Merge remote-tracking branch 'remotes/pixhawk/v10release' into dev_senseSoarMavlinkv10

Conflicts:
	qgroundcontrol.pro
	src/comm/SerialLink.cc
	src/uas/QGCMAVLinkUASFactory.cc
	src/ui/CommConfigurationWindow.cc
	src/ui/MainWindow.cc
	src/ui/MainWindow.h
	src/ui/QGCParamWidget.h
	thirdParty/mavlink/include/mavlink_types.h

files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw

+[Heading%20PID%20Tuning]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
+QGC_TOOL_WIDGET_ITEMS\size=4

files/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1

+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+  <description>Malolo1(R/C)</description>
+  <author>Innis Cunningham, Josh Wilson</author>
+  <aircraft-version>0.0</aircraft-version>
+
+  <startup>
+    <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
+  </startup>
+
+  <flight-model>jsb</flight-model>
+  <aero>Malolo1</aero>
+  <fuel-fraction>0.8</fuel-fraction>
+  <!--
+  <systems>
+   <autopilot>
+    <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
+   </autopilot>
+   <electrical>
+    <path>Aircraft/Malolo1/Systems/electrical.xml</path>
+   </electrical>
+  </systems> -->
+
+  <sound>
+   <path>Aircraft/Generic/generic-sound.xml</path>
+  </sound>
+
+  <panel>
+   <visibility archive="n">false</visibility>
+  </panel>
+
+  <model>
+   <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
+  </model>
+  
+  <view>
+   <internal archive="y">true</internal>
+   <config>
+     <x-offset-m archive="y">0.0</x-offset-m>
+     <y-offset-m archive="y">0.26</y-offset-m>
+     <z-offset-m archive="y">0.34</z-offset-m>
+     <pitch-offset-deg>-8</pitch-offset-deg>
+   </config>
+  </view>
+
+        <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
+  <help>
+    <title>YardStik 110 (Sig Mfg)</title>
+    <line>Cruise speed: 60 mph</line>
+    <line>Never-exceed (Vne): 85 mph</line>
+    <line>Best Glide (Vglide): 20 mph</line>
+    <line>Maneuvering (Va): 50 mph</line>
+    <line>Approach speed: 15-25 mph</line>
+    <line>Stall speed (Vs): 10 mph</line>
+  </help>
+
+ </sim>
+
+ <controls>
+  <flight>
+   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
+   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
+  </flight>
+  <engines>
+   <engine n="0">
+    <magnetos>3</magnetos>
+   </engine>
+  </engines>
+  <door>1.0</door>
+ </controls>
+
+ <engines>
+  <engine>
+   <rpm type="double">700</rpm>
+  </engine>
+ </engines>
+  
+ <!-- An autopilot on a Cub??? -->  
+ <autopilot>
+   <config>
+     <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
+     <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
+     <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
+     <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
+     <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
+     <integral-contribution type="float">0.008</integral-contribution> 
+     <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
+     <zero-pitch-trim-full-throttle type="float">0.001</zero-pitch-trim-full-throttle>
+   </config>
+ </autopilot>
+
+</PropertyList>

files/flightgear/Aircraft/Malolo1/Engines/18x8.xml

+<?xml version="1.0"?>
+
+<!-- Generated by Aero-Matic v 0.7
+
+     Inputs:
+       horsepower:   3.8
+       pitch:        fixed
+     Outputs:
+       linear-blade-inches: 10.331602005498
+-->
+
+<propeller name="Rascal Propeller">
+  <ixx> 0.00085 </ixx>
+  <diameter unit="IN"> 18.0 </diameter>
+  <numblades> 2 </numblades>
+  <minpitch> 30 </minpitch>
+  <maxpitch> 30 </maxpitch>
+
+  <table name="C_THRUST" type="internal">
+    <tableData>
+      0.0  0.0776
+      0.1  0.0744
+      0.2  0.0712
+      0.3  0.0655
+      0.4  0.0588
+      0.5  0.0518
+      0.6  0.0419
+      0.7  0.0318
+      0.8  0.0172
+      1.0 -0.0058
+      1.4 -0.0549
+    </tableData>
+  </table>
+
+  <table name="C_POWER" type = "internal">
+    <tableData>
+      0.0  0.0902
+      0.1  0.0893
+      0.2  0.0880
+      0.3  0.0860
+      0.4  0.0810
+      0.5  0.0742
+      0.6  0.0681
+      0.7  0.0572
+      0.8  0.0467
+      1.0  0.0167
+      1.4 -0.0803 
+    </tableData>
+  </table>
+
+</propeller>

files/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml

+<?xml version="1.0"?>
+<!-- Zenoah G-26A -->
+<!-- 2.96 hp engine -->
+<!-- one horsepower equals 745.69987 Watts -->
+
+<electric_engine name="electric_1mw">
+  <power unit="WATTS">  2207.27 </power>
+</electric_engine>

files/flightgear/Aircraft/Malolo1/Malolo1-set.xml

+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+  <description>Malolo1(R/C)</description>
+  <author>Innis Cunningham, Josh Wilson</author>
+  <aircraft-version>0.0</aircraft-version>
+
+  <startup>
+    <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
+  </startup>
+
+  <flight-model>jsb</flight-model>
+  <aero>Malolo1</aero>
+  <fuel-fraction>0.8</fuel-fraction>
+  <!--
+  <systems>
+   <autopilot>
+    <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
+   </autopilot>
+   <electrical>
+    <path>Aircraft/Malolo1/Systems/electrical.xml</path>
+   </electrical>
+  </systems> -->
+
+  <sound>
+   <path>Aircraft/Generic/generic-sound.xml</path>
+  </sound>
+
+  <panel>
+   <visibility archive="n">false</visibility>
+  </panel>
+
+  <model>
+   <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
+  </model>
+  
+  <view>
+   <internal archive="y">true</internal>
+   <config>
+     <x-offset-m archive="y">0.0</x-offset-m>
+     <y-offset-m archive="y">0.26</y-offset-m>
+     <z-offset-m archive="y">0.34</z-offset-m>
+     <pitch-offset-deg>-8</pitch-offset-deg>
+   </config>
+  </view>
+
+        <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
+  <help>
+    <title>YardStik 110 (Sig Mfg)</title>
+    <line>Cruise speed: 60 mph</line>
+    <line>Never-exceed (Vne): 85 mph</line>
+    <line>Best Glide (Vglide): 20 mph</line>
+    <line>Maneuvering (Va): 50 mph</line>
+    <line>Approach speed: 15-25 mph</line>
+    <line>Stall speed (Vs): 10 mph</line>
+  </help>
+
+ </sim>
+
+ <controls>
+  <flight>
+   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
+   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
+  </flight>
+  <engines>
+   <engine n="0">
+    <magnetos>3</magnetos>
+   </engine>
+  </engines>
+  <door>1.0</door>
+ </controls>
+
+ <engines>
+  <engine>
+   <rpm type="double">700</rpm>
+  </engine>
+ </engines>
+  
+ <!-- An autopilot on a Cub??? -->  
+ <autopilot>
+   <config>
+     <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
+     <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
+     <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
+     <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
+     <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
+     <integral-contribution type="float">0.008</integral-contribution> 
+     <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
+     <zero-pitch-trim-full-throttle type="float">0.001</zero-pitch-trim-full-throttle>
+   </config>
+ </autopilot>
+
+</PropertyList>

