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diff --git a/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml b/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml
new file mode 100755
index 0000000000000000000000000000000000000000..2c81e177ddf66c18c98c4d305d49429b3b77e256
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<electric_engine name="a2830-12">
+  <power unit="WATTS">  187 </power>
+</electric_engine>
diff --git a/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml b/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml
new file mode 100755
index 0000000000000000000000000000000000000000..d45e85903f60b4299703c5ca37f75d66b6da3f79
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml
@@ -0,0 +1,76 @@
+<?xml version="1.0"?>
+<!-- Generated by Aero-Matic v 1.1
+
+     Inputs:
+                horsepower: 0.250767
+                     pitch: fixed
+            max engine rpm: 9435
+        prop diameter (ft): 0.83333333333333
+
+     Outputs:
+              max prop rpm: 22515.60
+                gear ratio:    0.42
+                       Cp0: 0.002731
+                       Ct0: 0.003823
+       static thrust (lbs):    0.66
+-->
+<propeller name="prop">
+  <!--<ixx>   0.00 </ixx>-->
+  <ixx>   0.000041666666 </ixx>
+  <!--assuming solid rod of mass 8 g-->
+  <diameter unit="IN">  10.0 </diameter>
+  <numblades> 2 </numblades>
+  <gearratio>  1.0 </gearratio>
+  <p_factor>   0.79 </p_factor>
+  <table name="C_THRUST" type="internal">
+    <tableData><!--experimentally measured-->
+			0.0 0.0054513
+			1.4 0.0054513
+			<!--aeromatic generated-->
+            <!--0.0   0.0042-->
+            <!--0.1   0.0040-->
+            <!--0.2   0.0038-->
+            <!--0.3   0.0035-->
+            <!--0.4   0.0032-->
+            <!--0.5   0.0028-->
+            <!--0.6   0.0023-->
+            <!--0.7   0.0017-->
+            <!--0.8   0.0009-->
+            <!--1.0  -0.0003-->
+            <!--1.2  -0.0016-->
+            <!--1.4  -0.0030-->
+        </tableData>
+  </table>
+  <table name="C_POWER" type="internal">
+    <tableData>
+            0.0   0.0028
+            0.1   0.0028
+            0.2   0.0027
+            0.3   0.0027
+            0.4   0.0025
+            0.5   0.0023
+            0.6   0.0021
+            0.7   0.0018
+            0.8   0.0015
+            1.0   0.0005
+            1.2  -0.0008
+            1.4  -0.0025
+            1.6  -0.0042
+        </tableData>
+  </table>
+  <!-- thrust effects of helical tip Mach -->
+  <table name="CT_MACH" type="internal">
+    <tableData>
+            0.85   1.0
+            1.05   0.8
+        </tableData>
+  </table>
+  <!-- power-required effects of helical tip Mach -->
+  <table name="CP_MACH" type="internal">
+    <tableData>
+            0.85   1.0
+            1.05   1.8
+            2.00   1.4
+        </tableData>
+  </table>
+</propeller>
diff --git a/files/flightgear/Aircraft/arducopter/Models/arducopter.ac b/files/flightgear/Aircraft/arducopter/Models/arducopter.ac
new file mode 100755
index 0000000000000000000000000000000000000000..a81d6ff727d91591d2570e33f2bafeab9cb857ea
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+++ b/files/flightgear/Aircraft/arducopter/Models/arducopter.ac
@@ -0,0 +1,15492 @@
+AC3Db
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+OBJECT world
+kids 1
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+name "Cube.002"
+kids 14
+OBJECT poly
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+data 8
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diff --git a/files/flightgear/Aircraft/arducopter/Models/arducopter.xml b/files/flightgear/Aircraft/arducopter/Models/arducopter.xml
new file mode 100755
index 0000000000000000000000000000000000000000..3cf8fb37ddbd53a36b9b4462deb7624133c86a42
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Models/arducopter.xml
@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<PropertyList>
+  <!--Airframe-->
+  <path>arducopter.ac</path>
+  <offsets>
+    <z-m>0.0</z-m>
+    <y-m>0</y-m>
+    <x-m>0.0</x-m>
+    <pitch-deg>0</pitch-deg>
+    <heading-deg>180</heading-deg>
+  </offsets>
+  <!--Propeller Right-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller0</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller0</object-name>
+    <property>/controls/engines/engine[0]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>-0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>-0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Left-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller1</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller1</object-name>
