuatEC2Local * QuatLocal2Body; // Q_b/i = Q_e/i * Q_n/e * Q_b/n
 
     } else {
@@ -1102,6 +1117,7 @@ bool FGInitialCondition::Load_v2(void)
     }
   }
 
+  QuatI2Body.Normalize();
   Propagate->SetInertialOrientation(QuatI2Body);
 
   // Initialize vehicle velocity
@@ -1201,7 +1217,9 @@ bool FGInitialCondition::Load_v2(void)
     running_elements = document->FindNextElement("running");
   }
 
-  // fdmex->RunIC();
+  fdmex->SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
+  fdmex->Run();
+  fdmex->ResumeIntegration(); // Restores the integration rate to what it was.
 
   return result;
 }
diff --git a/src/FDM/JSBSim/input_output/FGGroundCallback.cpp b/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
index bf1cfb1b5..8933101ca 100644
--- a/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
+++ b/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
@@ -68,9 +68,10 @@ double FGGroundCallback::GetAltitude(const FGLocation& loc) const
 
 double FGGroundCallback::GetAGLevel(double t, const FGLocation& loc,
                                     FGLocation& contact, FGColumnVector3& normal,
-                                    FGColumnVector3& vel) const
+                                    FGColumnVector3& vel, FGColumnVector3& angularVel) const
 {
   vel = FGColumnVector3(0.0, 0.0, 0.0);
+  angularVel = FGColumnVector3(0.0, 0.0, 0.0);
   normal = FGColumnVector3(loc).Normalize();
   double loc_radius = loc.GetRadius();  // Get the radius of the given location
                                         // (e.g. the CG)
diff --git a/src/FDM/JSBSim/input_output/FGGroundCallback.h b/src/FDM/JSBSim/input_output/FGGroundCallback.h
index 63955a4d0..bb6780915 100644
--- a/src/FDM/JSBSim/input_output/FGGroundCallback.h
+++ b/src/FDM/JSBSim/input_output/FGGroundCallback.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GROUNDCALLBACK "$Id: FGGroundCallback.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $"
+#define ID_GROUNDCALLBACK "$Id: FGGroundCallback.h,v 1.9 2010/10/07 03:45:40 jberndt Exp $"
 
 namespace JSBSim {
 
@@ -59,7 +59,7 @@ CLASS DOCUMENTATION
     ball formed earth.
 
     @author Mathias Froehlich
-    @version $Id: FGGroundCallback.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $
+    @version $Id: FGGroundCallback.h,v 1.9 2010/10/07 03:45:40 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -85,7 +85,8 @@ public:
   virtual double GetAltitude(const FGLocation& l) const;
   /** Compute the altitude above ground. Defaults to sealevel altitude. */
   virtual double GetAGLevel(double t, const FGLocation& l, FGLocation& cont,
-                            FGColumnVector3& n, FGColumnVector3& v) const;
+                            FGColumnVector3& n, FGColumnVector3& v,
+                            FGColumnVector3& w) const;
   virtual void SetTerrainGeoCentRadius(double radius) {mReferenceRadius = radius;}
   virtual double GetTerrainGeoCentRadius(void) const {return mReferenceRadius;}
 private:
diff --git a/src/FDM/JSBSim/input_output/FGXMLElement.cpp b/src/FDM/JSBSim/input_output/FGXMLElement.cpp
index 3f7becc5c..832b2c8c6 100755
--- a/src/FDM/JSBSim/input_output/FGXMLElement.cpp
+++ b/src/FDM/JSBSim/input_output/FGXMLElement.cpp
@@ -42,7 +42,7 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.30 2010/09/04 14:15:15 jberndt Exp $";
+static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.31 2010/09/29 02:22:03 jberndt Exp $";
 static const char *IdHdr = ID_XMLELEMENT;
 
 bool Element::converterIsInitialized = false;
@@ -93,10 +93,10 @@ Element::Element(const string& nm)
     convert["SLUG*FT2"]["KG*M2"] = 1.35594;
     convert["KG*M2"]["SLUG*FT2"] = 1.0/convert["SLUG*FT2"]["KG*M2"];
     // Angles
-    convert["RAD"]["DEG"] = 360.0/(2.0*3.1415926);
+    convert["RAD"]["DEG"] = 180.0/M_PI;
     convert["DEG"]["RAD"] = 1.0/convert["RAD"]["DEG"];
     // Angular rates
-    convert["RAD/SEC"]["DEG/SEC"] = 360.0/(2.0*3.1415926);
+    convert["RAD/SEC"]["DEG/SEC"] = convert["RAD"]["DEG"];
     convert["DEG/SEC"]["RAD/SEC"] = 1.0/convert["RAD/SEC"]["DEG/SEC"];
     // Spring force
     convert["LBS/FT"]["N/M"] = 14.5939;
@@ -478,7 +478,6 @@ FGColumnVector3 Element::FindElementTripletConvertTo( const string& target_units
     if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
   } else {
     value = 0.0;
-    cerr << "Could not find an X triplet item for this column vector." << endl;
   }
   triplet(1) = value;
 
@@ -489,7 +488,6 @@ FGColumnVector3 Element::FindElementTripletConvertTo( const string& target_units
     if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
   } else {
     value = 0.0;
-    cerr << "Could not find a Y triplet item for this column vector." << endl;
   }
   triplet(2) = value;
 
@@ -500,7 +498,6 @@ FGColumnVector3 Element::FindElementTripletConvertTo( const string& target_units
     if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
   } else {
     value = 0.0;
-    cerr << "Could not find a Z triplet item for this column vector." << endl;
   }
   triplet(3) = value;
 
diff --git a/src/FDM/JSBSim/input_output/FGXMLParse.cpp b/src/FDM/JSBSim/input_output/FGXMLParse.cpp
index 90fe0e7b9..22d30a255 100755
--- a/src/FDM/JSBSim/input_output/FGXMLParse.cpp
+++ b/src/FDM/JSBSim/input_output/FGXMLParse.cpp
@@ -40,7 +40,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGXMLParse.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
+static const char *IdSrc = "$Id: FGXMLParse.cpp,v 1.11 2010/09/28 02:54:03 jberndt Exp $";
 static const char *IdHdr = ID_XMLPARSE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -122,7 +122,7 @@ void FGXMLParse::endElement (const char * name)
 {
   if (!working_string.empty()) {
     vector <string> work_strings = split(working_string, '\n');
-    for (int i=0; i<work_strings.size(); i++) current_element->AddData(work_strings[i]);
+    for (unsigned int i=0; i<work_strings.size(); i++) current_element->AddData(work_strings[i]);
   }
 
   current_element = current_element->GetParent();
diff --git a/src/FDM/JSBSim/input_output/FGfdmSocket.h b/src/FDM/JSBSim/input_output/FGfdmSocket.h
index 4c9e34b3c..7090c6fc2 100644
--- a/src/FDM/JSBSim/input_output/FGfdmSocket.h
+++ b/src/FDM/JSBSim/input_output/FGfdmSocket.h
@@ -65,7 +65,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FDMSOCKET "$Id: FGfdmSocket.h,v 1.19 2010/05/13 03:07:59 jberndt Exp $"
+#define ID_FDMSOCKET "$Id: FGfdmSocket.h,v 1.20 2010/10/15 11:30:28 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -107,7 +107,7 @@ public:
   void Close(void);
   bool GetConnectStatus(void) {return connected;}
 