files/flightgear/Aircraft/Malolo1/Models/Malolo1.xml

+<?xml version="1.0"?>
+
+<PropertyList>
+
+ <path>Malolo1.ac</path>
+ <offsets>
+   <z-m>-0.01</z-m>
+   <pitch-deg>0.2</pitch-deg>
+ </offsets>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>rhelevon</object-name>
+  <property>controls/flight/elevator</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>0.215</x>
+   <y>1</y>
+   <z>0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>rhelevon</object-name>
+  <property>controls/flight/aileron</property>
+  <factor>-15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>0.215</x>
+   <y>1</y>
+   <z>0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>lhelevon</object-name>
+  <property>controls/flight/elevator</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>-1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>-0.215</x>
+   <y>1</y>
+   <z>-0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>lhelevon</object-name>
+  <property>controls/flight/aileron</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>-1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>-0.215</x>
+   <y>1</y>
+   <z>-0.056</z>
+  </axis>
+ </animation>
+
+
+ <animation>
+  <type>spin</type>
+  <object-name>prop2</object-name>
+  <property>engines/engine/rpm</property>
+  <factor>-0.2</factor>   
+  <center>
+   <x-m>0</x-m>
+   <y-m>0</y-m>
+   <z-m>0.0156</z-m>
+  </center>
+  <axis>
+   <x>1</x>
+   <y>0</y>
+   <z>0</z>
+  </axis>
+ </animation>
+
+
+  
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Dialogs/config.xml

+<?xml version="1.0"?>
+
+<PropertyList>
+  <name>rascal-config</name>
+  <layout>vbox</layout>
+  <x>40</x>
+  <y>40</y>
+
+  <group>
+    <layout>hbox</layout>
+
+    <empty><stretch>true</stretch></empty>
+
+    <text>
+      <label>Rascal Configuration</label>
+    </text>
+
+    <empty><stretch>true</stretch></empty>
+
+    <button>
+      <pref-width>16</pref-width>
+      <pref-height>16</pref-height>
+      <legend></legend>
+      <default>1</default>
+      <keynum>27</keynum>
+      <border>2</border>
+
+      <binding>
+        <command>nasal</command>
+        <script>rascal.dialog.close()</script>
+      </binding>
+    </button>
+  </group>
+
+  <hrule/>
+
+  <group>
+    <layout>table</layout>
+
+    <!-- row zero -->
+    <checkbox>
+      <row>0</row> <col>0</col>
+      <halign>left</halign>
+      <label>External Autopilot Enable</label>
+      <property>/ugear/settings/ap-enable</property>
+      <live>true</live>
+      <binding>
+        <command>dialog-apply</command>
+      </binding>
+    </checkbox>
+
+    <!-- row one -->
+    <checkbox>
+      <row>1</row> <col>0</col>
+      <halign>left</halign>
+      <label>External Turret Control Enable</label>
+      <property>/ugear/settings/turret-enable</property>
+      <live>true</live>
+      <binding>
+        <command>dialog-apply</command>
+      </binding>
+    </checkbox>
+
+    <!-- row two -->
+    <checkbox>
+      <row>2</row> <col>0</col>
+      <halign>left</halign>
+      <label>Smoke</label>
+      <property>/sim/multiplay/generic/int[0]</property>
+      <live>true</live>
+      <binding>
+        <command>dialog-apply</command>
+      </binding>
+    </checkbox>
+
+    <!-- row three -->
+    <checkbox>
+      <row>3</row> <col>0</col>
+      <halign>left</halign>
+      <label>Trajectory Markers</label>
+      <property>/sim/multiplay/generic/int[1]</property>
+      <live>true</live>
+      <binding>
+        <command>dialog-apply</command>
+      </binding>
+    </checkbox>
+
+  </group>
+
+  <hrule/>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Engines/18x8.xml

+<?xml version="1.0"?>
+
+<!-- Generated by Aero-Matic v 0.7
+
+     Inputs:
+       horsepower:   3.8
+       pitch:        fixed
+     Outputs:
+       linear-blade-inches: 10.331602005498
+-->
+
+<propeller name="Rascal Propeller">
+  <ixx> 0.00085 </ixx>
+  <diameter unit="IN"> 18.0 </diameter>
+  <numblades> 2 </numblades>
+  <minpitch> 30 </minpitch>
+  <maxpitch> 30 </maxpitch>
+
+  <table name="C_THRUST" type="internal">
+    <tableData>
+      0.0  0.0776
+      0.1  0.0744
+      0.2  0.0712
+      0.3  0.0655
+      0.4  0.0588
+      0.5  0.0518
+      0.6  0.0419
+      0.7  0.0318
+      0.8  0.0172
+      1.0 -0.0058
+      1.4 -0.0549
+    </tableData>
+  </table>
+
+  <table name="C_POWER" type = "internal">
+    <tableData>
+      0.0  0.0902
+      0.1  0.0893
+      0.2  0.0880
+      0.3  0.0860
+      0.4  0.0810
+      0.5  0.0742
+      0.6  0.0681
+      0.7  0.0572
+      0.8  0.0467
+      1.0  0.0167
+      1.4 -0.0803 
+    </tableData>
+  </table>
+
+</propeller>

files/flightgear/Aircraft/Rascal110/Engines/Zenoah_G-26A.xml

+<?xml version="1.0"?>
+<!-- Zenoah G-26A -->
+<!-- 2.96 hp engine -->
+<!-- one horsepower equals 745.69987 Watts -->
+
+<electric_engine name="electric_1mw">
+  <power unit="WATTS">  2207.27 </power>
+</electric_engine>