+    <property>/controls/engines/engine[1]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Front-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller2</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller2</object-name>
+    <property>/controls/engines/engine[2]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Back-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller3</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller3</object-name>
+    <property>/controls/engines/engine[3]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>-0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>-0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+</PropertyList>
diff --git a/files/flightgear/Aircraft/arducopter/Models/quad.3ds b/files/flightgear/Aircraft/arducopter/Models/quad.3ds
new file mode 100755
index 0000000000000000000000000000000000000000..2f1e6be165c7589770283c6cda60f1649075dcdb
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/Models/quad.3ds differ
diff --git a/files/flightgear/Aircraft/arducopter/Models/quad.skp b/files/flightgear/Aircraft/arducopter/Models/quad.skp
new file mode 100755
index 0000000000000000000000000000000000000000..c8643d32392e8723b68e02066ba8ac47484472eb
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/Models/quad.skp differ
diff --git a/files/flightgear/Aircraft/arducopter/arducopter-set.xml b/files/flightgear/Aircraft/arducopter/arducopter-set.xml
new file mode 100755
index 0000000000000000000000000000000000000000..984e5a5cc0d06e5f643bb24e2fedd39648bffc98
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/arducopter-set.xml
@@ -0,0 +1,93 @@
+<?xml version="1.0"?>
+<!--
+************************************************************************
+Arducotper UAV Model
+************************************************************************
+-->
+<PropertyList>
+  <sim>
+    <description>Arducopter UAV (R/C)</description>
+    <author>James Goppert</author>
+    <aircraft-version>0.0</aircraft-version>
+    <status>experimental</status>
+    <flight-model>jsb</flight-model>
+    <aero>arducopter</aero>
+    <model-hz>50</model-hz>
+    <sound>
+      <path>Aircraft/Generic/generic-sound.xml</path>
+    </sound>
+    <panel>
+      <visibility archive="n">false</visibility>
+    </panel>
+    <model>
+      <path archive="y">Aircraft/arducopter/Models/arducopter.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">0.15</y-offset-m>
+        <z-offset-m archive="y">0.90</z-offset-m>
+        <pitch-offset-deg>0</pitch-offset-deg>
+      </config>
+    </view>
+    <chase-distance-m archive="y" type="double">-5.5</chase-distance-m>
+    <help>
+      <title>arducopter UAV</title>
+      <line>Cruise speed: ? mph</line>
+      <line>Never-exceed (Vne): ? mph</line>
+      <line>Best Glide (Vglide): ? mph</line>
+      <line>Maneuvering (Va): ? mph</line>
+      <line>Approach speed: ? mph</line>
+      <line>Stall speed (Vs): ? mph</line>
+    </help>
+    <startup>
+      <splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title>
+      <splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture>
+    </startup>
+  </sim>
+  <controls>
+    <flight>
+      <aileron-trim>0.00</aileron-trim>
+      <!-- fixed -->
+      <elevator-trim>0.00</elevator-trim>
+      <!-- controllable -->
+    </flight>
+  </controls>
+  <consumables>
+    <fuel>
+      <tank n="0">
+        <level-gal_us>0</level-gal_us>
+      </tank>
+    </fuel>
+  </consumables>
+  <payload>
+    <weight>
+      <name type="string">Payload</name>
+      <weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/>
+      <min-lb type="double">0.0</min-lb>
+      <max-lb type="double">1.0</max-lb>
+    </weight>
+  </payload>
+  <nasal>
+    <arducopter>
+      <script>
+         setlistener("/sim/signals/fdm-initialized", func {
+             var left  = screen.display.new(20, 10);
+             left.add("/controls/engines/engine[0]/throttle");
+             left.add("/controls/engines/engine[1]/throttle");
+             left.add("/controls/engines/engine[2]/throttle");
+             left.add("/controls/engines/engine[3]/throttle");
+             
+             var right = screen.display.new(-250, 20);
+             right.add("/position/altitude-agl-ft");
+             right.add("/orientation/roll-deg");
+             right.add("/orientation/pitch-deg");