-  enum {ptUDP, ptTCP};
+  enum ProtocolType {ptUDP, ptTCP} ;
 
 private:
   int sckt;
diff --git a/src/FDM/JSBSim/math/FGLocation.cpp b/src/FDM/JSBSim/math/FGLocation.cpp
index 9e0a62a23..fcba3289e 100644
--- a/src/FDM/JSBSim/math/FGLocation.cpp
+++ b/src/FDM/JSBSim/math/FGLocation.cpp
@@ -45,7 +45,7 @@ INCLUDES
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGLocation.cpp,v 1.22 2010/09/18 22:47:17 jberndt Exp $";
+static const char *IdSrc = "$Id: FGLocation.cpp,v 1.23 2010/09/22 11:34:09 jberndt Exp $";
 static const char *IdHdr = ID_LOCATION;
 using std::cerr;
 using std::endl;
@@ -319,7 +319,7 @@ void FGLocation::ComputeDerivedUnconditional(void) const
 
   if (a != 0.0 && b != 0.0) {
     double c, p, q, s, t, u, v, w, z, p2, u2, r0;
-    double Ne, P, Q0, Q, signz0, sqrt_q; 
+    double Ne, P, Q0, Q, signz0, sqrt_q, z_term; 
     p  = fabs(mECLoc(eZ))/eps2;
     s  = r02/(e2*eps2);
     p2 = p*p;
@@ -328,8 +328,7 @@ void FGLocation::ComputeDerivedUnconditional(void) const
     if (q>0)
     {
       u  = p/sqrt_q;
-//      u2 = p2/q;
-      u2 = u*u;
+      u2 = p2/q;
       v  = b2*u2/q;
       P  = 27.0*v*s/q;
       Q0 = sqrt(P+1) + sqrt(P);
@@ -338,10 +337,11 @@ void FGLocation::ComputeDerivedUnconditional(void) const
       c  = sqrt(u2 - 1 + 2.0*t);
       w  = (c - u)/2.0;
       signz0 = mECLoc(eZ)>=0?1.0:-1.0;
-      if ((sqrt(t*t+v)-u*w-0.5*t-0.25) < 0.0) {
+      z_term = sqrt(t*t+v)-u*w-0.5*t-0.25;
+      if (z_term < 0.0) {
         z = 0.0;
       } else {
-        z  = signz0*sqrt_q*(w+sqrt(sqrt(t*t+v)-u*w-0.5*t-0.25));
+        z  = signz0*sqrt_q*(w+sqrt(z_term));
       }
       Ne = a*sqrt(1+eps2*z*z/b2);
       mGeodLat = asin((eps2+1.0)*(z/Ne));
diff --git a/src/FDM/JSBSim/math/FGQuaternion.h b/src/FDM/JSBSim/math/FGQuaternion.h
index 104a52f39..69f304eb3 100644
--- a/src/FDM/JSBSim/math/FGQuaternion.h
+++ b/src/FDM/JSBSim/math/FGQuaternion.h
@@ -47,7 +47,7 @@ SENTRY
   DEFINITIONS
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_QUATERNION "$Id: FGQuaternion.h,v 1.17 2010/06/30 03:13:40 jberndt Exp $"
+#define ID_QUATERNION "$Id: FGQuaternion.h,v 1.18 2010/09/29 02:19:05 jberndt Exp $"
 
 namespace JSBSim {
 
@@ -177,7 +177,7 @@ public:
   const FGMatrix33& GetTInv(void) const { ComputeDerived(); return mTInv; }
 
   /** Retrieves the Euler angles.
-      @return a reference to the triad of euler angles corresponding
+      @return a reference to the triad of Euler angles corresponding
       to this quaternion rotation.
       units radians  */
   const FGColumnVector3& GetEuler(void) const {
@@ -186,7 +186,7 @@ public:
   }
 
   /** Retrieves the Euler angles.
-      @param i the euler angle index.
+      @param i the Euler angle index.
       units radians.
       @return a reference to the i-th euler angles corresponding
       to this quaternion rotation.
@@ -197,7 +197,7 @@ public:
   }
 
   /** Retrieves the Euler angles.
-      @param i the euler angle index.
+      @param i the Euler angle index.
       @return a reference to the i-th euler angles corresponding
       to this quaternion rotation.
       units degrees */
@@ -206,6 +206,15 @@ public:
     return radtodeg*mEulerAngles(i);
   }
 
+  /** Retrieves the Euler angle vector.
+      @return an Euler angle column vector corresponding
+      to this quaternion rotation.
+      units degrees */
+  FGColumnVector3 const GetEulerDeg(void) const {
+    ComputeDerived();
+    return radtodeg*mEulerAngles;
+  }
+
   /** Retrieves sine of the given euler angle.
       @return the sine of the Euler angle theta (pitch attitude) corresponding
       to this quaternion rotation.  */
diff --git a/src/FDM/JSBSim/math/FGTable.cpp b/src/FDM/JSBSim/math/FGTable.cpp
index 3f23fd144..0780739c9 100644
--- a/src/FDM/JSBSim/math/FGTable.cpp
+++ b/src/FDM/JSBSim/math/FGTable.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGTable.cpp,v 1.23 2010/09/16 11:01:24 jberndt Exp $";
+static const char *IdSrc = "$Id: FGTable.cpp,v 1.27 2010/10/21 11:09:56 jberndt Exp $";
 static const char *IdHdr = ID_TABLE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -143,13 +143,12 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
       internal = true;
     } else {
       // internal table is a child element of a restricted type
-      cerr << endl << fgred << "  An internal table cannot be nested within another type," << endl;
-      cerr << "  such as a function. The 'internal' keyword is ignored." << fgdef << endl << endl;
+      throw("  An internal table cannot be nested within another type,"
+            " such as a function. The 'internal' keyword is ignored.");
     }
   } else if (!call_type.empty()) {
-    cerr << endl << fgred << "  An unknown table type attribute is listed: " << call_type
-                 << ". Execution cannot continue." << fgdef << endl << endl;
-    abort();
+    throw("  An unknown table type attribute is listed: "  
+          ". Execution cannot continue.");
   }
 
