Initial Commit

Signed-off-by: fly <merspieler@airmail.cc>
2023-06-25 17:49:06 +02:00 · 2023-06-25 17:49:06 +02:00 · 23b8abf455
commit 23b8abf455
20 changed files with 3314 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,3 @@
+# vim swap files
+*.swp
+*.swo
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -0,0 +1,52 @@
+# Change Log
+
+All notable changes to this project will be documented in this file.
+This project adheres to [Semantic Versioning](http://semver.org/). Release
+canidates are not covered by this file.
+
+<!--
+tags:
+`Added` for new features.
+`Changed` for changes in existing functionality.
+`Major Changes` for changes in existing functionality which break backward compatibility.
+`Deprecated` for once-stable features removed in upcoming releases.
+`Removed` for deprecated features removed in this release.
+`Fixed` for any bug fixes.
+`Security` to invite users to upgrade in case of vulnerabilities.
+-->
+
+## v2.0.2
+### Changed
+* File structure: Nasal files now under "Nasal/Autopush" directory.
+
+## v2.0.1
+### Changed
+* Satellite view: accessible from dialog; always switch to when entering route
+* Settings of the view used for satellite view are now restored after use
+### Fixed
+* Satelite view due to upcoming removal of `Model View`
+
+## v2.0
+### Major Changes
+* Moved the autopush property sub tree from `/sim/model/pushback/` to `/sim/model/autopush`. See issue #19
+Make sure you update all references to the properties.
+* Moved the configuration out of the -set.xml. See issue #18
+### Added
+* Top down view for entering the route
+* Option to display wing tip path.
+* Check for too tight turns
+* Auto push resuming
+* Pitch offset to properly calculate the force for aircraft with high parking pitch
+* Added documentation on how to implement steering, chocks control and availability. See the last step of installation instruction.
+* Push and Pull support
+### Changed
+* Coefficients adjusted for smoother performance
+* Dialog sliders improved for better control
+### Fixed
+* Missed points make the driver turn around and try to catch it again.
+* The integration was taking input change instead of the input, which resulted in strange behaviour.
+* Fixed derivative part of PID not working
+* Stopping too early at last point
+
+## v1.0
+Initial release.
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@ -0,0 +1,45 @@
+# CONTRIBUTING
+Contribution rules for the autopush project.
+## General
+By contributing you agree that your work will be published under the GPL2.
+
+Where possible, text width should not exceed 70 characters.
+
+## Code style
+### XML
+For `.xml` files the following rules apply.
+* While there is no preference for indent style or code formatting, it must be consistent within each file.
+* No whitespace-only lines and trailing whitespace allowed.
+* Whitespace between tags and their data is forbidden, for example ``<tag> 10.0 </tag>`` is not acceptable.
+* If a tag has children, it has to be on it's own line.
+
+Example:
+```xml
+<parent>
+	<child n="1">3</child>
+	<child n="2">100</child>
+	<othertag/>
+</parent>
+```
+
+### Nasal
+For `.nas` files the following rules apply.
+* While there is no preference for indent style or code formatting, it must be consistent within each file.
+* No whitespace-only lines and trailing whitespace allowed.
+* For names use camelCase or snake_case.
+* Prefix "private" vars and functions with a `_`.
+* Use coments for blocks of codes and only when something is not clear (eg. starting iterating from 3).
+
+Example:
+```js
+# This function does something non obvious.
+var function = func() {
+	if (a == b) {
+		var a = geo.Coord.new();
+	} else {
+		var b = 0;
+	}
+}
+```
+## Git
+Please add a descriptive commit message to **every** commit.
--- a/LICENSE.TXT
+++ b/LICENSE.TXT
@ -0,0 +1,339 @@
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--- a/README.TXT
+++ b/README.TXT
@ -0,0 +1,260 @@
+AUTOMATIC PUSHBACK FOR FLIGHTGEAR
+https://gitea.merspieler.tk/fly/autopush
+
+Version 2.0.1
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Some of the code (c) FlightGear
+Distribute under the terms of GPLv2.
+
+
+This project aims to develop a generic pushback for JSBSim and YASim
+aircraft, with the following characteristics.
+
+1. Do the pushback procedure automatically.
+2. Scale to different aircraft with minimum changes to their logic.
+3. Use no computer resources in flight.
+
+
+INSTALLATION
+
+Minimum FlightGear version: 2018.0
+
+NOTE: these steps cover the minimal testing setup. To get the most
+realism out of Autopush, you will have to add logic aircraft-side as
+described in the last step.
+
+1. Copy everything from from "YourAircraftDir" into your aircraft,
+   while keeping the directory structure:
+
+Models/Autopush                 cursor models and the animation for
+                                FGDATA pushbacks.
+Nasal/Autopush                  Autopush logic
+gui/dialogs/autopush.xml        GUI dialog
+autopush-config.xml.template    Configuration of autopush
+
+2. Set up the pushback logic.
+
+Add the following line under <sim><model> of your set.xml
+
+<autopush include="autopush-config.xml"/>
+
+Rename autopush-config.xml.template to autopush-config.xml and edit
+the file as described below.
+
+Alternatively, you can copy the contents of
+autopush-config.xml.template to under <sim><model><autopush> of your
+set.xml and make these modifications there.
+
+Change the aliases to point to the following data:
+
+steer-cmd-norm   nose wheel steering command norm
+yaw              nose wheel steering output norm or angle (see below)
+chocks           chocks command bool (or leave it until step 7)
+available        pushback availability bool (or leave it until step 7)
+
+Replace the MULTIPLIER in yaw-mult with:
+
+max steering angle  if yaw is norm
+1.0                 if yaw is degrees
+57.3                if yaw is radians
+
+Replace PITCH with the pushback's pitch relative to aircraft. If your
+aircraft's ground pitch varies greatly, you can make an alias to
+property with calculated relative pitch.
+
+Replace MIN_RADIUS with the minimum allowed turning radius in m of the
+center of the aircraft during pushback procedure.
+
+NOTE: on some aircraft the turning radius is different for taxi and
+pushback. Please check the aircraft's literature.