+             right.add("/orientation/heading-deg");
+             right.add("/instrumentation/gps/indicated-ground-speed-kt");
+         });
+        </script>
+    </arducopter>
+  </nasal>
+</PropertyList>
+<!-- vim:sw=4:ts=4:expandtab -->
diff --git a/files/flightgear/Aircraft/arducopter/arducopter.jpg b/files/flightgear/Aircraft/arducopter/arducopter.jpg
new file mode 100755
index 0000000000000000000000000000000000000000..c28e2fdac5287a048e795c96497d265b1e9d113b
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/arducopter.jpg differ
diff --git a/files/flightgear/Aircraft/arducopter/arducopter.xml b/files/flightgear/Aircraft/arducopter/arducopter.xml
new file mode 100755
index 0000000000000000000000000000000000000000..5161e75322c527fd6339c1c64e09f40b731760ab
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/arducopter.xml
@@ -0,0 +1,248 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+  <fileheader>
+    <author> James Goppert </author>
+    <filecreationdate> 2010-03-11 </filecreationdate>
+    <version>0.0 </version>
+    <description> Arducopter DIY Drones UAV. </description>
+  </fileheader>
+  <metrics>
+    <wingarea unit="M2">   0.017</wingarea>
+    <wingspan unit="M">   0.13 </wingspan>
+    <chord unit="FT">  0.0 </chord>
+    <htailarea unit="FT2">  0.0 </htailarea>
+    <htailarm unit="FT">  0.0 </htailarm>
+    <vtailarea unit="FT2">  0.0 </vtailarea>
+    <vtailarm unit="FT">  0.0 </vtailarm>
+    <location name="AERORP" unit="IN">
+      <x>   0.00 </x>
+      <y>   0.00 </y>
+      <z>   0.00 </z>
+    </location>
+    <location name="EYEPOINT" unit="IN">
+      <x>  0.0 </x>
+      <y>  0.0 </y>
+      <z>  0.0 </z>
+    </location>
+    <location name="VRP" unit="IN">
+      <x>0</x>
+      <y>0</y>
+      <z>0</z>
+    </location>
+  </metrics>
+  <mass_balance>
+    <!--roughtly approximating this as a solid sphere with correct mass-->
+    <ixx unit="KG*M2"> 0.036 </ixx>
+    <iyy unit="KG*M2"> 0.036 </iyy>
+    <izz unit="KG*M2">  0.036 </izz>
+    <emptywt unit="KG"> 1.0 </emptywt>
+    <location name="CG" unit="IN">
+      <x>  0.0 </x>
+      <y>  0.0 </y>
+      <z>  0.0 </z>
+    </location>
+    <pointmass name="Payload">
+      <weight unit="KG"> 0.0 </weight>
+      <location unit="IN">
+        <x>  0.0 </x>
+        <y>  0.0 </y>
+        <z>  0.0 </z>
+      </location>
+    </pointmass>
+  </mass_balance>
+  <ground_reactions>
+    <contact type="BOGEY" name="frontbase">
+      <location unit="M">
+        <x>  -0.283 </x>
+        <y>   0.00 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="rearbase">
+      <location unit="M">
+        <x>   0.283 </x>
+        <y>   0.00 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="leftbase">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.283 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="rightbase">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>  -0.283 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+  </ground_reactions>
+  <!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
+  <propulsion>
+    <engine file="a2830-12" name="front">
+      <location unit="M">
+        <x>  -0.283 </x>
+        <y>   0.00  </y>
+        <z>   0.00  </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>  -0.283 </x>
+          <y>   0.00  </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> 1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="rear">
+      <location unit="M">
+        <x>   0.283 </x>
+        <y>   0.000 </y>
+        <z>   0.000 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.283 </x>
+          <y>   0.000 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> 1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="left">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.283 </y>
+        <z>   0.00 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.00 </x>
+          <y>   0.283 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> -1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="right">
+      <location unit="M">
+        <x>   0.000 </x>
+        <y>  -0.283 </y>
+        <z>   0.000 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.000 </x>
+          <y>  -0.283 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> -1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <tank type="FUEL" number="0">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.00 </y>
+        <z>  -0.07 </z>
+      </location>
+      <!--have to have a fuel capacity, so setting it small-->