   // Determine and store the lookup properties for this table unless this table
@@ -218,8 +217,7 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
     brkpt_string = el->GetAttributeValue("breakPoint");
     if (brkpt_string.empty()) {
      // no independentVars found, and table is not marked as internal, nor is it a 3D table
-      cerr << endl << fgred << "No independent variable found for table."  << fgdef << endl << endl;
-      abort();
+      throw("No independent variable found for table.");
     }
   }
   // end lookup property code
@@ -249,10 +247,11 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
   case 2:
     nRows = tableData->GetNumDataLines()-1;
 
-    if (nRows >= 2) nCols = FindNumColumns(tableData->GetDataLine(0));
-    else {
-      cerr << endl << fgred << "Not enough rows in this table." << fgdef << endl;
-      abort();
+    if (nRows >= 2) {
+      nCols = FindNumColumns(tableData->GetDataLine(0));
+      if (nCols < 2) throw(string("Not enough columns in table data."));
+    } else {
+      throw(string("Not enough rows in the table data."));
     }
 
     Type = tt2D;
@@ -290,6 +289,63 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
     break;
   }
 
+  // Sanity checks: lookup indices must be increasing monotonically
+  unsigned int r,c,b;
+
+  // find next xml element containing a name attribute
+  // to indicate where the error occured
+  Element* nameel = el;
+  while (nameel != 0 && nameel->GetAttributeValue("name") == "")
+    nameel=nameel->GetParent();
+
+  // check breakpoints, if applicable
+  if (dimension > 2) {
+    for (b=2; b<=nTables; ++b) {
+      if (Data[b][1] <= Data[b-1][1]) {
+        stringstream errormsg;
+        errormsg << fgred << highint << endl
+             << "  FGTable: breakpoint lookup is not monotonically increasing" << endl
+             << "  in breakpoint " << b;
+        if (nameel != 0) errormsg << " of table in " << nameel->GetAttributeValue("name");
+        errormsg << ":" << reset << endl
+                 << "  " << Data[b][1] << "<=" << Data[b-1][1] << endl;
+        throw(errormsg.str());
+      }
+    }
+  }
+
+  // check columns, if applicable
+  if (dimension > 1) {
+    for (c=2; c<=nCols; ++c) {
+      if (Data[0][c] <= Data[0][c-1]) {
+        stringstream errormsg;
+        errormsg << fgred << highint << endl
+             << "  FGTable: column lookup is not monotonically increasing" << endl
+             << "  in column " << c;
+        if (nameel != 0) errormsg << " of table in " << nameel->GetAttributeValue("name");
+        errormsg << ":" << reset << endl
+                 << "  " << Data[0][c] << "<=" << Data[0][c-1] << endl;
+        throw(errormsg.str());
+      }
+    }
+  }
+
+  // check rows
+  if (dimension < 3) { // in 3D tables, check only rows of subtables
+    for (r=2; r<=nRows; ++r) {
+      if (Data[r][0]<=Data[r-1][0]) {
+        stringstream errormsg;
+        errormsg << fgred << highint << endl
+             << "  FGTable: row lookup is not monotonically increasing" << endl
+             << "  in row " << r;
+        if (nameel != 0) errormsg << " of table in " << nameel->GetAttributeValue("name");
+        errormsg << ":" << reset << endl
+                 << "  " << Data[r][0] << "<=" << Data[r-1][0] << endl;
+        throw(errormsg.str());
+      }
+    }
+  }
+
   bind();
 
   if (debug_lvl & 1) Print();
diff --git a/src/FDM/JSBSim/models/FGAerodynamics.cpp b/src/FDM/JSBSim/models/FGAerodynamics.cpp
index 7f5359e98..0a384447d 100644
--- a/src/FDM/JSBSim/models/FGAerodynamics.cpp
+++ b/src/FDM/JSBSim/models/FGAerodynamics.cpp
@@ -52,7 +52,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.32 2010/09/07 00:40:03 jberndt Exp $";
+static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.34 2010/10/15 11:32:41 jberndt Exp $";
 static const char *IdHdr = ID_AERODYNAMICS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -349,7 +349,14 @@ bool FGAerodynamics::Load(Element *element)
     axis = axis_element->GetAttributeValue("name");
     function_element = axis_element->FindElement("function");
     while (function_element) {
-      ca.push_back( new FGFunction(PropertyManager, function_element) );
+      string current_func_name = function_element->GetAttributeValue("name");
+      try {
+        ca.push_back( new FGFunction(PropertyManager, function_element) );
+      } catch (string const str) {
+        cerr << endl << fgred << "Error loading aerodynamic function in " 
+             << current_func_name << ":" << str << " Aborting." << reset << endl;
+        return false;
+      }
       function_element = axis_element->FindNextElement("function");
     }
     Coeff[AxisIdx[axis]] = ca;
diff --git a/src/FDM/JSBSim/models/FGAuxiliary.cpp b/src/FDM/JSBSim/models/FGAuxiliary.cpp
index ededdc1cc..630a9712a 100755
--- a/src/FDM/JSBSim/models/FGAuxiliary.cpp
+++ b/src/FDM/JSBSim/models/FGAuxiliary.cpp
@@ -59,7 +59,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.42 2010/07/27 23:18:19 jberndt Exp $";
+static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.44 2010/10/10 15:10:15 jberndt Exp $";
 static const char *IdHdr = ID_AUXILIARY;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -173,7 +173,7 @@ bool FGAuxiliary::Run()
   vAeroUVW = vUVW - wind;
 
   Vt = vAeroUVW.Magnitude();
-  if ( Vt > 0.05) {
+  if ( Vt > 1.0 ) {
     if (vAeroUVW(eW) != 0.0)
       alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
     if (vAeroUVW(eV) != 0.0)
@@ -182,10 +182,9 @@ bool FGAuxiliary::Run()
 
     double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
     double signU=1;
-    if (vAeroUVW(eU) != 0.0)
-      signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
+    if (vAeroUVW(eU) < 0.0) signU=-1;
 