files/flightgear/Aircraft/Rascal110/Models/Rascal110.xml

+<?xml version="1.0"?>
+
+<PropertyList>
+
+ <path>Rascal110-000-013.ac</path>
+
+ <model>
+   <path>Aircraft/Rascal/Models/smokeW.xml</path>
+   <offsets>
+     <x-m> 2.0</x-m>
+     <y-m> 0.0</y-m>
+     <z-m> 0.0</z-m>
+     <roll-deg>   0</roll-deg>
+     <pitch-deg>  0</pitch-deg>
+     <heading-deg>0</heading-deg>
+   </offsets>
+ </model>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>L_Aileron</object-name>
+  <property>/surface-positions/left-aileron-pos-norm</property>
+  <factor>20.0</factor> <!-- fixme -->
+  <center>
+   <x-m>0.735</x-m>
+   <y-m>-0.450</y-m>
+   <z-m>0.139</z-m>
+  </center>
+  <axis>
+   <x>0.037</x>
+   <y>1.0</y>
+   <z>-0.029</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>R_Aileron</object-name>
+  <property>/surface-positions/right-aileron-pos-norm</property>
+  <factor>20.0</factor> <!-- fixme -->
+  <center>
+   <x-m>0.735</x-m>
+   <y-m>0.450</y-m>
+   <z-m>0.139</z-m>
+  </center>
+  <axis>
+   <x>-0.037</x>
+   <y>1.0</y>
+   <z>0.029</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>Elevator</object-name>
+  <property>/surface-positions/elevator-pos-norm</property>
+  <factor>35.0</factor> <!-- fixme -->
+  <center>
+   <x-m>1.752</x-m>
+   <y-m>0.0</y-m>
+   <z-m>0.051</z-m>
+  </center>
+  <axis>
+   <x>0.0</x>
+   <y>1.0</y>
+   <z>0.0</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>Rudder</object-name>
+  <property>/surface-positions/rudder-pos-norm</property>
+  <factor>35.0</factor> <!-- fixme -->
+  <center>
+   <x-m>1.752</x-m>
+   <y-m>0.0</y-m>
+   <z-m>0.0</z-m>
+  </center>
+  <axis>
+   <x>0.0</x>
+   <y>0.0</y>
+   <z>1.0</z>
+  </axis>
+ </animation>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac

+AC3Db
+MATERIAL "ac3dmat9" rgb 0 0 1  amb 0 0 1  emis 0 0 1  spec 0 0 1  shi 0  trans 0
+MATERIAL "ac3dmat3" rgb 1 0 0  amb 1 0 0  emis 1 0 0  spec 1 0 0  shi 0  trans 0
+OBJECT world
+kids 2
+OBJECT poly
+name "line"
+loc 0 0.5 0
+numvert 2
+0 0.5 0
+0 -0.5 0
+numsurf 1
+SURF 0x22
+mat 0
+refs 2
+0 0 1
+1 0 0
+kids 0
+OBJECT poly
+name "line"
+numvert 2
+0 0 -3
+0 0 3
+numsurf 1
+SURF 0x22
+mat 1
+refs 2
+0 0 1
+1 0 0
+kids 0

files/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml

+<?xml version="1.0"?>
+
+<!-- Trajectory Marker config file - Lee Elliott -->
+
+<PropertyList>
+
+  <path>Trajectory-Marker.ac</path>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Models/fix.sh

+#! /bin/sh
+
+for f in "$@" ; do
+  sed -i.before-color-change 's,\(MATERIAL.*\)rgb\(.*\)amb\(.*\)emis\(.*\)spec\(.*\)shi\(.*\)trans\(.*\)$,\1rgb\2amb\2emis\4spec\5shi\6trans\7,1' "$f"
+  if ! cmp "${f}" "${f}.before-color-change" > /dev/null 2>&1 ; then
+      echo "$f has changed colors!"
+  fi
+done

files/flightgear/Aircraft/Rascal110/Models/smokeW.xml

+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- New version May, 07, 2009 by 102nd-YU-Nitro -->
+
+<PropertyList>
+
+  <!-- OSG Particles -->
+  <particlesystem>
+    <name>smoke</name>
+
+    <offsets>
+      <x-m>  0.000 </x-m>
+      <y-m>  0.000 </y-m>
+      <z-m> -0.000 </z-m>
+      <roll-deg>    0.000 </roll-deg>
+      <pitch-deg>   0.000 </pitch-deg>
+      <heading-deg> 0.000 </heading-deg>
+    </offsets>
+
+    <texture>smoke.png</texture>
+
+    <condition>
+      <property>sim/multiplay/generic/int[0]</property>
+    </condition>
+
+    <emissive>false</emissive>
+    <lighting>false</lighting>
+    <align>billboard</align> <!-- billboard / fixed -->
+    <attach>world</attach> <!-- world / local-->
+
+    <placer>
+      <type>point</type> <!-- sector / segments / point -->
+    </placer>
+
+    <shooter>
+      <theta-min-deg>10</theta-min-deg>
+      <theta-max-deg>86</theta-max-deg>
+      <phi-min-deg>-1.5</phi-min-deg>
+      <phi-max-deg>8</phi-max-deg>
+      <speed-mps>
+        <value>10</value>
+        <spread>2.5</spread>
+      </speed-mps>
+      <rotation-speed>
+        <x-min-deg-sec>5</x-min-deg-sec>
+        <y-min-deg-sec>5</y-min-deg-sec>
+        <z-min-deg-sec>5</z-min-deg-sec>
+        <x-max-deg-sec>60</x-max-deg-sec>
+        <y-max-deg-sec>60</y-max-deg-sec>
+        <z-max-deg-sec>60</z-max-deg-sec>
+      </rotation-speed>
+    </shooter>
+
+    <counter>
+      <particles-per-sec>
+        <value>100</value>
+        <spread>1</spread>
+      </particles-per-sec>
+    </counter>
+
+    <particle>
+      <start>
+        <color>
+          <red><value>   0.9 </value></red>
+          <green><value> 0.9 </value></green>
+          <blue><value>  0.9 </value></blue>
+          <alpha><value> 0.3 </value></alpha>
+        </color>
+        <size>
+          <value>0.3</value>
+        </size>
+      </start>
+
+      <end>
+        <color>
+          <red><value>   0.900 </value></red>
+          <green><value> 0.900 </value></green>
+          <blue><value>  0.900 </value></blue>
+          <alpha><value> 0.001 </value></alpha>
+        </color>
+        <size>
+          <value>10.0</value>
+        </size>
+      </end>
+
+      <life-sec>
+        <value>60</value>
+      </life-sec>
+       
+      <mass-kg>0.001</mass-kg>
+      <radius-m>1.0</radius-m>
+    </particle>
+     
+    <program>
+      <fluid>air</fluid>         <!-- air / water -->
+      <gravity>false</gravity>
+      <wind>true</wind>
+    </program>
+     
+  </particlesystem>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/README.Rascal