+      <capacity unit="KG"> 0.00000000001 </capacity>
+      <contents unit="KG"> 0.0 </contents>
+    </tank>
+  </propulsion>
+  <aerodynamics>
+    <axis name="LIFT">
+        </axis>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD0">
+        <description>Overall Drag</description>
+        <product>
+          <property>aero/qbar-psf</property>
+          <property>metrics/Sw-sqft</property>
+          <value>1</value>
+        </product>
+      </function>
+    </axis>
+    <axis name="SIDE">
+        </axis>
+    <axis name="ROLL">
+        </axis>
+    <axis name="PITCH">
+        </axis>
+    <axis name="YAW">
+        </axis>
+  </aerodynamics>
+</fdm_config>
+<!-- vim:ts=2:sw=2:expandtab -->
diff --git a/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt b/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt
new file mode 100755
index 0000000000000000000000000000000000000000..26360d230182594269d05110a6c7b013099bdfde
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt
@@ -0,0 +1,9239 @@
+Force, Ch A, Run #5
+Time ( s )	Force ( N )
+0.0000	0.2
+0.0050	0.2
+0.0100	0.2
+0.0150	0.2
+0.0200	0.2
+0.0250	0.2
+0.0300	0.2
+0.0350	0.2
+0.0400	0.2
+0.0450	0.2
+0.0500	0.2
+0.0550	0.2
+0.0600	0.2
+0.0650	0.2
+0.0700	0.2
+0.0750	0.2
+0.0800	0.2
+0.0850	0.2
+0.0900	0.2
+0.0950	0.2
+0.1000	0.2
+0.1050	0.2
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diff --git a/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt b/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt
new file mode 100755
index 0000000000000000000000000000000000000000..534fba26ae342d5a2b4ef555a189e5d3fa51df73
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt
@@ -0,0 +1,11813 @@
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diff --git a/files/flightgear/Aircraft/arducopter/formatXml.sh b/files/flightgear/Aircraft/arducopter/formatXml.sh
new file mode 100755
index 0000000000000000000000000000000000000000..b803f4b7b1418bf2a54eabd3719615da7be25169
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/formatXml.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+find . -name "*.xml" -exec xmllint -format {} -o {} \;
diff --git a/files/flightgear/Aircraft/arducopter/initfile.xml b/files/flightgear/Aircraft/arducopter/initfile.xml
new file mode 100755
index 0000000000000000000000000000000000000000..363cee94f786a5b79a1c7e36abbb6d9c2af0e0cb
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/initfile.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<initialize name="reset00">
+  <ubody unit="M/SEC"> nan </ubody> 
+  <vbody unit="M/SEC"> nan </vbody> 
+  <wbody unit="M/SEC"> nan </wbody> 
+  <phi unit="DEG"> nan </phi>
+  <theta unit="DEG"> -nan </theta>
+  <psi unit="DEG"> nan </psi>
+  <longitude unit="DEG"> nan </longitude>
+  <latitude unit="DEG"> nan </latitude>
+  <altitude unit="M"> nan </altitude>
+</initialize>
diff --git a/files/flightgear/jeep/Models/AI-Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/airborn.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/army-g.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/hippie.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1a.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1b.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1c.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1d.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/navy.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/raf.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/softroof-a.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/softroof.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/softroof.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png
diff --git a/files/flightgear/jeep/Models/GPA.xml b/files/flightgear/Aircraft/jeep/Models/GPA.xml
similarity index 100%
rename from files/flightgear/jeep/Models/GPA.xml
rename to files/flightgear/Aircraft/jeep/Models/GPA.xml
diff --git a/files/flightgear/jeep/Models/Jeep.xml b/files/flightgear/Aircraft/jeep/Models/Jeep.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Jeep.xml
rename to files/flightgear/Aircraft/jeep/Models/Jeep.xml
diff --git a/files/flightgear/jeep/Models/Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/airborn.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml
diff --git a/files/flightgear/jeep/Models/Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/army-g.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml
diff --git a/files/flightgear/jeep/Models/Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/hippie.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1a.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1b.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1c.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1d.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png
diff --git a/files/flightgear/jeep/Models/Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/navy.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml
diff --git a/files/flightgear/jeep/Models/Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/raf.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml
diff --git a/files/flightgear/jeep/Models/Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/softroof-a.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png
diff --git a/files/flightgear/jeep/Models/cabin.png b/files/flightgear/Aircraft/jeep/Models/cabin.png
similarity index 100%
rename from files/flightgear/jeep/Models/cabin.png
rename to files/flightgear/Aircraft/jeep/Models/cabin.png
diff --git a/files/flightgear/jeep/Models/current.ac b/files/flightgear/Aircraft/jeep/Models/current.ac
similarity index 100%
rename from files/flightgear/jeep/Models/current.ac
rename to files/flightgear/Aircraft/jeep/Models/current.ac
diff --git a/files/flightgear/jeep/Models/current.rgb b/files/flightgear/Aircraft/jeep/Models/current.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/current.rgb
rename to files/flightgear/Aircraft/jeep/Models/current.rgb
diff --git a/files/flightgear/jeep/Models/current.xml b/files/flightgear/Aircraft/jeep/Models/current.xml
similarity index 100%
rename from files/flightgear/jeep/Models/current.xml
rename to files/flightgear/Aircraft/jeep/Models/current.xml
diff --git a/files/flightgear/jeep/Models/fuel.ac b/files/flightgear/Aircraft/jeep/Models/fuel.ac
similarity index 100%
rename from files/flightgear/jeep/Models/fuel.ac
rename to files/flightgear/Aircraft/jeep/Models/fuel.ac
diff --git a/files/flightgear/jeep/Models/fuel.rgb b/files/flightgear/Aircraft/jeep/Models/fuel.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/fuel.rgb
rename to files/flightgear/Aircraft/jeep/Models/fuel.rgb
diff --git a/files/flightgear/jeep/Models/fuelgauge.xml b/files/flightgear/Aircraft/jeep/Models/fuelgauge.xml
similarity index 100%
rename from files/flightgear/jeep/Models/fuelgauge.xml
rename to files/flightgear/Aircraft/jeep/Models/fuelgauge.xml
diff --git a/files/flightgear/jeep/Models/gpa.ac b/files/flightgear/Aircraft/jeep/Models/gpa.ac
similarity index 100%
rename from files/flightgear/jeep/Models/gpa.ac
rename to files/flightgear/Aircraft/jeep/Models/gpa.ac
diff --git a/files/flightgear/jeep/Models/gpatrans.ac b/files/flightgear/Aircraft/jeep/Models/gpatrans.ac
similarity index 100%
rename from files/flightgear/jeep/Models/gpatrans.ac
rename to files/flightgear/Aircraft/jeep/Models/gpatrans.ac
diff --git a/files/flightgear/jeep/Models/gpatrans.xml b/files/flightgear/Aircraft/jeep/Models/gpatrans.xml
similarity index 100%
rename from files/flightgear/jeep/Models/gpatrans.xml
rename to files/flightgear/Aircraft/jeep/Models/gpatrans.xml
diff --git a/files/flightgear/jeep/Models/jeep-1.png b/files/flightgear/Aircraft/jeep/Models/jeep-1.png
similarity index 100%
rename from files/flightgear/jeep/Models/jeep-1.png
rename to files/flightgear/Aircraft/jeep/Models/jeep-1.png
diff --git a/files/flightgear/jeep/Models/jeep-2.png b/files/flightgear/Aircraft/jeep/Models/jeep-2.png
similarity index 100%
rename from files/flightgear/jeep/Models/jeep-2.png
rename to files/flightgear/Aircraft/jeep/Models/jeep-2.png
diff --git a/files/flightgear/jeep/Models/jeep.ac b/files/flightgear/Aircraft/jeep/Models/jeep.ac
similarity index 100%
rename from files/flightgear/jeep/Models/jeep.ac
rename to files/flightgear/Aircraft/jeep/Models/jeep.ac
diff --git a/files/flightgear/jeep/Models/pilot-b.ac b/files/flightgear/Aircraft/jeep/Models/pilot-b.ac
similarity index 100%
rename from files/flightgear/jeep/Models/pilot-b.ac
rename to files/flightgear/Aircraft/jeep/Models/pilot-b.ac
diff --git a/files/flightgear/jeep/Models/pilot.xml b/files/flightgear/Aircraft/jeep/Models/pilot.xml
similarity index 100%
rename from files/flightgear/jeep/Models/pilot.xml
rename to files/flightgear/Aircraft/jeep/Models/pilot.xml
diff --git a/files/flightgear/jeep/Models/pilot1.rgb b/files/flightgear/Aircraft/jeep/Models/pilot1.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/pilot1.rgb