-    if ( (mUW == 0.0) || (Vt == 0.0) ) {
+    if ( mUW < 1.0 ) {
       adot = 0.0;
       bdot = 0.0;
     } else {
diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp
index 368fa90ae..3de0c7135 100644
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -63,7 +63,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGFCS.cpp,v 1.70 2010/08/21 22:56:11 jberndt Exp $";
+static const char *IdSrc = "$Id: FGFCS.cpp,v 1.71 2010/09/28 02:54:03 jberndt Exp $";
 static const char *IdHdr = ID_FCS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -187,7 +187,7 @@ bool FGFCS::InitModel(void)
 
 void FGFCS::LateBind(void)
 {
-  int i;
+  unsigned int i;
 
   for (i=0; i<Systems.size(); i++) Systems[i]->LateBind();
   for (i=0; i<APComponents.size(); i++) APComponents[i]->LateBind();
diff --git a/src/FDM/JSBSim/models/FGFCS.h b/src/FDM/JSBSim/models/FGFCS.h
index a2b592768..1a57835f9 100644
--- a/src/FDM/JSBSim/models/FGFCS.h
+++ b/src/FDM/JSBSim/models/FGFCS.h
@@ -51,7 +51,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCS "$Id: FGFCS.h,v 1.30 2010/09/05 17:31:40 jberndt Exp $"
+#define ID_FCS "$Id: FGFCS.h,v 1.31 2010/09/22 11:33:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -168,7 +168,7 @@ CLASS DOCUMENTATION
     @property gear/tailhook-pos-norm
 
     @author Jon S. Berndt
-    @version $Revision: 1.30 $
+    @version $Revision: 1.31 $
     @see FGActuator
     @see FGDeadBand
     @see FGFCSFunction
@@ -345,11 +345,6 @@ public:
   bool GetPropFeather(int engine) const { return PropFeather[engine]; }
   //@}
 
-  /** Retrieves the State object pointer.
-      This is used by the FGFCS-owned components.
-      @return pointer to the State object */
-  FGState* GetState(void) { return State; }
-
   /** Retrieves all component names for inclusion in output stream
       @param delimiter either a tab or comma string depending on output type
       @return a string containing the descriptive names for all components */
diff --git a/src/FDM/JSBSim/models/FGInertial.cpp b/src/FDM/JSBSim/models/FGInertial.cpp
index ab2670eb9..0779c6954 100644
--- a/src/FDM/JSBSim/models/FGInertial.cpp
+++ b/src/FDM/JSBSim/models/FGInertial.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGInertial.cpp,v 1.18 2010/03/28 05:57:00 jberndt Exp $";
+static const char *IdSrc = "$Id: FGInertial.cpp,v 1.19 2010/10/10 15:06:38 jberndt Exp $";
 static const char *IdHdr = ID_INERTIAL;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -148,7 +148,8 @@ FGColumnVector3 FGInertial::GetGravityJ2(FGColumnVector3 position) const
   double lat = Propagate->GetLatitude();
   double sinLat = sin(lat);
 
-  double preCommon = 1.5*J2*(a/r)*(a/r);
+  double adivr = a/r;
+  double preCommon = 1.5*J2*adivr*adivr;
   double xy = 1.0 - 5.0*(sinLat*sinLat);
   double z = 3.0 - 5.0*(sinLat*sinLat);
   double GMOverr2 = GM/(r*r);
diff --git a/src/FDM/JSBSim/models/FGLGear.cpp b/src/FDM/JSBSim/models/FGLGear.cpp
index 569b76ee4..4106f5ab0 100644
--- a/src/FDM/JSBSim/models/FGLGear.cpp
+++ b/src/FDM/JSBSim/models/FGLGear.cpp
@@ -48,6 +48,7 @@ INCLUDES
 #include "FGMassBalance.h"
 #include "math/FGTable.h"
 #include <cstdlib>
+#include <cstring>
 
 using namespace std;
 
@@ -61,7 +62,7 @@ DEFINITIONS
 GLOBAL DATA
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-static const char *IdSrc = "$Id: FGLGear.cpp,v 1.76 2010/07/30 11:50:01 jberndt Exp $";
+static const char *IdSrc = "$Id: FGLGear.cpp,v 1.78 2010/10/07 03:45:40 jberndt Exp $";
 static const char *IdHdr = ID_LGEAR;
 
 // Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
@@ -76,7 +77,8 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   FGForce(fdmex),
   GearNumber(number),
   SteerAngle(0.0),
-  Castered(false)
+  Castered(false),
+  StaticFriction(false)
 {
   Element *force_table=0;
   Element *dampCoeff=0;
@@ -254,9 +256,7 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   Curvature = 1.03;
 
   // Initialize Lagrange multipliers
-  LMultiplier[ftRoll].value = 0.;
-  LMultiplier[ftSide].value = 0.;
-  LMultiplier[ftRoll].value = 0.;
+  memset(LMultiplier, 0, sizeof(LMultiplier));
 
   Debug(0);
 }
@@ -281,13 +281,15 @@ FGColumnVector3& FGLGear::GetBodyForces(void)
   if (isRetractable) ComputeRetractionState();
 
   if (GearDown) {
+    FGColumnVector3 angularVel;
+
     vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
     vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
 
     gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
     // Compute the height of the theoretical location of the wheel (if strut is
     // not compressed) with respect to the ground level
-    double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
+    double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel, angularVel);
     vGroundNormal = Propagate->GetTec2b() * normal;
 
     // The height returned above is the AGL and is expressed in the Z direction
diff --git a/src/FDM/JSBSim/models/FGLGear.h b/src/FDM/JSBSim/models/FGLGear.h
index 2190f8b9c..f1828f8cf 100644
--- a/src/FDM/JSBSim/models/FGLGear.h
+++ b/src/FDM/JSBSim/models/FGLGear.h
@@ -47,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_LGEAR "$Id: FGLGear.h,v 1.40 2010/07/30 11:50:01 jberndt Exp $"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -58,7 +58,6 @@ namespace JSBSim {
 class FGAircraft;
 class FGPropagate;
 class FGFCS;
-class FGState;
 class FGMassBalance;
 class FGAuxiliary;
 class FGTable;
@@ -181,7 +180,7 @@ CLASS DOCUMENTATION
         </contact>
 @endcode
     @author Jon S. Berndt
-    @version $Id: FGLGear.h,v 1.40 2010/07/30 11:50:01 jberndt Exp $
+    @version $Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $
     @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
      NASA-Ames", NASA CR-2497, January 1975
     @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
diff --git a/src/FDM/JSBSim/models/FGModel.h b/src/FDM/JSBSim/models/FGModel.h
index d107d28a5..775ea9f29 100644
--- a/src/FDM/JSBSim/models/FGModel.h
+++ b/src/FDM/JSBSim/models/FGModel.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MODEL "$Id: FGModel.h,v 1.15 2010/09/07 00:19:46 jberndt Exp $"
+#define ID_MODEL "$Id: FGModel.h,v 1.16 2010/09/22 11:33:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -57,7 +57,6 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFDMExec;
-class FGState;
 class FGAtmosphere;
 class FGFCS;
 class FGPropulsion;
@@ -119,7 +118,6 @@ protected:
   virtual void Debug(int from);
 