+This information has not been updated for the Rascal, please ignore, we
+are still at pre-pre-pre-alpha with this model!
+
+PIPER J3 CUB PERFORMANCE DATA
+=============================
+
+[This information is copied from the 1946 J3C-65 owner's handbook.]
+
+                             FLYING HINTS
+
+The Piper Cub Special represents more than 15 years of diligent
+aircraft engineering and manufacturing experience.  Its simplicity of
+design and construction, its low operating and maintenance costs, its
+inherent stability, ruggedness, and its outstanding safety and ease of
+flying, have made it the most popular airplane in aviation history.
+The Piper Cub Special is the time-tested product of millions of hours
+of flying under all conceivable conditions both in the military and in
+peace time.
+
+There are hints on starting, flying, stopping, and other related
+topics that are important to the owner who wants to conserve his
+airplane -- keep it in maximum airworthy condition -- and enjoy a full
+measure of flying satisfaction.
+
+
+First, each pilot should become familiar enough with his Piper Cub
+Special that he can accomplish a satisfactory pre-flight inspection.
+This check is simple and requires only a few minutes.  See Section IX
+for check list.  Daily check of airplane prior to flight should be the
+first in a number of safe flying habits the pilot should acquire.
+
+
+A. BEFORE STARTING ENGINE
+
+(1) Make routine check of gasoline supply.  Visible fuel gauge is
+integral part of gas tank cap; it will not show number of gallons but
+will show proportion of fuel in tank by length of rod which extends
+upward from cap.  A full tank of 12 U.S. gallons will be indicated by
+11 inches of rod extending beyond cap.  Keep gas gauge rod clean and
+smooth with crocus cloth for accuracy and freedom of movement.
+
+(2) Check oil level in engine sump by removing oil cap and gauge.  Oil
+stick should indicate oil level up to index mark of 4 quarts.
+
+(3) Check freedom of movement of flight and engine controls.
+
+
+B. STARTING ENGINE
+
+(1) Chock wheels, or have occupant who is familiar with controls set
+brakes in cabin.
+
+(2) Ignition switch OFF.  Verify.
+
+(3) Set throttle approximately 1/10 open.
+
+(4) Push fuel shut-off ON.
+
+(5) Turn propeller through several times.
+
+(6) Turn ignition switch ON.
+
+(7) Start engine by pulling propeller through with a snap.
+
+CAUTION -- Always handle propeller as if switch were "ON."  Stand as
+far in front of propeller as possible.  Use both hands and grasp one
+blad approximately midway from tip.  Do not overgrasp blade.  Do not
+wear long, loose clothing.  Make sure footing is sure to preclude
+possibility of feet slipping.
+
+(8) If engine does not start, turn switch OFF.  Turn primer knob to
+unlock, pull out, pump three or four times, then reseat primer and
+lock by turning in opposite direction.  In extremely cold weather a
+few strokes of the primer as the engine starts will enable it to keep
+running.  NOTE -- Avoid excessive priming as it causes raw gasoline to
+wash lubricating oil from engine cylinder walls.  Do not prime warm
+engine.
+
+(9) Repeat starting procedures 6, 7.
+
+(10) If engine loads up and refuses to start, turn ignition switch
+"OFF,", open throttle wide and turn propeller through backwards
+several times to unload excessive gas mixture in cylinders.  Then
+close throttle and repeat starting procedure.
+
+
+C. ENGINE WARM-UP
+
+(1) As soon as engine starts, advance throttle slightly to idle at 700
+R.P.M.  Check engine instruments.  If oil pressure gauge does not
+indicate pressure within 30 seconds, stop engine immediately, check
+and correct trouble before any further operation.  Oil temperature
+during operating should not rise above 200° F. and oil pressure should
+not fall below 30 pounds.  With engine warm, idling speed should be
+550-600 R.P.M.
+
+(2) Rev engine up to 2100 R.P.M. on both magnetos.  Switch to LEFT and
+RIGHT magnetos.  R.P.M. drop should not be over 75 R.P.M.  CAUTION
+--Do not operate engine on either single magneto for more than 30
+seconds at a time, as this tends to foul the non-operating spark plugs
+in the ignition circuit of the magneto that is switched off.
+
+
+D. STOPPING ENGINE
+
+(1) Never cut switch immediately after landing as this causes engine
+to cool too rapidly.
+
+(2) Idle engine, especially in high temperature operating conditions,
+for several minutes.  It is advisable to switch to each magneto for 30
+second intervals to allow gradual cooling of engine.  This helps to
+prevent overheating of spark plug insulators and will lessen tendency
+for "after-firing."
+
+(3) Check for carburetor heat OFF during idling.
+
+
+E. TAXIING
+
+(1) Open throttle to start airplane in motion; then close throttle to
+a setting sufficient to keep airplane rolling.  Do not keep throttle
+advanced so that it is necessary to control taxi speed of airplane
+with brakes.  This causes unnecessary wear and tear on brakes and
+tires.
+
+(2) Taxi slowly (speed of a fast walk) controlling direction with
+rudder which is connected to a steerable tail wheel.  Use brakes only
+for positive, precision ground control when necessary.
+
+(3) Taxi upwind with stick back; downwind with stick foreward.  When
+ground winds are in excess of 15 M.P.H., turn into wind using ailerons
+in direction of turn; apply ailerons away from the turn when turning
+downwind.  This procedure helps to prevent the wind "picking up" a
+wing during windy, gusty conditions.  Always make ground turns slowly.
+
+
+F. GENERAL FLYING
+
+(1) For takeoff use full throttle, heading into wind.  Airplane loaded
+will become airborne at approximately 39 M.P.H.  Best climb speed is
+an indicated 55 M.P.H.
+
+(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150.
+Take-off R.P.M. is 2300.  Do not fly at full throttle over 3 minutes.
+
+(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer
+shows drop in R.P.M. which may be due to ice forming in carburetor.
+Tachometer should recover to within 50 R.P.M. below normal when using
+carburetor heat.  Push heater to "OFF" position, and if icing
+condition has been cleared, R.P.M. should return to normal.  Continued
+use of carburetor heat will only cause increased fuel consumption and
+loss of power.
+
+(4) Maximum permissible diving speed is 122 M.P.H.
+
+
+G. APPROACH AND LANDING
+
+(1) Push carburetor heat ON prior to throttling back for glide, or for
+any other flight maneuver.
+
+(2) Glide between 50-60 M.P.H. depending upon loading of airplane and
+gust conditions.
+
+NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet
+of descent during a long glide so that engine temperature will be
+maintained.
+
+Throttle action on the part of the pilot should be smooth and gentle
+at all times.
+
+
+H. PARKING AND MOORING
+
+(1) After termination of flight, enter flying time in aircraft and
+engine log books.
+
+(2) Turn ignition and fuel OFF.
+
+(3) Chcok the wheels of airplane.
+
+(4) If airplane is not to be flown for some time, it should be
+hangared or tied down.  Use good quality 1/2" - 5/8" diameter rope.
+Secure to lift assist handle at aft end of fuselage; also at upper end
+of both front wing lift struts where they attach to wing.  Make sure
+that rope passes between aileron cable and lift strut.  Mooring ropes,
+when airplane is tied down, should have no slack.
+
+(5) Lock aileron and elevator controls by wrapping front seat belt
+completely around rear control stick, tighten and buckle.
+
+(6) Under excessively wind conditions, airplane should be tailed into
+wind for mooring.
+
+
+
+
+[Here is my older information.]
+
+These are the only numbers I could find.  They are for a J3 Cub with
+an 85HP engine rather than 65 hp, so some adjustments may be
+necessary.  The source is
+
+  http://www.evergreenfs.com/planedata.htm
+
+
+Speeds
+------
+  Best rate of climb (Vy):   65 mph (57 kt)
+  Best angle of climb (Vx):  55 mph (48 kt)
+  Cruise:                    70 mph (61 kt)
+  Never-exceed (Vne):       122 mph (106 kt)
+  Best Glide (Vglide):       60 mph (52 kt)
+  Stall (Vs):                38 mph (33 kt)
+  Maneuvering (Va):          70 mph (61 kt)
+  Approach:               50-60 mph (44-52 kt)
+
+Power
+-----
+  Take off:                  full
+  Climb:                     50 rpm below full
+  Cruise:                    2300 rpm
+  Approach:                  1200 rpm
+  Practice stalls:           1200 rpm
+
+Distances
+---------
+  Take-off:                  450-800 ft
+  Landing:                   200-800 ft
+
+Fuel
+----
+  Total fuel:                12 gal US
+  Usable fuel:               12 gal US
+  Grade:                     80/87
+  GPH:                       5 gal US/hr