rename to files/flightgear/Aircraft/jeep/Models/pilot1.rgb
diff --git a/files/flightgear/jeep/Models/roof.ac b/files/flightgear/Aircraft/jeep/Models/roof.ac
similarity index 100%
rename from files/flightgear/jeep/Models/roof.ac
rename to files/flightgear/Aircraft/jeep/Models/roof.ac
diff --git a/files/flightgear/jeep/Models/softroof.png b/files/flightgear/Aircraft/jeep/Models/softroof.png
similarity index 100%
rename from files/flightgear/jeep/Models/softroof.png
rename to files/flightgear/Aircraft/jeep/Models/softroof.png
diff --git a/files/flightgear/jeep/Models/speedometer.ac b/files/flightgear/Aircraft/jeep/Models/speedometer.ac
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.ac
rename to files/flightgear/Aircraft/jeep/Models/speedometer.ac
diff --git a/files/flightgear/jeep/Models/speedometer.rgb b/files/flightgear/Aircraft/jeep/Models/speedometer.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.rgb
rename to files/flightgear/Aircraft/jeep/Models/speedometer.rgb
diff --git a/files/flightgear/jeep/Models/speedometer.xml b/files/flightgear/Aircraft/jeep/Models/speedometer.xml
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.xml
rename to files/flightgear/Aircraft/jeep/Models/speedometer.xml
diff --git a/files/flightgear/jeep/Models/transparent.ac b/files/flightgear/Aircraft/jeep/Models/transparent.ac
similarity index 100%
rename from files/flightgear/jeep/Models/transparent.ac
rename to files/flightgear/Aircraft/jeep/Models/transparent.ac
diff --git a/files/flightgear/jeep/Models/transparent.xml b/files/flightgear/Aircraft/jeep/Models/transparent.xml
similarity index 100%
rename from files/flightgear/jeep/Models/transparent.xml
rename to files/flightgear/Aircraft/jeep/Models/transparent.xml
diff --git a/files/flightgear/jeep/Nasal/failure.nas b/files/flightgear/Aircraft/jeep/Nasal/failure.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/failure.nas
rename to files/flightgear/Aircraft/jeep/Nasal/failure.nas
diff --git a/files/flightgear/jeep/Nasal/jeep.nas b/files/flightgear/Aircraft/jeep/Nasal/jeep.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/jeep.nas
rename to files/flightgear/Aircraft/jeep/Nasal/jeep.nas
diff --git a/files/flightgear/jeep/Nasal/walk.nas b/files/flightgear/Aircraft/jeep/Nasal/walk.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/walk.nas
rename to files/flightgear/Aircraft/jeep/Nasal/walk.nas
diff --git a/files/flightgear/jeep/README b/files/flightgear/Aircraft/jeep/README
similarity index 100%
rename from files/flightgear/jeep/README
rename to files/flightgear/Aircraft/jeep/README
diff --git a/files/flightgear/jeep/gpa-set.xml b/files/flightgear/Aircraft/jeep/gpa-set.xml
similarity index 100%
rename from files/flightgear/jeep/gpa-set.xml
rename to files/flightgear/Aircraft/jeep/gpa-set.xml
diff --git a/files/flightgear/jeep/gpa-yasim.xml b/files/flightgear/Aircraft/jeep/gpa-yasim.xml
similarity index 100%
rename from files/flightgear/jeep/gpa-yasim.xml
rename to files/flightgear/Aircraft/jeep/gpa-yasim.xml
diff --git a/files/flightgear/jeep/jeep-set.xml b/files/flightgear/Aircraft/jeep/jeep-set.xml
similarity index 100%
rename from files/flightgear/jeep/jeep-set.xml
rename to files/flightgear/Aircraft/jeep/jeep-set.xml
diff --git a/files/flightgear/jeep/jeep-yasim.xml b/files/flightgear/Aircraft/jeep/jeep-yasim.xml
similarity index 100%
rename from files/flightgear/jeep/jeep-yasim.xml
rename to files/flightgear/Aircraft/jeep/jeep-yasim.xml
diff --git a/files/flightgear/jeep/thumbnail.jpg b/files/flightgear/Aircraft/jeep/thumbnail.jpg
similarity index 100%
rename from files/flightgear/jeep/thumbnail.jpg
rename to files/flightgear/Aircraft/jeep/thumbnail.jpg
diff --git a/files/flightgear/qgroundcontrol.xml b/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml
similarity index 100%
rename from files/flightgear/qgroundcontrol.xml
rename to files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml
diff --git a/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7dd55d4c8f3cd134f144528c38cc7417ed2fbc3c
--- /dev/null
+++ b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+
+<PropertyList>
+ <generic>
+
+  <output>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+   
+   <chunk>
+    <name>time (sec)</name>
+    <type>float</type>
+    <format>%.4f</format>
+    <node>/sim/time/elapsed-sec</node>
+   </chunk>
+
+   <!-- Position -->
+   <chunk>
+    <name>latitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>longitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>altitiude (m)</name>