   FGFDMExec*         FDMExec;
-  FGState*           State;
   FGAtmosphere*      Atmosphere;
   FGFCS*             FCS;
   FGPropulsion*      Propulsion;
diff --git a/src/FDM/JSBSim/models/FGOutput.cpp b/src/FDM/JSBSim/models/FGOutput.cpp
index a974915f4..c074d9813 100644
--- a/src/FDM/JSBSim/models/FGOutput.cpp
+++ b/src/FDM/JSBSim/models/FGOutput.cpp
@@ -61,9 +61,6 @@ INCLUDES
 #include <cstring>
 #include <cstdlib>
 
-#include "input_output/net_fdm.hxx"
-#include "input_output/FGfdmSocket.h"
-
 #if defined(WIN32) && !defined(__CYGWIN__)
 #  include <windows.h>
 #else
@@ -77,7 +74,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGOutput.cpp,v 1.48 2010/04/12 12:25:19 jberndt Exp $";
+static const char *IdSrc = "$Id: FGOutput.cpp,v 1.49 2010/10/15 11:30:29 jberndt Exp $";
 static const char *IdHdr = ID_OUTPUT;
 
 // (stolen from FGFS native_fdm.cxx)
@@ -132,7 +129,6 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
   Name = "FGOutput";
   sFirstPass = dFirstPass = true;
   socket = 0;
-  flightGearSocket = 0;
   runID_postfix = 0;
   Type = otNone;
   SubSystems = 0;
@@ -153,7 +149,6 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 FGOutput::~FGOutput()
 {
   delete socket;
-  delete flightGearSocket;
   OutputProperties.clear();
   Debug(1);
 }
@@ -231,6 +226,15 @@ void FGOutput::SetType(const string& type)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGOutput::SetProtocol(const string& protocol)
+{
+  if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
+  else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
+  else Protocol = FGfdmSocket::ptTCP; // Default to TCP
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGOutput::DelimitedOutput(const string& fname)
 {
   streambuf* buffer;
@@ -566,7 +570,6 @@ void FGOutput::SocketDataFill(FGNetFDM* net)
        }
     }
 
-
     // Consumables
     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 
@@ -574,7 +577,6 @@ void FGOutput::SocketDataFill(FGNetFDM* net)
        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
     }
 
-
     // Gear status
     net->num_wheels  = GroundReactions->GetNumGearUnits();
 
@@ -588,13 +590,11 @@ void FGOutput::SocketDataFill(FGNetFDM* net)
        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
     }
 
-
     // Environment
-    net->cur_time    = (long int)1234567890;	// Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
+    net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
     net->warp        = 0;                       // offset in seconds to unix time
     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 
-
     // Control surface positions (normalized values)
     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
@@ -607,7 +607,6 @@ void FGOutput::SocketDataFill(FGNetFDM* net)
     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 
-
     // Convert the net buffer to network format
     if ( isLittleEndian ) {
         net->version = htonl(net->version);
@@ -691,12 +690,11 @@ void FGOutput::FlightGearSocketOutput(void)
 {
   int length = sizeof(fgSockBuf);
 
-
-  if (flightGearSocket == NULL) return;
-  if (!flightGearSocket->GetConnectStatus()) return;
+  if (socket == NULL) return;
+  if (!socket->GetConnectStatus()) return;
 
   SocketDataFill(&fgSockBuf);
-  flightGearSocket->Send((char *)&fgSockBuf, length);
+  socket->Send((char *)&fgSockBuf, length);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -944,11 +942,9 @@ void FGOutput::SocketStatusOutput(const string& out_str)
 
 bool FGOutput::Load(Element* element)
 {
-  string type="", parameter="";
+  string parameter="";
   string name="";
-  string protocol="tcp";
   int OutRate = 0;
-  string property;
   unsigned int port;
   Element *property_element;
 
@@ -967,19 +963,12 @@ bool FGOutput::Load(Element* element)
   if (!document) return false;
 
   name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
-  type = document->GetAttributeValue("type");
-  SetType(type);
-  if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
-    port = atoi(document->GetAttributeValue("port").c_str());
-    socket = new FGfdmSocket(name, port);
-  } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
-    port = atoi(document->GetAttributeValue("port").c_str());
-    if (!document->GetAttributeValue("protocol").empty())
-       protocol = document->GetAttributeValue("protocol");
-    if (protocol == "udp")
-       flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP);  // create udp socket
-    else
-       flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP);  // create tcp socket (default)
+  SetType(document->GetAttributeValue("type"));
+  Port = document->GetAttributeValue("port");
+  if (!Port.empty() && (Type == otSocket || Type == otFlightGear)) {
+    port = atoi(Port.c_str());
+    SetProtocol(document->GetAttributeValue("protocol"));
+    socket = new FGfdmSocket(name, port, Protocol);
   } else {
     BaseFilename = Filename = name;
   }
diff --git a/src/FDM/JSBSim/models/FGOutput.h b/src/FDM/JSBSim/models/FGOutput.h
index f1cfef7d0..c4ef388d5 100644
--- a/src/FDM/JSBSim/models/FGOutput.h
+++ b/src/FDM/JSBSim/models/FGOutput.h
@@ -45,12 +45,13 @@ INCLUDES
 
 #include "input_output/FGXMLFileRead.h"
 #include "input_output/net_fdm.hxx"
+#include "input_output/FGfdmSocket.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_OUTPUT "$Id: FGOutput.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $"
+#define ID_OUTPUT "$Id: FGOutput.h,v 1.18 2010/10/15 11:30:29 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -123,7 +124,7 @@ CLASS DOCUMENTATION
     propulsion       ON|OFF
 </pre>
     NOTE that Time is always output with the data.
-    @version $Id: FGOutput.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $
+    @version $Id: FGOutput.h,v 1.18 2010/10/15 11:30:29 jberndt Exp $
  */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -145,17 +146,19 @@ public:
   void SocketStatusOutput(const std::string&);
   void SocketDataFill(FGNetFDM* net);
 