files/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml

+<?xml version="1.0" encoding="UTF-8"?>
+
+<PropertyList>
+
+  <key n="9">
+    <name>Ctrl-I</name>
+    <desc>Show configuration dialog</desc>
+    <binding>
+      <command>nasal</command>
+      <script>rascal.dialog.toggle()</script>
+    </binding>
+  </key>
+
+  <key n="83">
+    <name>S</name>
+    <desc>Toggle smoke</desc>
+    <binding>
+      <command>property-toggle</command>
+      <property>sim/multiplay/generic/int[0]</property>
+    </binding>
+  </key>
+
+</PropertyList>
+

files/flightgear/Aircraft/Rascal110/Rascal-submodels.xml

+<?xml version="1.0"?>
+
+<PropertyList>
+
+  <submodel>
+    <name>trajectory marker</name>
+    <model>Aircraft/Rascal/Models/Trajectory-Marker.xml</model>
+    <trigger>/sim/multiplay/generic/int[1]</trigger>
+    <speed>0</speed>
+    <repeat>true</repeat>
+    <delay>0.75</delay>
+    <count>-1</count>
+    <x-offset>-0.5</x-offset>
+    <y-offset>0.0</y-offset>
+    <z-offset>-0.08</z-offset>
+    <yaw-offset>0.0</yaw-offset>
+    <pitch-offset>0.0</pitch-offset>
+    <eda>1000000000.00</eda>
+    <life>600</life>
+    <buoyancy>32</buoyancy>
+    <wind>false</wind>
+    <aero-stabilised>false</aero-stabilised>
+  </submodel>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml

+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+  <description>Rascal 110 (R/C)</description>
+  <author>Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson</author>
+  <aircraft-version>0.1</aircraft-version>
+
+  <startup>
+    <splash-texture>Aircraft/Rascal/Rascal110-splash.rgb</splash-texture>
+  </startup>
+
+  <flight-model>jsb</flight-model>
+  <aero>Rascal110-JSBSim</aero>
+  <fuel-fraction>0.8</fuel-fraction>
+  
+  <systems>
+   <autopilot>
+    <path>Aircraft/Rascal/Systems/110-autopilot.xml</path>
+   </autopilot>
+   <electrical>
+    <path>Aircraft/Rascal/Systems/electrical.xml</path>
+   </electrical>
+  </systems> 
+
+  <sound>
+   <path>Aircraft/Generic/generic-sound.xml</path>
+  </sound>
+
+  <panel>
+   <visibility archive="n">false</visibility>
+  </panel>
+
+  <model>
+   <path archive="y">Aircraft/Rascal/Models/Rascal110.xml</path>
+  </model>
+  
+  <hud>
+   <path n="1">Huds/NTPS.xml</path>
+   <visibility n="1">true</visibility>
+   <color>
+    <transparent type="bool">true</transparent>
+    <antialiased type="bool">true</antialiased>
+    <brightness type="float">0.85</brightness>
+    <alpha type="float">0.85</alpha>
+   </color>
+   <palette>
+    <color n="0">
+     <red type="float">0.38</red>
+     <green type="float">1.0</green>
+     <blue type="float">0.22</blue>
+    </color>
+    <color n="1">
+     <red type="float">1.0</red>
+     <green type="float">0.0</green>
+     <blue type="float">0.0</blue>
+    </color>
+   </palette>
+  </hud>
+
+  <view>
+   <internal archive="y">true</internal>
+   <config>
+     <x-offset-m archive="y">0.0</x-offset-m>
+     <y-offset-m archive="y">-0.15</y-offset-m>
+     <z-offset-m archive="y">0.9</z-offset-m>
+     <pitch-offset-deg>-8</pitch-offset-deg>
+   </config>
+  </view>
+
+  <submodels>
+    <serviceable type="bool">1</serviceable>
+    <path>Aircraft/Rascal/Rascal-submodels.xml</path>
+  </submodels>
+
+  <view n="1">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="2">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="3">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="4">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="5">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="6">
+   <config>
+    <target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
+   </config>
+  </view>
+
+  <view n="101">
+    <name>News Camera</name>
+    <type>lookat</type>
+    <internal type="bool">true</internal>
+    <config>
+      <eye-lat-deg-path>/position/latitude-deg</eye-lat-deg-path>
+      <eye-lon-deg-path>/position/longitude-deg</eye-lon-deg-path>
+      <eye-alt-ft-path>/position/altitude-ft</eye-alt-ft-path>
+      <eye-heading-deg-path>/orientation/heading-deg</eye-heading-deg-path>
+      <eye-pitch-deg-path>/orientation/pitch-deg</eye-pitch-deg-path>
+      <eye-roll-deg-path>/orientation/roll-deg</eye-roll-deg-path>
+      <x-offset-m>0.0</x-offset-m>
+      <y-offset-m>-0.35</y-offset-m>
+      <z-offset-m>-0.4</z-offset-m>
+
+      <target-lat-deg-path>/sim/input/click/latitude-deg</target-lat-deg-path>
+      <target-lon-deg-path>/sim/input/click/longitude-deg</target-lon-deg-path>
+      <target-alt-ft-path>/sim/input/click/elevation-ft</target-alt-ft-path>
+    </config>
+  </view>
+
+  <view n="102">
+    <name>Camera View</name>
+    <enabled type="bool" userarchive="y">true</enabled>
+    <type>lookfrom</type>
+    <internal type="bool">false</internal>
+    <config>
+      <from-model type="bool">true</from-model>
+      <from-model-idx type="int">0</from-model-idx>
+      <ground-level-nearplane-m type="double">0.5f</ground-level-nearplane-m>
+      <default-field-of-view-deg type="double">55.0</default-field-of-view-deg>
+    </config>
+  </view>
+
+  <multiplay>
+    <chat_display>1</chat_display>
+    <generic>
+      <int type="bool">0</int>  <!-- smoke -->
+      <int type="bool">0</int>  <!-- trajectory markers -->
+    </generic>
+  </multiplay>
+
+  <help>
+    <title>Rascal 110 (Sig Mfg)</title>
+    <line>Cruise speed: 60 kts</line>
+    <line>Never-exceed (Vne): 85 kts</line>
+    <line>Best Glide (Vglide): 20 kts</line>
+    <line>Maneuvering (Va): 50 kts</line>
+    <line>Approach speed: 20-25 kts</line>
+    <line>Stall speed (Vs): 15 kts</line>
+  </help>
+
+ </sim>
+
+ <nasal>
+  <rascal>
+   <file>Aircraft/Rascal/Systems/main.nas</file>
+   <file>Aircraft/Rascal/Systems/airdata.nas</file>
+   <file>Aircraft/Rascal/Systems/ugear.nas</file>
+  </rascal>
+ </nasal>
+
+ <yasim>
+  <Rascal110>
+   <pilot-lb>2</pilot-lb>
+  </Rascal110>
+ </yasim>
+
+ <input>
+   <keyboard include="Rascal-keyboard.xml"/>
+ </input>
+         
+ <controls>
+  <flight>
+   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
+   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
+  </flight>
+  <engines>
+   <engine n="0">
+    <magnetos>3</magnetos>
+   </engine>
+  </engines>
+  <smoke alias="/sim/multiplay/generic/int[0]"/>
+  <trajectory-markers alias="/sim/multiplay/generic/int[1]"/>
+ </controls>
+
+ <engines>
+  <engine>
+   <rpm type="double">700</rpm>
+  </engine>
+ </engines>
+  
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml

+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+  <description>Rascal 110 (R/C)</description>
+  <author>Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson</author>
+  <aircraft-version>0.1</aircraft-version>
+
+  <startup>
+    <splash-texture>Aircraft/Rascal/Rascal110-splash.rgb</splash-texture>
+  </startup>
+
+  <flight-model>yasim</flight-model>
+  <aero>Rascal110-YASim</aero>
+  <fuel-fraction>0.8</fuel-fraction>
+  
+  <systems>
+   <autopilot>
+    <path>Aircraft/Rascal/Systems/110-autopilot.xml</path>
+   </autopilot>
+   <electrical>
+    <path>Aircraft/Rascal/Systems/electrical.xml</path>
+   </electrical>
+  </systems> 
+
+  <sound>
+   <path>Aircraft/Generic/generic-sound.xml</path>
+  </sound>
+
+  <panel>
+   <visibility archive="n">false</visibility>
+  </panel>
+
+  <model>
+   <path archive="y">Aircraft/Rascal/Models/Rascal110.xml</path>
+  </model>
+  
+  <view>
+   <internal archive="y">true</internal>
+   <config>
+     <x-offset-m archive="y">0.0</x-offset-m>
+     <y-offset-m archive="y">-0.3</y-offset-m>
+     <z-offset-m archive="y">0.9</z-offset-m>
+     <pitch-offset-deg>-8</pitch-offset-deg>
+   </config>
+  </view>
+
+  <help>
+    <title>Rascal 110 (Sig Mfg)</title>
+    <line>Cruise speed: 60 mph</line>
+    <line>Never-exceed (Vne): 85 mph</line>
+    <line>Best Glide (Vglide): 20 mph</line>
+    <line>Maneuvering (Va): 50 mph</line>
+    <line>Approach speed: 15-25 mph</line>
+    <line>Stall speed (Vs): 10 mph</line>
+  </help>
+
+ </sim>
+
+ <yasim>
+  <Rascal110>
+   <pilot-lb>2</pilot-lb>
+  </Rascal110>
+ </yasim>
+
+ <controls>
+  <flight>
+   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
+   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
+  </flight>
+  <engines>
+   <engine n="0">
+    <magnetos>3</magnetos>
+   </engine>
+  </engines>
+  <door>1.0</door>
+ </controls>
+
+ <engines>
+  <engine>
+   <rpm type="double">700</rpm>
+  </engine>
+ </engines>
+  
+ <!-- An autopilot on a Cub??? -->  
+ <autopilot>
+   <config>
+     <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
+     <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
+     <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
+     <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
+     <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
+     <integral-contribution type="float">0.008</integral-contribution> 
+     <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
+     <zero-pitch-trim-full-throttle type="float">0.001</zero-pitch-trim-full-throttle>
+   </config>
+ </autopilot>
+
+</PropertyList>