+
+Replace STOP_DIST with the stopping distance in m from pushback speed.
+
+Add under <nasal> of your set.xml:
+
+ <autopush>
+  <file>Nasal/Autopush/autopush.nas</file>
+ </autopush>
+ <autopush_driver>
+  <file>Nasal/Autopush/driver.nas</file>
+ </autopush_driver>
+ <dynarr>
+  <file>Nasal/Autopush/dynarr.nas</file>
+ </dynarr>
+ <autopush_route>
+  <file>Nasal/Autopush/route.nas</file>
+ </autopush_route>
+
+Add under <sim><aircraft-data> of your set.xml:
+
+ <path>/sim/model/autopush/route/show</path>
+ <path>/sim/model/autopush/route/show-wingtip</path>
+
+3. Connect the force to FDM.
+
+ 3.a. JSBSim:
+
+  3.a.1. Add the following under <external_reactions> of your JSBSim
+         XML.
+
+ <force name="tractor" frame="BODY">
+  <location unit="M">
+   <x>FRONT-X</x>
+   <y>FRONT-Y</y>
+   <z>FRONT-Z</z>
+  </location>
+  <direction>
+   <x>1.0</x>
+   <y>0.0</y>
+   <z>0.0</z>
+  </direction>
+ </force>
+
+Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
+bogey.
+
+  3.a.2. Add the following under <fdm><jsbsim><external_reactions> of
+         your set.xml.
+
+   <tractor>
+    <magnitude alias="/sim/model/autopush/force-lbf"/>
+    <x alias="/sim/model/autopush/force-x"/>
+    <y alias="/sim/model/autopush/force-y"/>
+    <z alias="/sim/model/autopush/force-z"/>
+   </tractor>
+
+ 3.b. YASim. Add the following under <airplane> of your YASim xml.
+
+ <thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="1" vy="0" vz="0" thrust="100000.0">
+  <control-input axis="/sim/model/autopush/force-x-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
+ </thruster>
+ <thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="0" vy="1" vz="0" thrust="100000.0">
+  <control-input axis="/sim/model/autopush/force-y-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
+ </thruster>
+ <thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="0" vy="0" vz="1" thrust="100000.0">
+  <control-input axis="/sim/model/autopush/force-z-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
+ </thruster>
+
+Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
+bogey.
+
+4. Add the pushback model to your Model XML:
+
+ <model>
+  <name>Pushback</name>
+  <path>MODEL</path>
+  <offsets>
+   <x-m>FRONT-X</x-m>
+   <y-m>FRONT-Y</y-m>
+   <z-m>FRONT-Z</z-m>
+  </offsets>
+ </model>
+
+Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
+bogey. Replace MODEL with one of the following file names:
+
+Autopush/Goldhofert.xml  for Goldhofer towbarless pushback
+
+Edit the "SETTINGS" part in the beginning of respective file to match
+your setup.
+
+5. Add gui/dialogs/autopush.xml to your aircraft's menu (see
+   FlightGear documentation for editing the menu).
+
+6. If you have a bug tracker, please add a note, that autopush related
+   bugs should be reported here:
+
+To merspieler on the forum
+
+7. Launch the simulator and try Autopush. After making sure it works,
+   complete the support by implementing some logic in your aircraft
+   and connecting the rest of the interface.
+
+CAUTION.
+1. Make sure to HAVE A BACK-UP COPY of your work.
+2. If anything is not clear in the instruction below, do not guess --
+   contact the authors.
+
+ 7.1. When pushback is connected ("/sim/model/autopush/connected"),
+      nose wheel steering must actuate at different speed, depending
+      on its rollspeed. The exact dependency is different per aircraft
+      and used pushback visual, and for most aircraft the only way to
+      find it is trial and error until it "looks right":
+      - the input must be taken from pushback steering command norm
+        (set by autopush-config.xml, default:
+        "/controls/flight/rudder");
+      - the output must be written to pushback orientation in degrees,
+        radians or norm (set by autopush-config.xml, default:
+        "/gear/gear[0]/steering-norm").
+
+ 7.2. Set or alias (in autopush-config.xml) the availability property
+      "/sim/model/autopush/available". It must be false if e.g. the
+      aircraft is moving too fast, the front wheel is not touching
+      the ground, the aircraft is damaged or is outside of an airport
+      etc.
+
+ 7.3. Make Autopush remove wheel chocks by setting the alias in
+      autopush-config.xml to the chocks property. (default:
+      "/controls/gear/wheel-chocks").
+
+ 7.4. Optionally, Autopush may be made visible in multiplayer by
+      duplicating the properties used in its model.xml into some
+      unused MP properties. See the list in
+
+https://sourceforge.net/p/flightgear/flightgear/ci/next/tree/src/MultiPlayer/multiplaymgr.cxx
+
+      around line 215, and then using those properties in the
+      "SETTINGS" part of Autopush model.xml.
+
+   After making these changes check the Autopush model.xml's settings
+   and make sure they match the setup. Launch the simulator and try
+   Autopush.
+
+
+TUNING
+
+There should normally be no need to change the coefficients, because
+the inertia of different aircraft is already taken into account. But
+the gear setup may differ enough to require some tuning.
+
+If these settings are changed during simulation, they take effect
+after disconnecting and reconnecting the pushback.
+
+Pushback (/sim/model/autopush):
+
+Coefficient  Unit                    Description
+
+K_p          ((km/h)/s)/(km/h)       Proportional coefficient of PID.
+                                     Defines the start/stop throttle
+                                     and immediate response to speed
+                                     difference deltaV = V_set - V.
+
+F_p          (km/h)/s                Proportional clipping.
+
+K_i          ((km/h)/s)/((km/h)*s)   Integral coefficient of PID.
+                                     Defines how fast the steady
+                                     throttle is ramped during the
+                                     push.
+
+F_i          (km/h)/s                Integral clipping.
+
+K_d          -((km/h)/s)/((km/h)/s)  Differential coefficient of PID.
+                                     Stabilizes the approaching of
+                                     steady throttle.