+    <type>double</type>
+    <format>%.5f</format>
+    <node>/position/altitude-ft</node>
+    <factor>0.3048</factor>                  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Orientation -->
+
+   <chunk>
+    <name>roll angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/roll-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>pitch angle (rad)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/pitch-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>yaw angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/heading-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+
+   <chunk>
+    <name>roll rate ("p" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/pi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>pitch rate ("q" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/qi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>yaw rate ("r" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/ri-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>X accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/x-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Y accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/y-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Z accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/z-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Velocities -->
+   
+   <chunk>
+    <name>Velocity North ("vn" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-north-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity East ("ve" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-east-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity Down ("vd" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-down-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+     <name>airspeed-mps</name>
+     <type>float</type>
+     <format>%.8f</format>
+     <node>/velocities/airspeed-kt</node>
+     <factor>0.514444444444444</factor>      <!-- knots to mps -->
+   </chunk>
+   
+  </output>
+
+  <input>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+
+   <!-- Controls -->
+     <!-- motors, in range 0.0 to 1.0 -->
+     <chunk>
+       <name>throttle0</name>
+       <type>double</type>
+       <node>/controls/engines/engine[0]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle1</name>
+       <type>double</type>
+       <node>/controls/engines/engine[1]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle2</name>
+       <type>double</type>
+       <node>/controls/engines/engine[2]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle3</name>
+       <type>double</type>
+       <node>/controls/engines/engine[3]/throttle</node>
+     </chunk> 
+   
+
+ </input>
+
+ </generic>
+
+</PropertyList>
\ No newline at end of file
diff --git a/files/flightgear/Protocol/quadhil.xml b/files/flightgear/Protocol/quadhil.xml
new file mode 100755
index 0000000000000000000000000000000000000000..a666b6e1a5d511dd0383f9fce5907114bc99b8a7
--- /dev/null
+++ b/files/flightgear/Protocol/quadhil.xml
@@ -0,0 +1,120 @@
+<?xml version="1.0"?>
+<!-- quadcopter HIL protocol definition
+     Andrew Tridgell
+     July 2011
+-->
+
+<PropertyList>
+ <generic>
+
+   <!-- inputs, sent from quad_hil.py to FlightGear -->
+   <input>
+     <binary_mode>true</binary_mode>
+<!--     <binary_footer>magic,0xc465414d</binary_footer>-->
+
+     <!-- motors, in range 0.0 to 1.0 -->
+     <chunk>
+       <name>throttle0</name>
+       <type>double</type>
+       <node>/controls/engines/engine[0]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle1</name>
+       <type>double</type>
+       <node>/controls/engines/engine[1]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle2</name>
+       <type>double</type>
+       <node>/controls/engines/engine[2]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle3</name>
+       <type>double</type>
+       <node>/controls/engines/engine[3]/throttle</node>
+     </chunk> 
+
+     <!-- Position -->
+     <chunk>
+       <name>latitude-deg</name>
+       <type>double</type>
+       <node>/position/latitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>longitude-deg</name>
+       <type>double</type>
+       <node>/position/longitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>altitude-ft</name>
+       <type>double</type>
+       <node>/position/altitude-ft</node>
+     </chunk>
+
+     <chunk>
+       <name>altitude-agl-ft</name>
+       <type>double</type>