files/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml

+<?xml version="1.0"?>
+
+<!--
+************************************************************************
+YASim aerodynamic model for a Rascal 110 (R/C airplane by Sig Mfg.)
+Started December 19, 2005 by Curtis Olson.
+
+This aerodynamic model is based on three-views, self captured
+performance data, and few guesses.  These sites provided particularly
+useful information or were simply fun to visit:
+
+The reference datum for measurements is the tip of the nose.
+************************************************************************
+-->
+
+<!-- 12 lb aircraft weight includes engine, but not fuel (empty weight) -->
+<airplane mass="12">
+
+<!-- Approach configuration -->
+<approach speed="15" aoa="4">
+  <control-setting axis="/controls/engines/engine[0]/throttle" value="0.10"/>
+</approach>
+
+<!-- Cruise configuration -->
+<cruise speed="65" alt="1000">
+  <control-setting axis="/controls/engines/engine[0]/throttle" value="1.00"/>
+  <control-setting axis="/controls/engines/engine[0]/mixture" value="1.00"/>
+  <control-setting axis="/controls/flight/elevator-trim" value="0.4"/>
+</cruise>
+
+<!-- pilot's eyepoint -->
+<cockpit x="-0.48" y="0" z="0.30"/>
+
+<fuselage ax="0.00" ay="0.00" az="-0.05" bx="-1.93" by="0.00" bz="-0.05"
+          width="0.30" taper="0.47" midpoint="0.58"/>
+
+<!--
+  The Rascal has an eliptical wing, but we'll model it as a straight
+  tapered wing with the equivalent wing area.
+  Note that the dihedral is exaggerated to simulate hull-interference effects
+  on a high-wing aircraft; once YASim models that properly, the
+  angle should be reduced to something like 2 degrees.
+
+  Note that the Rascal has no flaps.  With a stall speed of 10kt, who
+  needs them?
+-->
+<wing x="-0.66" y="0.07" z="0.11" taper="0.73" incidence="0" twist="-3"
+      length="1.33" chord="0.41" sweep="0" dihedral="5" camber="0.0">
+  <stall aoa="15" width="4" peak="1.5"/>
+  <flap0 start=".40" end="0.95" lift="1.1" drag="1.2"/>
+  <control-input axis="/controls/flight/aileron" control="FLAP0" split="true"/>
+  <control-input axis="/controls/flight/aileron-trim" control="FLAP0" split="true"/>
+  <control-output control="FLAP0" side="left"
+		  prop="/surface-positions/left-aileron-pos-norm"/>
+  <control-output control="FLAP0" side="right"
+		  prop="/surface-positions/right-aileron-pos-norm"/>
+</wing>
+
+<hstab x="-1.80" y="0.03" z="0.00" taper="0.6" effectiveness="1.0"
+       length="0.43" chord="0.18" sweep="0" incidence="0.00">
+  <stall aoa="16" width="4" peak="1.5"/>
+  <flap0 start="0" end="1" lift="1.3" drag="1.2"/>
+  <control-input axis="/controls/flight/elevator" control="FLAP0"/>
+  <control-input axis="/controls/flight/elevator-trim" control="FLAP0"/>
+  <control-output control="FLAP0" prop="/surface-positions/elevator-pos-norm"/>
+</hstab>
+
+<!-- rudder has to be able to counteract aileron drag -->
+<vstab x="-1.80" y="0.00" z="0.00" taper="0.38" effectiveness="1.0"
+       length="0.37" chord="0.33" sweep="0" incidence="0.00">
+  <stall aoa="16" width="4" peak="1.5"/>
+  <flap0 start="0" end="1" lift="2.0" drag="1.2"/>
+  <control-input axis="/controls/flight/rudder" control="FLAP0" invert="true"/>
+  <control-input axis="/controls/flight/rudder-trim" control="FLAP0" invert="true"/>
+  <control-output control="FLAP0" prop="/surface-positions/rudder-pos-norm"
+		  min="1" max="-1"/>
+</vstab>
+
+<!-- motor is reported to do 2.4 bhp but this way over powers the aircraft -->
+<propeller radius="0.23"
+           x="-0.10" y="0.00" z="0.00"
+           mass="3.5" moment="0.001"
+	   cruise-speed="60" cruise-rpm="7500"
+           cruise-alt="2000" cruise-power="0.6"
+           takeoff-power="0.6" takeoff-rpm="7000">
+  <piston-engine eng-power="0.6" eng-rpm="7000"
+                 displacement="1.60"/>
+  <actionpt x="0.00" y="0.00" z="0.00"/>
+  <control-input axis="/controls/engines/engine[0]/throttle" control="THROTTLE"/>
+  <control-input axis="/controls/engines/engine[0]/starter" control="STARTER"/>
+  <control-input axis="/controls/engines/engine[0]/magnetos" control="MAGNETOS"/>
+  <control-input axis="/controls/engines/engine[0]/mixture" control="MIXTURE"/>
+</propeller>
+
+<gear x="-1.93" y="0.00" z="-0.13" compression="0.01">
+  <control-input axis="/controls/flight/rudder" control="STEER"
+                 src0="-1.0" src1="1.0"
+                 dst0="0.5" dst1="-0.5"/>
+</gear>
+
+<gear x="-0.48" y="0.27" z="-0.39" compression="0.03"> <!-- left main -->
+  <control-input axis="/controls/gear/brake-left" control="BRAKE" split="true"/>
+  <control-input axis="/controls/gear/brake-parking" control="BRAKE" split="true"/>
+</gear>
+
+<gear x="-0.48" y="-0.27" z="-0.39" compression="0.03"> <!-- right main -->
+  <control-input axis="/controls/gear/brake-right" control="BRAKE" split="true"/>
+  <control-input axis="/controls/gear/brake-parking" control="BRAKE" split="true"/>
+</gear>
+
+<!-- There's just one 20 oz tank, right behind the engine (!!!) -->
+<tank x="-0.23" y="0.0" z="-0.08" capacity="1.00"/> 
+
+<!--
+  Note the tandem seating; the x values (arms) come from the
+  weight-and-balance page cited at the start.
+-->
+
+<ballast x="0.0" y="00" z="0.0" mass="1.2"/>
+
+<!-- pilot -->
+<!-- <weight x="-0.91" y="0" z="-0.70" -->
+<!-- mass-prop="/yasim/j3cub/pilot-lb"/> -->
+
+<!-- passenger -->
+<!-- <weight x="-0.23" y="0" z="-0.70" -->
+<!-- mass-prop="/yasim/j3cub/passenger-lb"/> -->
+
+</airplane>