+
+F_d          (km/h)/s                Differential clipping.
+
+Pushback driver (/sim/model/autopush/driver):
+
+Coefficient  Unit        Description
+
+F_V          km/h        Max towing speed in auto mode.
+K_psi        1/deg       Amount of steering per heading correction.
+F_psi        1/deg       Max steering per heading correction.
+K_deltapsi   -1/(deg/s)  Amount of steering compensation per heading
+                         derivative.
+F_psi        1/(deg/s)   Max amount of steering compensation per
+                         heading derivative.
--- a/YourAircraftDir/Models/Autopush/Goldhofert.xml
+++ b/YourAircraftDir/Models/Autopush/Goldhofert.xml
@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+
+<!-- SETTINGS -->
+
+<!DOCTYPE PropertyList [
+ <!-- Property defining whether the pushback is connected. -->
+ <!ENTITY CONNECTED-PROP "sim/model/autopush/connected">
+ <!-- Property for aircraft's front wheel rollspeed in m/s. -->
+ <!ENTITY ROLLSPEED-PROP "gear/gear[0]/rollspeed-ms">
+ <!-- Property for front wheel steering. -->
+ <!ENTITY YAW-PROP "sim/model/autopush/yaw">
+ <!-- Scaling factor for the steering property, must be equal to /sim/model/autopush/yaw-mult. -->
+ <!ENTITY YAW-MULT "60.0">
+ <!-- Property for gear compression in ft. -->
+ <!ENTITY COMPRESSION-PROP "gear/gear[0]/compression-ft">
+ <!-- Property for aircraft pitch in degrees, or pushback's pitch if it is variable. -->
+ <!ENTITY PITCH-PROP "orientation/pitch-deg">
+ <!-- Scaling factor for the pitch property. -->
+ <!ENTITY PITCH-FACTOR "0.0">
+ <!-- Pitch offset, must be equal to /sim/model/autopush/pitch-deg. If pitch is variable, must be "0.0". -->
+ <!ENTITY PITCH-OFFSET "-7.0">
+]>
+
+
+<!--
+
+AUTOPUSH
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://github.com/merspieler
+Original code (c) FlightGear
+Distribute under the terms of GPLv2.
+
+-->
+
+
+<PropertyList>
+  <path>Models/Airport/Pushback/Goldhofert.ac</path>
+
+  <!-- Trucks models and artworks courtesy of XPGoodWay Team
+(http://www.xpgoodwayteam.org/site_xpushback/) -->
+
+  <model>
+    <path>Models/Airport/Pushback/Goldhofert-warning-light.xml</path>
+    <offsets>
+      <x-m>-2.908</x-m>
+      <y-m>0.260</y-m>
+      <z-m>1.326</z-m>
+      <heading-deg>0</heading-deg>
+    </offsets>
+  </model>
+
+  <model>
+    <path>Models/Airport/Pushback/Goldhofert-warning-light.xml</path>
+    <offsets>
+      <x-m>-1.781</x-m>
+      <y-m>0.260</y-m>
+      <z-m>1.326</z-m>
+      <heading-deg>90</heading-deg>
+    </offsets>
+  </model>
+
+ <animation>
+   <type>spin</type>
+   <object-name>wheelfl</object-name>
+   <object-name>wheelfr</object-name>
+   <property>&ROLLSPEED-PROP;</property>
+   <factor>-16.3</factor>
+   <center>
+     <x-m>-2.8976</x-m>
+     <y-m>0</y-m>
+     <z-m>0.5809</z-m>
+   </center>
+   <axis>
+     <x>0</x>
+     <y>1</y>
+     <z>0</z>
+   </axis>
+ </animation>
+
+ <animation>
+   <type>spin</type>
+   <object-name>wheelrl</object-name>
+   <object-name>wheelrr</object-name>
+   <property>&ROLLSPEED-PROP;</property>
+   <factor>-16.3</factor>
+   <center>
+     <x-m>2.0501</x-m>
+     <y-m>0</y-m>
+     <z-m>0.5735</z-m>
+   </center>
+   <axis>
+     <x>0</x>
+     <y>1</y>
+     <z>0</z>
+   </axis>
+ </animation>
+
+ <animation>
+   <type>select</type>
+   <condition>
+     <property>&CONNECTED-PROP;</property>
+   </condition>
+ </animation>
+
+ <animation>
+   <type>rotate</type>
+   <property>&YAW-PROP;</property>
+   <factor>&YAW-MULT;</factor>
+   <center>
+     <x-m>0</x-m>
+     <y-m>0</y-m>
+     <z-m>0</z-m>
+   </center>
+   <axis>
+     <x>0</x>
+     <y>0</y>
+     <z>-1</z>
+   </axis>
+ </animation>
+
+ <animation>
+   <type>translate</type>
+   <property>&COMPRESSION-PROP;</property>
+   <factor>0.3048</factor>
+   <axis>
+     <x>0</x>
+     <y>0</y>
+     <z>1</z>
+   </axis>
+ </animation>
+
+ <animation>
+   <type>rotate</type>
+   <property>&PITCH-PROP;</property>
+   <factor>&PITCH-FACTOR;</factor>
+   <offset-deg>&PITCH-OFFSET;</offset-deg>
+   <center>
+     <x-m>0</x-m>
+     <y-m>0</y-m>
+     <z-m>0</z-m>
+   </center>
+   <axis>
+     <x>0</x>
+     <y>1</y>
+     <z>0</z>
+   </axis>
+ </animation>
+</PropertyList>
--- a/YourAircraftDir/Models/Autopush/cursor.ac
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@ -0,0 +1,589 @@
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--- a/YourAircraftDir/Models/Autopush/cursor.xml
+++ b/YourAircraftDir/Models/Autopush/cursor.xml
@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+
+AUTOPUSH
+Cursor model.
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Distribute under the terms of GPLv2.