-
   void SetType(const std::string& type);
+  void SetProtocol(const std::string& protocol);
+  void SetPort(const std::string& port);
   void SetStartNewFile(bool tt) {StartNewFile = tt;}
   void SetSubsystems(int tt) {SubSystems = tt;}
+  void SetOutputFileName(const std::string& fname) {Filename = fname;}
+  void SetDirectivesFile(const std::string& fname) {DirectivesFile = fname;}
+  void SetRate(int rt);
   void Enable(void) { enabled = true; }
   void Disable(void) { enabled = false; }
   bool Toggle(void) {enabled = !enabled; return enabled;}
+
   bool Load(Element* el);
-  void SetOutputFileName(const std::string& fname) {Filename = fname;}
-  void SetDirectivesFile(const std::string& fname) {DirectivesFile = fname;}
-  void SetRate(int rt);
   string GetOutputFileName(void) const {return Filename;}
 
   /// Subsystem types for specifying which will be output in the FDM data logging
@@ -180,14 +183,15 @@ public:
 
 private:
   enum {otNone, otCSV, otTab, otSocket, otTerminal, otFlightGear, otUnknown} Type;
+  FGfdmSocket::ProtocolType Protocol;
   bool sFirstPass, dFirstPass, enabled;
   int SubSystems;
   int runID_postfix;
   bool StartNewFile;
   std::string output_file_name, delimeter, BaseFilename, Filename, DirectivesFile;
+  std::string Port;
   std::ofstream datafile;
   FGfdmSocket* socket;
-  FGfdmSocket* flightGearSocket;
   std::vector <FGPropertyManager*> OutputProperties;
 
   void Debug(int from);
diff --git a/src/FDM/JSBSim/models/FGPropagate.cpp b/src/FDM/JSBSim/models/FGPropagate.cpp
index 1e11074f9..0fec89b0c 100644
--- a/src/FDM/JSBSim/models/FGPropagate.cpp
+++ b/src/FDM/JSBSim/models/FGPropagate.cpp
@@ -71,7 +71,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.65 2010/09/18 22:48:12 jberndt Exp $";
+static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.71 2010/10/15 11:34:09 jberndt Exp $";
 static const char *IdHdr = ID_PROPAGATE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -82,7 +82,7 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
 {
   Debug(0);
   Name = "FGPropagate";
-  gravType = gtStandard;
+  gravType = gtWGS84;
  
   vPQRdot.InitMatrix();
   vQtrndot = FGQuaternion(0,0,0);
@@ -95,6 +95,7 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
   integrator_translational_position = eTrapezoidal;
 
   VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqQtrndot.resize(4, FGQuaternion(0.0,0.0,0.0));
@@ -129,6 +130,7 @@ bool FGPropagate::InitModel(void)
   vInertialVelocity.InitMatrix();
 
   VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
   VState.dqQtrndot.resize(4, FGColumnVector3(0.0,0.0,0.0));
@@ -204,6 +206,7 @@ void FGPropagate::SetInitialState(const FGInitialCondition *FGIC)
                                  FGIC->GetRRadpsIC() ) + Tl2b*vOmegaLocal;
 
   VState.vPQRi = VState.vPQR + Ti2b * vOmegaEarth;
+  VState.vPQRi_i = Tb2i * VState.vPQRi;
 
   // Make an initial run and set past values
   InitializeDerivatives();
@@ -246,10 +249,11 @@ bool FGPropagate::Run(void)
   CalculateUVW();              // Translational position derivative (velocities are integrated in the inertial frame)
 
   // Propagate rotational / translational velocity, angular /translational position, respectively.
-  Integrate(VState.vPQRi,             vPQRdot,           VState.dqPQRdot,           dt, integrator_rotational_rate);
-  Integrate(VState.vInertialVelocity, vUVWidot,          VState.dqUVWidot,          dt, integrator_translational_rate);
+
+  Integrate(VState.vPQRi_i,           vPQRidot,          VState.dqPQRidot,          dt, integrator_rotational_rate); // ECI  integration
   Integrate(VState.qAttitudeECI,      vQtrndot,          VState.dqQtrndot,          dt, integrator_rotational_position);
   Integrate(VState.vInertialPosition, VState.vInertialVelocity, VState.dqInertialVelocity, dt, integrator_translational_position);
+  Integrate(VState.vInertialVelocity, vUVWidot,          VState.dqUVWidot,          dt, integrator_translational_rate);
 
   // CAUTION : the order of the operations below is very important to get transformation
   // matrices that are consistent with the new state of the vehicle
@@ -280,6 +284,7 @@ bool FGPropagate::Run(void)
 
   VehicleRadius = GetRadius(); // Calculate current aircraft radius from center of planet
 
+  VState.vPQRi = Ti2b * VState.vPQRi_i;
   VState.vPQR = VState.vPQRi - Ti2b * vOmegaEarth;
 
   VState.qAttitudeLocal = Tl2b.GetQuaternion();
@@ -318,6 +323,7 @@ void FGPropagate::CalculatePQRdot(void)
   // frame.
 
   vPQRdot = Jinv*(vMoments - VState.vPQRi*(J*VState.vPQRi));
+  vPQRidot = Tb2i * vPQRdot;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -502,7 +508,7 @@ void FGPropagate::ResolveFrictionForces(double dt)
     // Instruct the algorithm to zero out the relative movement between the
     // aircraft and the ground.
     vdot += (VState.vUVW - Tec2b * LocalTerrainVelocity) / dt;
-    wdot += VState.vPQR / dt;
+    wdot += (VState.vPQR - Tec2b * LocalTerrainAngularVelocity) / dt;
   }
 
   // Assemble the linear system of equations
@@ -557,6 +563,7 @@ void FGPropagate::ResolveFrictionForces(double dt)
   vUVWdot += invMass * Fc;
   vUVWidot += invMass * Tb2i * Fc;
   vPQRdot += Jinv * Mc;
+  vPQRidot += Tb2i* Jinv * Mc;
 
   // Save the value of the Lagrange multipliers to accelerate the convergence
   // of the Gauss-Seidel algorithm at next iteration.
@@ -609,7 +616,8 @@ void FGPropagate::SetInertialVelocity(FGColumnVector3 Vi) {
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGPropagate::SetInertialRates(FGColumnVector3 vRates) {
-  VState.vPQRi = Ti2b * vRates;
+  VState.vPQRi_i = vRates;
+  VState.vPQRi = Ti2b * VState.vPQRi_i;
   VState.vPQR = VState.vPQRi - Ti2b * vOmegaEarth;
 }
 
@@ -626,11 +634,13 @@ void FGPropagate::InitializeDerivatives(void)
 