files/flightgear/Aircraft/Rascal110/Systems/airdata.nas

+var last_time = 0.0;
+var last_speed = 0.0;
+var speed_sensed = 0.0;
+var sensor_step = 1.0;
+var speed_filt = 0.0;
+var accel_filt = 0.0;
+
+var compute_airspeed_accel = func( speed_filt, dt ) {
+    # print ( "computing forward acceleration ", dt );
+
+    var delta_speed = speed_filt - last_speed;
+    last_speed = speed_filt;
+
+    var accel = delta_speed / dt;
+
+    return accel;
+}
+
+
+var update_airdata = func( dt ) {
+    # crude model of a noisy electronic pitot tube
+    sensed_speed = getprop("/velocities/airspeed-kt");
+    var r = rand();
+    if ( r < 0.3333 ) {
+	sensed_speed = sensed_speed - sensor_step;
+    } elsif ( r > 0.6666 ) {
+	sensed_speed = sensed_speed + sensor_step;
+    }
+
+    speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed;
+
+    var sensed_accel = 0.0;
+    if ( dt > 0 ) {
+	sensed_accel = compute_airspeed_accel( speed_filt, dt );
+    }
+
+    accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel;
+
+    setprop("/accelerations/airspeed-ktps", accel_filt);
+}

files/flightgear/Aircraft/Rascal110/Systems/main.nas

+var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog",
+                            "Aircraft/Rascal/Dialogs/config.xml");
+
+var last_time = 0.0;
+
+
+var main_loop = func {
+    var time = getprop("/sim/time/elapsed-sec");
+    var dt = time - last_time;
+    last_time = time;
+
+    update_airdata( dt );
+    update_ugear( dt );
+
+    settimer(main_loop, 0);
+}
+
+
+setlistener("/sim/signals/fdm-initialized",
+	    func {
+		main_loop();
+	    });

files/flightgear/Aircraft/Rascal110/Systems/ugear.nas

+var update_ugear = func( dt ) {
+    var max_zoom_rate = 10*dt;
+    var max_pan_rate = 30*dt;
+    var max_tilt_rate = 45*dt;
+
+    var ap_enable = props.globals.getNode("/ugear/settings/ap-enable");
+    if ( ap_enable == nil ) {
+	props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1);
+        ap_enable = props.globals.getNode("/ugear/settings/ap-enable");
+    }
+    if ( ap_enable.getBoolValue() ) {
+	setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") );
+	setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") );
+    }
+
+    var turret_enable = props.globals.getNode("/ugear/settings/turret-enable");
+    if ( turret_enable == nil ) {
+	props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1);
+        turret_enable = props.globals.getNode("/ugear/settings/turret-enable");
+    }
+
+    if ( (getprop("/sim/current-view/name") == "Camera View")
+         and turret_enable.getBoolValue() )
+    {
+        var target_zoom = getprop("/ugear/act/channel6");
+        var target_pan = -getprop("/ugear/act/channel7");
+        if ( target_pan < -180.0 ) { target_pan += 360.0; }
+        if ( target_pan > 180.0 ) { target_pan -= 360.0; }
+	var target_tilt = -getprop("/ugear/act/channel8");
+	var cur_zoom = getprop("/sim/current-view/field-of-view");
+	var cur_pan = getprop("/sim/current-view/heading-offset-deg");
+	var cur_tilt = getprop("/sim/current-view/pitch-offset-deg");
+	var diff = 0.0;
+
+	diff = target_zoom - cur_zoom;
+	if ( diff > max_zoom_rate ) { diff = max_zoom_rate; }
+        if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; }
+        setprop("/sim/current-view/field-of-view", cur_zoom + diff);
+
+	diff = target_pan - cur_pan;
+	if ( diff > 180 ) { diff -= 360; }
+        if ( diff < -180 ) { diff += 360; }
+	if ( diff > max_pan_rate ) { diff = max_pan_rate; }
+        if ( diff < -max_pan_rate ) { diff = -max_pan_rate; }
+        setprop("/sim/current-view/heading-offset-deg", cur_pan + diff);
+
+	diff = target_tilt - cur_tilt;
+	if ( diff > 90 ) { diff = 90; }
+        if ( diff < -90 ) { diff = -90; }
+	if ( diff > max_tilt_rate ) { diff = max_tilt_rate; }
+        if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; }
+        setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff);
+    }
+}

files/flightgear/Aircraft/Rascal110/initfile.xml

+<?xml version="1.0"?>
+<initialize name="reset00">
+  <ubody unit="FT/SEC"> 110.783 </ubody> 
+  <vbody unit="FT/SEC"> 5.03584 </vbody> 
+  <wbody unit="FT/SEC"> -0.226825 </wbody> 
+  <phi unit="DEG"> -2.16197 </phi>
+  <theta unit="DEG"> -1.06069 </theta>
+  <psi unit="DEG"> 2.95853 </psi>
+  <longitude unit="DEG"> 0 </longitude>
+  <latitude unit="DEG"> 0 </latitude>
+  <altitude unit="FT"> -0.401227 </altitude>
+</initialize>

files/flightgear/Aircraft/YardStick/Engines/Zenoah_G-26A.xml

+<?xml version="1.0"?>
+<!-- Zenoah G-26A -->
+<!-- 2.96 hp engine -->
+<!-- one horsepower equals 745.69987 Watts -->
+
+<electric_engine name="electric_1mw">
+  <power unit="WATTS">  2207.27 </power>
+</electric_engine>

files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml

+<?xml version="1.0"?>
+<electric_engine name="a2830-12">
+  <power unit="WATTS">  187 </power>
+</electric_engine>

files/flightgear/Aircraft/arducopter/Models/quad.skp

 ໿SketchUp Model૿{8.0.4811}ꎻ᷻迕伝﮵쟴獯ÿ벲丨￿噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ā뀀Ā＀ϿЀ䌀楄Ѣ頀褀乐േᨊ

files/flightgear/Aircraft/arducopter/formatXml.sh

+#!/bin/bash
+find . -name "*.xml" -exec xmllint -format {} -o {} \;