+
+-->
+<PropertyList>
+
+	<path>cursor.ac</path>
+
+	<animation>
+		<enable-hot>false</enable-hot>
+	</animation>
+
+	<animation>
+		<type>scale</type>
+		<property>/sim/model/autopush/stopping-distance-m</property>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>material</type>
+		<condition>
+			<property>/sim/model/autopush/route/invalid</property>
+		</condition>
+		<diffuse>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</diffuse>
+		<emission>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</emission>
+	</animation>
+
+</PropertyList>
--- a/YourAircraftDir/Models/Autopush/cursor_reverse.ac
+++ b/YourAircraftDir/Models/Autopush/cursor_reverse.ac
@ -0,0 +1,133 @@
+AC3Db
+MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000  amb 0.0000 0.0000 0.0000  emis 1.000 0.173 0.545  spec 0.0000 0.0000 0.0000  shi 50 trans 0.0000
+OBJECT world
+name "Blender_exporter_v2.26__cursor_reverse.ac"
+kids 1
+OBJECT poly
+name "Circle"
+data 11
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+crease 40.0
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+kids 0
--- a/YourAircraftDir/Models/Autopush/cursor_reverse.xml
+++ b/YourAircraftDir/Models/Autopush/cursor_reverse.xml
@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+
+AUTOPUSH
+Cursor model.
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Distribute under the terms of GPLv2.
+
+-->
+<PropertyList>
+
+	<path>cursor_reverse.ac</path>
+
+	<animation>
+		<enable-hot>false</enable-hot>
+	</animation>
+
+	<animation>
+		<type>scale</type>
+		<property>/sim/model/autopush/stopping-distance-m</property>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>material</type>
+		<condition>
+			<property>/sim/model/autopush/route/invalid</property>
+		</condition>
+		<diffuse>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</diffuse>
+		<emission>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</emission>
+	</animation>
+
+</PropertyList>
--- a/YourAircraftDir/Models/Autopush/cursor_sharp.ac
+++ b/YourAircraftDir/Models/Autopush/cursor_sharp.ac
@ -0,0 +1,67 @@
+AC3Db
+MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000  amb 0.0000 0.0000 0.0000  emis 1.000 0.173 0.545  spec 0.0000 0.0000 0.0000  shi 50 trans 0.0000
+OBJECT world
+name "Blender_exporter_v2.26__cursor_sharp.ac"
+kids 1
+OBJECT poly
+name "Circle"
+data 11
+Circle.mesh
+crease 40.0
+numvert 12
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+numsurf 6
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+kids 0
--- a/YourAircraftDir/Models/Autopush/cursor_sharp.xml
+++ b/YourAircraftDir/Models/Autopush/cursor_sharp.xml
@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+
+AUTOPUSH
+Cursor model.
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Distribute under the terms of GPLv2.
+
+-->
+<PropertyList>
+
+	<path>cursor_sharp.ac</path>
+
+	<animation>
+		<enable-hot>false</enable-hot>
+	</animation>
+
+	<animation>
+		<type>scale</type>
+		<property>/sim/model/autopush/stopping-distance-m</property>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>material</type>
+		<condition>
+			<property>/sim/model/autopush/route/invalid</property>
+		</condition>
+		<diffuse>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</diffuse>
+		<emission>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</emission>
+	</animation>
+
+</PropertyList>
--- a/YourAircraftDir/Models/Autopush/waypoint.ac
+++ b/YourAircraftDir/Models/Autopush/waypoint.ac
@ -0,0 +1,276 @@
+AC3Db
+MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000  amb 0.0000 0.0000 0.0000  emis 1.000 0.173 0.545  spec 0.0000 0.0000 0.0000  shi 50 trans 0.0000
+OBJECT world
+name "Blender_exporter_v2.26__waypoint.ac"
+kids 3
+OBJECT poly
+name "Waypoint"
+data 11
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+kids 0
+OBJECT poly
+name "WingtipL"
+data 15
+Circle.mesh.001
+crease 40.0
+numvert 4
+-0.1 0.2 -0.1
+-0.1 0.2 0.1
+0.1 0.2 -0.1
+0.1 0.2 0.1
+numsurf 1
+SURF 0X0
+mat 0
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+0 0 0
+1 0 0
+3 0 0
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+kids 0
+OBJECT poly
+name "WingtipR"
+data 15
+Circle.mesh.007
+crease 40.0
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+-0.1 0.2 -0.1
+-0.1 0.2 0.1
+0.1 0.2 -0.1
+0.1 0.2 0.1
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+2 0 0
+kids 0
--- a/YourAircraftDir/Models/Autopush/waypoint.xml
+++ b/YourAircraftDir/Models/Autopush/waypoint.xml
@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+
+AUTOPUSH
+Waypoint model.
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Distribute under the terms of GPLv2.
+
+-->
+<PropertyList>
+
+	<path>waypoint.ac</path>
+
+	<animation>
+		<enable-hot>false</enable-hot>
+	</animation>
+
+	<animation>
+		<type>select</type>
+		<object-name>WingtipL</object-name>
+		<object-name>WingtipR</object-name>
+		<condition>
+			<property>/sim/model/autopush/route/show-wingtip</property>
+		</condition>
+	</animation>
+
+	<animation>
+		<type>translate</type>
+		<object-name>WingtipL</object-name>
+		<property>/sim/model/autopush/route/wingspan-m</property>
+		<factor>0.5</factor>
+		<axis>
+			<x>0</x>
+			<y>1</y>
+			<z>0</z>
+		</axis>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>translate</type>
+		<object-name>WingtipR</object-name>
+		<property>/sim/model/autopush/route/wingspan-m</property>
+		<factor>-0.5</factor>
+		<axis>
+			<x>0</x>
+			<y>1</y>
+			<z>0</z>
+		</axis>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>scale</type>
+		<!-- Object names must be here, because we need to scale each separately, not the the whole thing at once. -->
+		<object-name>Waypoint</object-name>
+		<object-name>WingtipL</object-name>
+		<object-name>WingtipR</object-name>
+		<property>/sim/model/autopush/stopping-distance-m</property>
+		<z-factor>0.0</z-factor>
+		<z-min>1.0</z-min>
+	</animation>
+
+	<animation>
+		<type>material</type>
+		<condition>
+			<property>/sim/model/autopush/route/invalid</property>
+		</condition>
+		<diffuse>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</diffuse>
+		<emission>
+			<red>1.0</red>
+			<green>0.0</green>
+			<blue>0.0</blue>
+		</emission>
+	</animation>
+
+</PropertyList>
--- a/YourAircraftDir/Nasal/Autopush/autopush.nas
+++ b/YourAircraftDir/Nasal/Autopush/autopush.nas
@ -0,0 +1,141 @@
+# AUTOPUSH
+# Basic pushback logic class.