   // Initialize past values deques
   VState.dqPQRdot.clear();
+  VState.dqPQRidot.clear();
   VState.dqUVWidot.clear();
   VState.dqInertialVelocity.clear();
   VState.dqQtrndot.clear();
   for (int i=0; i<4; i++) {
     VState.dqPQRdot.push_front(vPQRdot);
+    VState.dqPQRidot.push_front(vPQRidot);
     VState.dqUVWidot.push_front(vUVWdot);
     VState.dqInertialVelocity.push_front(VState.vInertialVelocity);
     VState.dqQtrndot.push_front(vQtrndot);
@@ -647,7 +657,7 @@ void FGPropagate::RecomputeLocalTerrainRadius(void)
 
   // Get the LocalTerrain radius.
   FDMExec->GetGroundCallback()->GetAGLevel(t, VState.vLocation, contactloc, dv,
-                                           LocalTerrainVelocity);
+                                           LocalTerrainVelocity, LocalTerrainAngularVelocity);
   LocalTerrainRadius = contactloc.GetRadius(); 
 }
 
@@ -712,6 +722,41 @@ void FGPropagate::SetDistanceAGL(double tt)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGPropagate::DumpState(void)
+{
+  cout << endl;
+  cout << fgblue
+       << "------------------------------------------------------------------" << reset << endl;
+  cout << highint
+       << "State Report at sim time: " << FDMExec->GetSimTime() << " seconds" << reset << endl;
+  cout << "  " << underon
+       <<   "Position" << underoff << endl;
+  cout << "    ECI:   " << VState.vInertialPosition.Dump(", ") << " (x,y,z, in ft)" << endl;
+  cout << "    ECEF:  " << VState.vLocation << " (x,y,z, in ft)"  << endl;
+  cout << "    Local: " << VState.vLocation.GetLatitudeDeg()
+                        << ", " << VState.vLocation.GetLongitudeDeg()
+                        << ", " << GetAltitudeASL() << " (lat, lon, alt in deg and ft)" << endl;
+
+  cout << endl << "  " << underon
+       <<   "Orientation" << underoff << endl;
+  cout << "    ECI:   " << VState.qAttitudeECI.GetEulerDeg().Dump(", ") << " (phi, theta, psi in deg)" << endl;
+  cout << "    Local: " << VState.qAttitudeLocal.GetEulerDeg().Dump(", ") << " (phi, theta, psi in deg)" << endl;
+
+  cout << endl << "  " << underon
+       <<   "Velocity" << underoff << endl;
+  cout << "    ECI:   " << VState.vInertialVelocity.Dump(", ") << " (x,y,z in ft/s)" << endl;
+  cout << "    ECEF:  " << (GetTb2ec() * VState.vUVW).Dump(", ")  << " (x,y,z in ft/s)"  << endl;
+  cout << "    Local: " << GetVel() << " (n,e,d in ft/sec)" << endl;
+  cout << "    Body:  " << GetUVW() << " (u,v,w in ft/sec)" << endl;
+
+  cout << endl << "  " << underon
+       <<   "Body Rates (relative to given frame, expressed in body frame)" << underoff << endl;
+  cout << "    ECI:   " << (VState.vPQRi*radtodeg).Dump(", ") << " (p,q,r in deg/s)" << endl;
+  cout << "    ECEF:  " << (VState.vPQR*radtodeg).Dump(", ") << " (p,q,r in deg/s)" << endl;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGPropagate::bind(void)
 {
   typedef double (FGPropagate::*PMF)(int) const;
diff --git a/src/FDM/JSBSim/models/FGPropagate.h b/src/FDM/JSBSim/models/FGPropagate.h
index be8ebd224..86e5cd6a0 100644
--- a/src/FDM/JSBSim/models/FGPropagate.h
+++ b/src/FDM/JSBSim/models/FGPropagate.h
@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.48 2010/09/18 22:48:12 jberndt Exp $"
+#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.51 2010/10/07 03:45:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -102,7 +102,7 @@ CLASS DOCUMENTATION
     @endcode
 
     @author Jon S. Berndt, Mathias Froehlich
-    @version $Id: FGPropagate.h,v 1.48 2010/09/18 22:48:12 jberndt Exp $
+    @version $Id: FGPropagate.h,v 1.51 2010/10/07 03:45:40 jberndt Exp $
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -135,6 +135,11 @@ public:
         units rad/sec */
     FGColumnVector3 vPQRi;
 
+    /** The angular velocity vector for the vehicle body frame relative to the
+        ECI frame, expressed in the ECI frame.
+        units rad/sec */
+    FGColumnVector3 vPQRi_i;
+
     /** The current orientation of the vehicle, that is, the orientation of the
         body frame relative to the local, NED frame. */
     FGQuaternion qAttitudeLocal;
@@ -148,6 +153,7 @@ public:
     FGColumnVector3 vInertialPosition;
 
     deque <FGColumnVector3> dqPQRdot;
+    deque <FGColumnVector3> dqPQRidot;
     deque <FGColumnVector3> dqUVWidot;
     deque <FGColumnVector3> dqInertialVelocity;
     deque <FGQuaternion>    dqQtrndot;
@@ -566,16 +572,6 @@ public:
       VState.vInertialPosition = GetTec2i() * VState.vLocation;
       UpdateLocationMatrices();
   }
-  void SetLocation(const FGLocation& l) {
-      VState.vLocation = l;
-      VState.vInertialPosition = GetTec2i() * VState.vLocation;
-      UpdateLocationMatrices();
-  }
-  void SetLocation(const FGColumnVector3& l) {
-      VState.vLocation = l;
-      VState.vInertialPosition = GetTec2i() * VState.vLocation;
-      UpdateLocationMatrices();
-  }
   void SetAltitudeASL(double altASL);
   void SetAltitudeASLmeters(double altASL) {SetAltitudeASL(altASL/fttom);}
   void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt; }
@@ -588,6 +584,16 @@ public:
       VehicleRadius = GetRadius();
       UpdateLocationMatrices();
   }
+  void SetLocation(const FGLocation& l) {
+      VState.vLocation = l;
+      VState.vInertialPosition = GetTec2i() * VState.vLocation;
+      UpdateLocationMatrices();
+  }
+  void SetLocation(const FGColumnVector3& l) {
+      VState.vLocation = l;
+      VState.vInertialPosition = GetTec2i() * VState.vLocation;
+      UpdateLocationMatrices();
+  }
 
   void RecomputeLocalTerrainRadius(void);
 
@@ -604,6 +610,8 @@ public:
     double value;
   };
 
+  void DumpState(void);
+
 private:
 
 // state vector
@@ -612,6 +620,7 @@ private:
 