+       <node>/position/altitude-agl-ft</node>
+     </chunk>
+     
+     <!-- Attitude -->
+     <chunk>
+       <name>roll-deg</name>
+       <type>double</type>
+       <node>/orientation/roll-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>pitch-deg</name>
+       <type>double</type>
+       <node>/orientation/pitch-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>heading-deg</name>
+       <type>double</type>
+       <node>/orientation/heading-deg</node>
+     </chunk>
+     
+   </input>
+   
+   <!-- outputs, sent from FlightGear to quad_hil.py -->
+   <output>
+     <binary_mode>true</binary_mode>
+     <binary_footer>magic,0xc465414e</binary_footer>
+
+     <!-- we need to know the ground level so we know when
+	  to crash! -->
+     <chunk>
+       <name>ground-elev-m</name>
+       <type>double</type>
+       <node>/position/ground-elev-m</node>
+     </chunk>
+     
+     <!-- the rest we only need once at startup, to know where 
+	  we are taking off from -->
+     <chunk>
+       <name>latitude-deg</name>
+       <type>double</type>
+       <node>/position/latitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>longitude-deg</name>
+       <type>double</type>
+       <node>/position/longitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>heading-deg</name>
+       <type>double</type>
+       <node>/orientation/heading-deg</node>
+     </chunk>
+
+   </output>
+
+ </generic>
+
+</PropertyList>
diff --git a/files/flightgear/connector_flightgear_uav.xml b/files/flightgear/connector_flightgear_uav.xml
deleted file mode 100644
index 0513e1cd96dd4a9954d0821d1d5d459abd337910..0000000000000000000000000000000000000000
--- a/files/flightgear/connector_flightgear_uav.xml
+++ /dev/null
@@ -1,161 +0,0 @@
-<PropertyList>
- <generic>
-  <output>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <chunk>
-    <name>lat</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/position/latitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>lon</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/position/longitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>alt</name>
-    <type>float</type>
-    <format>%+1.4f</format>
-    <node>/position/altitude-ft</node>
-   </chunk>
-
-
-   <chunk>
-    <name>speed</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/groundspeed-kt</node>
-   </chunk>
-
-   <chunk>
-    <name>airspeed</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/airspeed-kt</node>
-   </chunk>
-
-
-
-   <chunk>
-    <name>pitch</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/pitch-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>roll</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/roll-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>heading</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/heading-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>v_n</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-north-fps</node>
-   </chunk>
-
-   <chunk>
-    <name>v_e</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-east-fps</node>
-   </chunk>
-
-   <chunk>
-    <name>v_d</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-down-fps</node>
-   </chunk>
-
-
-   <chunk>
-    <name>rate_phi</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/roll-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_theta</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/pitch-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_psi</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/yaw-rate-degps</node>
-   </chunk>
-
-
-  </output>
-
- <input>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <chunk>
-    <name>pitch</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/autopilot/settings/target-pitch-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>roll</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/autopilot/settings/target-roll-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>throttle</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/controls/engines/engine/throttle</node>
-   </chunk>
-
-   <chunk>
-    <name>lat</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/sim/view/target/latitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>lon</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/sim/view/target/longitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>alt</name>
-    <type>float</type>
-    <format>%+1.4f</format>
-    <node>/sim/view/target/alt</node>
-   </chunk>
-
-  </input>
-
- </generic>
-</PropertyList>