+#
+# Copyright (c) 2018 Autopush authors:
+#  Joshua Davidson http://github.com/Octal450
+#  Merspieler http://gitlab.com/merspieler
+# Distribute under the terms of GPLv2.
+
+
+var _K_p = nil;
+var _F_p = nil;
+var _K_i = nil;
+var _F_i = nil;
+var _K_d = nil;
+var _F_d = nil;
+var _F = nil;
+var _int = nil;
+var _V = nil;
+var _T_f = nil;
+var _K_yaw = nil;
+var _yasim = 0;
+var _time = nil;
+# (ft / s^2) / ((km / h) / s)
+var _unitconv = M2FT / 3.6;
+var _debug = nil;
+
+var _loop = func() {
+	if (!getprop("/sim/model/autopush/available")) {
+		_stop();
+		return;
+	}
+	var force = 0.0;
+	var x = 0.0;
+	var y = 0.0;
+	var z = 0.0;
+	# Rollspeed is only adequate if the wheel is touching the ground.
+	if (getprop("/gear/gear[0]/wow")) {
+		var V = getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
+		var deltaV = getprop("/sim/model/autopush/target-speed-km_h") - V;
+		var minus_dV = _V - V;
+		var time = getprop("/sim/time/elapsed-sec");
+		var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
+		var dt = time - _time;
+		var deriv = 0.0;
+		# XXX Sanitising dt. Smaller chance of freakout on lag spike.
+		if(dt > 0.0) {
+			if(dt < 0.05) {
+				_int = math.min(math.max(_int + _K_i * deltaV * dt, -_F_i), _F_i);
+			}
+			if(dt > 0.002) {
+				deriv = math.min(math.max(_K_d * minus_dV / dt, -_F_d), _F_d);
+			}
+		}
+		var accel = prop + _int + deriv;
+		if (_debug > 2) {
+			print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
+		}
+		_V = V;
+		_time = time;
+		if (!_yasim) {
+			force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
+		} else {
+			force = accel * getprop("/fdm/yasim/gross-weight-lbs") * _unitconv;
+		}
+		var pitch = getprop("/sim/model/autopush/pitch-deg") * D2R;
+		z = math.sin(pitch);
+		var pz = math.cos(pitch);
+		var yaw = getprop("/sim/model/autopush/yaw") * _K_yaw;
+		x = math.cos(yaw) * pz;
+		y = math.sin(yaw) * pz;
+		setprop("/sim/model/autopush/force-x", x);
+		setprop("/sim/model/autopush/force-y", y);
+		# JSBSim force's z is down.
+		setprop("/sim/model/autopush/force-z", -z);
+	}
+	setprop("/sim/model/autopush/force-lbf", force);
+	if (_yasim) {
+		# The force is divided by YASim thrust="100000.0" setting.
+		setprop("/sim/model/autopush/force-x-yasim", x * force * 0.00001);
+		# YASim force's y is to the left.
+		setprop("/sim/model/autopush/force-y-yasim", -y * force * 0.00001);
+		setprop("/sim/model/autopush/force-z-yasim", z * force * 0.00001);
+	}
+}
+
+var _timer = maketimer(0.0167, func{_loop()});
+_timer.simulatedTime = 1;
+
+var _start = func() {
+	# Else overwritten by dialog.
+	settimer(func() {
+		setprop("/sim/model/autopush/target-speed-km_h", 0.0)
+	}, 0.1, 1);
+	_K_p = getprop("/sim/model/autopush/K_p");
+	_F_p = getprop("/sim/model/autopush/F_p");
+	_K_i = getprop("/sim/model/autopush/K_i");
+	_F_i = getprop("/sim/model/autopush/F_i");
+	_K_d = getprop("/sim/model/autopush/K_d");
+	_F_d = getprop("/sim/model/autopush/F_d");
+	_F = getprop("/sim/model/autopush/F");
+	_T_f = getprop("/sim/model/autopush/T_f");
+	_K_yaw = getprop("/sim/model/autopush/yaw-mult") * D2R;
+	_yasim = (getprop("/sim/flight-model") == "yasim");
+	_debug = getprop("/sim/model/autopush/debug") or 0;
+	_int = 0.0;
+	_V = 0.0;
+	_time = getprop("/sim/time/elapsed-sec");
+	setprop("/sim/model/autopush/connected", 1);
+	if (!_timer.isRunning) {
+		if (getprop("/sim/model/autopush/chocks")) {
+			setprop("/sim/model/autopush/chocks", 0);
+			screen.log.write("(pushback): Pushback connected, chocks removed. Please release brakes.");
+		} else {
+			screen.log.write("(pushback): Pushback connected, please release brakes.");
+		}
+	}
+	_timer.start();
+}
+
+var _stop = func() {
+	if (_timer.isRunning) {
+		screen.log.write("(pushback): Pushback and bypass pin removed.");
+	}
+	_timer.stop();
+	setprop("/sim/model/autopush/force-lbf", 0.0);
+	if (_yasim) {
+		setprop("/sim/model/autopush/force-x-yasim", 0.0);
+		setprop("/sim/model/autopush/force-y-yasim", 0.0);
+	}
+	setprop("/sim/model/autopush/connected", 0);
+	setprop("/sim/model/autopush/enabled", 0);
+}
+
+setlistener("/sim/model/autopush/enabled", func(p) {
+	var enabled = p.getValue();
+	if ((enabled) and getprop("/sim/model/autopush/available")) {
+		_start();
+	} else {
+		_stop();
+	}
+}, 1, 0);
--- a/YourAircraftDir/Nasal/Autopush/driver.nas
+++ b/YourAircraftDir/Nasal/Autopush/driver.nas
@ -0,0 +1,155 @@
+# AUTOPUSH
+# Pushback driver class.