   FGColumnVector3 vVel;
   FGColumnVector3 vPQRdot;
+  FGColumnVector3 vPQRidot;
   FGColumnVector3 vUVWdot, vUVWidot;
   FGColumnVector3 vInertialVelocity;
   FGColumnVector3 vLocation;
@@ -633,7 +642,7 @@ private:
   FGMatrix33 Tl2i;
   
   double LocalTerrainRadius, SeaLevelRadius, VehicleRadius;
-  FGColumnVector3 LocalTerrainVelocity;
+  FGColumnVector3 LocalTerrainVelocity, LocalTerrainAngularVelocity;
   eIntegrateType integrator_rotational_rate;
   eIntegrateType integrator_translational_rate;
   eIntegrateType integrator_rotational_position;
diff --git a/src/FDM/JSBSim/models/FGPropulsion.cpp b/src/FDM/JSBSim/models/FGPropulsion.cpp
index f0fbe04b3..21f469c1f 100644
--- a/src/FDM/JSBSim/models/FGPropulsion.cpp
+++ b/src/FDM/JSBSim/models/FGPropulsion.cpp
@@ -65,7 +65,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.40 2010/09/07 00:40:03 jberndt Exp $";
+static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.41 2010/10/15 11:32:41 jberndt Exp $";
 static const char *IdHdr = ID_PROPULSION;
 
 extern short debug_lvl;
@@ -295,29 +295,34 @@ bool FGPropulsion::Load(Element* el)
     document->SetParent(engine_element);
 
     type = document->GetName();
-    if (type == "piston_engine") {
-      HavePistonEngine = true;
-      if (!IsBound) bind();
-      Engines.push_back(new FGPiston(FDMExec, document, numEngines));
-    } else if (type == "turbine_engine") {
-      HaveTurbineEngine = true;
-      if (!IsBound) bind();
-      Engines.push_back(new FGTurbine(FDMExec, document, numEngines));
-    } else if (type == "turboprop_engine") {
-      HaveTurboPropEngine = true;
-      if (!IsBound) bind();
-      Engines.push_back(new FGTurboProp(FDMExec, document, numEngines));
-    } else if (type == "rocket_engine") {
-      HaveRocketEngine = true;
-      if (!IsBound) bind();
-      Engines.push_back(new FGRocket(FDMExec, document, numEngines));
-    } else if (type == "electric_engine") {
-      HaveElectricEngine = true;
-      if (!IsBound) bind();
-      Engines.push_back(new FGElectric(FDMExec, document, numEngines));
-    } else {
-      cerr << "Unknown engine type: " << type << endl;
-      exit(-5);
+    try {
+      if (type == "piston_engine") {
+        HavePistonEngine = true;
+        if (!IsBound) bind();
+        Engines.push_back(new FGPiston(FDMExec, document, numEngines));
+      } else if (type == "turbine_engine") {
+        HaveTurbineEngine = true;
+        if (!IsBound) bind();
+        Engines.push_back(new FGTurbine(FDMExec, document, numEngines));
+      } else if (type == "turboprop_engine") {
+        HaveTurboPropEngine = true;
+        if (!IsBound) bind();
+        Engines.push_back(new FGTurboProp(FDMExec, document, numEngines));
+      } else if (type == "rocket_engine") {
+        HaveRocketEngine = true;
+        if (!IsBound) bind();
+        Engines.push_back(new FGRocket(FDMExec, document, numEngines));
+      } else if (type == "electric_engine") {
+        HaveElectricEngine = true;
+        if (!IsBound) bind();
+        Engines.push_back(new FGElectric(FDMExec, document, numEngines));
+      } else {
+        cerr << "Unknown engine type: " << type << endl;
+        exit(-5);
+      }
+    } catch (std::string str) {
+      cerr << endl << fgred << str << reset << endl;
+      return false;
     }
 
     FCS->AddThrottle();
diff --git a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
index 6cc525a53..e48e27426 100644
--- a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
@@ -54,7 +54,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGEngine.cpp,v 1.39 2010/08/21 17:13:48 jberndt Exp $";
+static const char *IdSrc = "$Id: FGEngine.cpp,v 1.40 2010/10/15 11:32:41 jberndt Exp $";
 static const char *IdHdr = ID_ENGINE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -109,7 +109,11 @@ FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number)
   // Load thruster
   local_element = engine_element->GetParent()->FindElement("thruster");
   if (local_element) {
-    if (!LoadThruster(local_element)) exit(-1);
+    try {
+      if (!LoadThruster(local_element)) exit(-1);
+    } catch (std::string str) {
+      throw("Error loading engine " + Name + ". " + str);
+    }
   } else {
     cerr << "No thruster definition supplied with engine definition." << endl;
   }
diff --git a/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp b/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
index 8204bb9d2..f83f961b8 100644
--- a/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGPropeller.cpp,v 1.30 2010/05/02 15:10:07 jberndt Exp $";
+static const char *IdSrc = "$Id: FGPropeller.cpp,v 1.32 2010/10/21 03:27:40 jberndt Exp $";
 static const char *IdHdr = ID_PROPELLER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -105,16 +105,20 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
   for (int i=0; i<2; i++) {
     table_element = prop_element->FindNextElement("table");
     name = table_element->GetAttributeValue("name");
-    if (name == "C_THRUST") {
-      cThrust = new FGTable(PropertyManager, table_element);
-    } else if (name == "C_POWER") {
-      cPower = new FGTable(PropertyManager, table_element);
-    } else if (name == "CT_MACH") {
-      CtMach = new FGTable(PropertyManager, table_element);
-    } else if (name == "CP_MACH") {
-      CpMach = new FGTable(PropertyManager, table_element);
-    } else {
-      cerr << "Unknown table type: " << name << " in propeller definition." << endl;
+    try {
+      if (name == "C_THRUST") {
+        cThrust = new FGTable(PropertyManager, table_element);
+      } else if (name == "C_POWER") {
+        cPower = new FGTable(PropertyManager, table_element);
+      } else if (name == "CT_MACH") {
+        CtMach = new FGTable(PropertyManager, table_element);
+      } else if (name == "CP_MACH") {
+        CpMach = new FGTable(PropertyManager, table_element);
+      } else {
+        cerr << "Unknown table type: " << name << " in propeller definition." << endl;
+      }
+    } catch (std::string str) {
+      throw("Error loading propeller table:" + name + ". " + str);
     }
   }
 
@@ -334,7 +338,7 @@ double FGPropeller::GetPowerRequired(void)
      if (CL > 1.5) CL = 1.5;
      double BladeArea = Diameter * Diameter / 32.0 * numBlades;
      vTorque(eX) = -Sense*BladeArea*Diameter*Vel*Vel*rho*0.19*CL;
-     PowerRequired = vTorque(eX)*0.2*M_PI;
+     PowerRequired = fabs(vTorque(eX))*0.2*M_PI;
   }
 
   return PowerRequired;