+#
+# Command the pushback to tow/push the aircraft.
+#
+# Copyright (c) 2018 Autopush authors:
+#  Joshua Davidson http://github.com/Octal450
+#  Merspieler http://gitlab.com/merspieler
+# Distribute under the terms of GPLv2.
+
+
+var _K_V = nil;
+var _F_V = nil;
+var _R_turn_min = nil;
+var _D_stop = nil;
+var _K_psi = nil;
+var _F_psi = nil;
+var _K_psidot = nil;
+var _F_psidot = nil;
+var _debug = nil;
+var _psi = nil;
+var _time = nil;
+
+var _route = nil;
+var _route_reverse = nil;
+var _push = nil;
+var _sign = nil;
+
+var _to_wp = 0;
+var _is_last_wp = 0;
+var _is_reverse_wp = 0;
+
+
+var _advance_wp = func(flip_sign = 0) {
+	_to_wp += 1;
+	_is_last_wp = (_to_wp == (size(_route) - 1));
+	_is_reverse_wp = (_route_reverse[_to_wp]);
+	if (flip_sign) {
+		_sign *= -1;
+		_push = !_push;
+	}
+	if (_debug == 1) {
+		print("autopush_driver to_wp " ~ _to_wp);
+	}
+}
+
+var _loop = func() {
+	if (!getprop("/sim/model/autopush/connected")) {
+		stop();
+		return;
+	}
+	var (A, D) = courseAndDistance(_route[_to_wp]);
+	D *= NM2M;
+	var (psi_leg, D_leg) = courseAndDistance(_route[_to_wp - 1], _route[_to_wp]);
+	var deltapsi = geo.normdeg180(A - psi_leg);
+	var psi = getprop("/orientation/heading-deg") + _push * 180.0;
+	var deltaA = math.min(math.max(_K_psi * geo.normdeg180(A - psi), -_F_psi), _F_psi);
+	var time = getprop("/sim/time/elapsed-sec");
+	var dt = time - _time;
+	var minus_psidot = (dt > 0.002) * math.min(math.max(_K_psidot * (_psi - psi) / dt, -_F_psidot), _F_psidot);
+	_psi = psi;
+	_time = time;
+	# TODO Either use _K_V and total remaining distance or turn radius to calculate speed.
+	# TODO Make slider input override speed.
+	var V = _F_V;
+	if (_is_reverse_wp or _is_last_wp) {
+		if ((D < _D_stop) or (abs(deltapsi) > 90.0)) {
+			if (_is_last_wp) {
+				_done();
+				return;
+			}
+			if (_is_reverse_wp) {
+				_advance_wp(1);
+			}
+		}
+	} else {
+		if ((D < _R_turn_min) or (abs(deltapsi) > 90.0)) {
+			_advance_wp();
+		}
+	}
+	var steering = math.min(math.max(_sign * (deltaA + minus_psidot), -1.0), 1.0);
+	if (_debug > 1) {
+		print("autopush_driver to_wp " ~ _to_wp ~ ", A " ~ geo.normdeg(A) ~ ", deltaA " ~ deltaA ~ ", minus_psidot " ~ minus_psidot);
+	}
+	setprop("/sim/model/autopush/target-speed-km_h", _sign * V);
+	setprop("/sim/model/autopush/steer-cmd-norm", steering);
+}
+
+var _timer = maketimer(0.051, func{_loop()});
+_timer.simulatedTime = 1;
+
+var _done = func() {
+	stop();
+	autopush_route.clear();
+	screen.log.write("(pushback): Pushback complete, please set parking brake.");
+}
+
+var start = func() {
+	if (_timer.isRunning) {
+		gui.popupTip("Already moving");
+		return;
+	}
+	if (!getprop("/sim/model/autopush/connected")) {
+		gui.popupTip("Pushback not connected");
+		return;
+	}
+	_route = autopush_route.route();
+	_route_reverse = autopush_route.route_reverse();
+	if ((_route == nil) or size(_route) < 2) {
+		gui.popupTip("Pushback route empty or invalid");
+		return;
+	} else {
+		autopush_route.done();
+	}
+	_K_V = getprop("/sim/model/autopush/driver/K_V");
+	_F_V = getprop("/sim/model/autopush/driver/F_V");
+	_R_turn_min = getprop("/sim/model/autopush/min-turn-radius-m");
+	_D_stop = getprop("/sim/model/autopush/stopping-distance-m");
+	_K_psi = getprop("/sim/model/autopush/driver/K_psi");
+	_F_psi = getprop("/sim/model/autopush/driver/F_psi");
+	_K_psidot = getprop("/sim/model/autopush/driver/K_psidot");
+	_F_psidot = getprop("/sim/model/autopush/driver/F_psidot");
+	_debug = getprop("/sim/model/autopush/debug") or 0;
+	if (!_to_wp) {
+		var (psi_park, D_park) = courseAndDistance(_route[0], _route[1]);
+		_push = (abs(geo.normdeg180(getprop("/orientation/heading-deg") - psi_park)) > 90.0);
+		_sign = 1.0 - 2.0 * _push;
+		_advance_wp();
+		_psi = 0.0;
+	}
+	_time = getprop("/sim/time/elapsed-sec");
+	_timer.start();
+	var endsign = _sign;
+	for (ii = _to_wp; ii < size(_route_reverse); ii += 1) {
+		if (_route_reverse[ii]) {
+			endsign = -endsign;
+		}
+	}
+	var (psi_twy, D_twy) = courseAndDistance(_route[size(_route) - 2], _route[size(_route) - 1]);
+	if (endsign < 0.0) {
+		screen.log.write("(pushback): Push back facing " ~ math.round(geo.normdeg(psi_twy + 180.0 - magvar()), 1.0) ~ ".");
+	} else {
+		screen.log.write("(pushback): Tow facing " ~ math.round(geo.normdeg(psi_twy - magvar()), 1.0) ~ ".");
+	}
+}
+
+var pause = func() {
+	_timer.stop();
+	setprop("/sim/model/autopush/target-speed-km_h", 0.0);
+}
+
+var stop = func() {
+	pause();
+	_to_wp = 0;
+}
--- a/YourAircraftDir/Nasal/Autopush/dynarr.nas
+++ b/YourAircraftDir/Nasal/Autopush/dynarr.nas
@ -0,0 +1,60 @@
+# Class for dynamic arrays
+#
+# Copyright (c) 2018 dynamic arrays authors:
+#  Merspieler http://gitlab.com/merspieler
+# Distribute under the terms of GPLv2.
+
+## Useage
+# to create a new object: var <name> = dynarr.new();
+# to add elements: <name>.add(<element>);
+# you can access the full stored array as: <name>.arr
+# to get only the used area of the array: var <spliced_array> = <name>.get_spliced()
+
+var dynarr =
+{
+	new: func(size = 8)
+	{
+		var this = {parents:[dynarr]};
+		this.maxsize = size;
+		this.size = 0;
+		this.arr = setsize([], size);
+
+		return this;
+	},
+
+	# add a new element to the array
+	add: func(obj)
+	{
+		# case there's no space left
+		if (me.size + 1 >= me.maxsize)
+		{
+			# double array size
+			me.maxsize *= 2;
+			me.arr = setsize(me.arr, me.maxsize);
+		}
+
+		# add object and increase used counter
+		me.arr[me.size] = obj;
+		me.size += 1;
+	},
+
+	# delete an element from the array
+	del: func(id)
+	{
+		me.size -= 1;
+		for(ii = id; ii < me.size - 1; ii += 1){
+			me.arr[ii] = me.arr[ii + 1];
+		}
+	},
+
+	# returns only the filled part of the array or nil if array is empty
+	get_sliced: func()
+	{
+		if (me.size == 0)
+		{
+			return nil;
+		}
+
+		return me.arr[0:me.size - 1];
+	}
+};
--- a/YourAircraftDir/Nasal/Autopush/route.nas
+++ b/YourAircraftDir/Nasal/Autopush/route.nas
@ -0,0 +1,432 @@
+# AUTOPUSH
+# Visual entry of pushback route.
+#
+# Copyright (c) 2018 Autopush authors:
+#  Joshua Davidson http://github.com/Octal450
+#  Merspieler http://gitlab.com/merspieler
+# Distribute under the terms of GPLv2.
+
+
+var _listener = nil;
+var _view_listener = nil;
+var _user_points = dynarr.dynarr.new(4);
+var _user_point_modes = dynarr.dynarr.new(4); # Modes: 0 = Bezier node, 1 = Bezier end/start node, 2 = Reverse
+var _route = [];
+var _route_hdg = [];
+var _route_reverse = [];
+var _top_view_index = nil;
+var _top_view_heading_offset_deg = 180.0;
+var _reset_view_index = nil;
+var _view_z_offset = nil;
+var _view_pitch_offset_deg = nil;
+var _view_heading_offset_deg = nil;
+var _user_point_models = [];
+var _waypoint_models = [];
+var _N = 0;
+var _show = 0;
+var _R_turn_min = 0;
+var _invalid = 0;
+
+# Make top-down view point north in old FG.
+var __fg_version = num(string.replace(getprop("/sim/version/flightgear"),".",""));
+if (__fg_version < 201920) {
+	_top_view_heading_offset_deg = 94.5;
+}
+
+
+var _add = func(pos) {
+	if (_N) {
+		var (A, S) = courseAndDistance(_user_points.arr[_N - 1], pos);
+		S *= NM2M;
+		if (S < _R_turn_min) {
+			gui.popupTip("Too close to the previous point,\ntry again");
+			return;
+		}else if (S > 10000.0) {
+			gui.popupTip("Too far from the previous point,\ntry again");
+			return;
+		}
+	}
+	_user_points.add(geo.Coord.new(pos));
+
+	if (_user_point_modes.maxsize == 1 and _user_point_modes.size == 1) {
+		_user_point_modes.arr[0] = 0;
+	} else {
+		_user_point_modes.add(0);
+	}
+	setsize(_user_point_models, _N + 1);
+	_user_point_models[_N] = geo.put_model("Models/Autopush/cursor.xml", pos, 0.0);
+	_N += 1;
+	if (_N == 1) {
+		gui.popupTip("Click waypoints, press \"Done\" to finish");
+	} else {
+		_calculate_route();
+		_place_waypoint_models();
+	}
+}
+
+var delete_last = func() {
+	if (_listener == nil) {
+		return;
+	}
+	if (_N > 1) {
+		_N -= 1;
+		_user_points.del(_N);
+		_user_point_modes.del(_N);
+		_user_point_models[_N].remove();
+		_user_point_models[_N] = nil;
+		setsize(_user_point_models, _N);
+		_calculate_route();
+		_place_waypoint_models();
+	}
+}
+
+var _stop = func(fail = 0) {
+	if (_listener != nil) {
+		removelistener(_listener);
+		_listener = nil;
+		if (!fail) {
+			settimer(func() {
+				_finalize_top_view();
+				gui.popupTip("Done");
+			}, 1.0, 1);
+		} else {
+			_finalize_top_view();
+		}
+	}
+}
+
+var _place_user_point_models = func() {
+	_clear_user_point_models();
+	setsize(_user_point_models, _N);
+	var user_points = _user_points.get_sliced();
+	for (var ii = 0; ii < _N; ii += 1) {
+		var model = "Models/Autopush/cursor.xml";
+		if (_user_point_modes.arr[ii] == 1) {
+			model = "Models/Autopush/cursor_sharp.xml";
+		} else if (_user_point_modes.arr[ii] == 2) {
+			model = "Models/Autopush/cursor_reverse.xml";
+		}
+		_user_point_models[ii] = geo.put_model(model, user_points[ii], 0.0);
+	}
+}
+
+var _clear_user_point_models = func() {
+	for (var ii = 0; ii < size(_user_point_models); ii += 1) {
+		if (_user_point_models[ii] != nil) {
+			_user_point_models[ii].remove();
+			_user_point_models[ii] = nil;
+		}
+	}
+	setsize(_user_point_models, 0);
+}
+
+var _place_waypoint_models = func() {
+	_clear_waypoint_models();
+	setsize(_waypoint_models, size(_route));
+	for (var ii = 0; ii < size(_route); ii += 1) {
+		_waypoint_models[ii] = geo.put_model("Models/Autopush/waypoint.xml", _route[ii], _route_hdg[ii]);
+	}
+}
+
+var _clear_waypoint_models = func() {
+	for (var ii = 0; ii < size(_waypoint_models); ii += 1) {
+		if (_waypoint_models[ii] != nil) {
+			_waypoint_models[ii].remove();
+			_waypoint_models[ii] = nil;
+		}
+	}
+	setsize(_waypoint_models, 0);
+}
+
+var top_view = func() {
+	if (_view_listener != nil) {
+		return;
+	}
+	_top_view_index = view.indexof("Chase View Without Yaw");
+	_reset_view_index = getprop("/sim/current-view/view-number");
+	setprop("/sim/current-view/view-number", _top_view_index);
+	_view_pitch_offset_deg = getprop("/sim/current-view/pitch-offset-deg");
+	_view_heading_offset_deg = getprop("/sim/current-view/heading-offset-deg");
+	_view_z_offset = getprop("/sim/current-view/z-offset-m");
+	setprop("/sim/current-view/z-offset-m", -500.0);
+	setprop("/sim/current-view/heading-offset-deg", _top_view_heading_offset_deg);
+	setprop("/sim/current-view/pitch-offset-deg", 90.0);
+	_view_listener = setlistener("/sim/current-view/name", func {
+		_finalize_top_view();
+	}, 0, 0);
+}
+
+var _finalize_top_view = func() {
+	if (_view_listener == nil) {
+		return;
+	}
+	removelistener(_view_listener);
+	_view_listener = nil;
+	# Go back to the view to restore settings, in case user has switched away.
+	setprop("/sim/current-view/view-number", _top_view_index);
+	setprop("/sim/current-view/z-offset-m", _view_z_offset);
+	setprop("/sim/current-view/heading-offset-deg", _view_heading_offset_deg);
+	setprop("/sim/current-view/pitch-offset-deg", _view_pitch_offset_deg);
+	setprop("/sim/current-view/view-number", _reset_view_index);
+	if (!_show) {
+		_clear_user_point_models();
+		_clear_waypoint_models();
+	}
+}
+
+var _calculate_route = func() {
+	_route = [];
+	_route_reverse = [];
+	var user_points = _user_points.get_sliced();
+	var route = dynarr.dynarr.new();
+	# add the first point cause it will be fix at this pos
+	route.add(geo.Coord.new(user_points[0]));
+	n = size(user_points);
+	var base = 0;
+	# Detect points where push/pull direction is reversed.
+	for (var i = 0; i < n; i += 1) {
+		if (i and (i < n - 1)) {
+			if((_user_point_modes.arr[i] == 1) or (_user_point_modes.arr[i] == 2)) {
+				var newmode = 1;
+				var deltaA = abs(geo.normdeg180(user_points[i - 1].course_to(user_points[i]) - user_points[i].course_to(user_points[i + 1])));
+				if (deltaA > 91.0) {
+					newmode = 2;
+				}
+				if(newmode != _user_point_modes.arr[i]){
+					_set_userpoint_mode(i, newmode);
+				}
+			}
+		} else {
+			# Clear reverse for first and last points.
+			if(_user_point_modes.arr[i] == 2) {
+				if(_user_point_modes.arr[i] != 1){
+					_set_userpoint_mode(i, 1);
+				}
+			}
+		}
+	}
+	for (var i = 0; i < n; i += 1) {
+		if (_user_point_modes.arr[i] or (i == n - 1)) {
+			if (i - base > 0) {
+				var bezier = _calculate_bezier(user_points[base:i]);
+				if (bezier != nil) {
+					var m = size(bezier);
+					for (var j = 0; j < m; j += 1) {
+						route.add(geo.Coord.new(bezier[j]));
+					}
+				}
+			}
+			base = i;
+			route.add(geo.Coord.new(user_points[i]));
+			if (_user_point_modes.arr[i] == 2) {
+				var route_size = size(route.get_sliced());
+				setsize(_route_reverse, route_size);
+				_route_reverse[route_size - 1] = 1;
+			}
+		}
+	}
+	var PNumber = size(user_points);
+	_route = route.get_sliced();
+	setsize(_route_reverse, size(_route));
+	_check_turn_radius();
+	_calculate_hdg();
+}
+
+var _calculate_bezier = func(user_points) {
+	var route = dynarr.dynarr.new();
+
+	var PNumber = size(user_points);
+
+	if (PNumber > 1) {
+		var pointList = [];
+		setsize(pointList, PNumber);
+		for (var i = 0; i < PNumber; i += 1) {
+			pointList[i] = [];
+			setsize(pointList[i], PNumber);
+		}
+
+		pointList[0] = user_points;
+
+		var len = 0;
+		for (var i = 0; i < PNumber - 1; i += 1) {
+			len += user_points[i].distance_to(user_points[i + 1]);
+		}
+
+		if (len < _R_turn_min) {
+			route.add(geo.Coord.new(user_points[PNumber - 1]))
+		} else {
+			var step = _R_turn_min / len;
+
+			for (var i = step; i < 1 - step; i+= step) {
+				# start iterating from 1 cause we don't need to iterate over Pn
+				for (var j = 1; j < PNumber; j += 1) {
+					for (var k = 0; k < PNumber - j; k += 1) {
+						pointList[j][k] = geo.Coord.new(pointList[j - 1][k]);
+						var dist = pointList[j - 1][k].distance_to(pointList[j - 1][k + 1]);
+						var course = pointList[j - 1][k].course_to(pointList[j - 1][k + 1]);
+						pointList[j][k].apply_course_distance(course, dist * i);
+					}
+				}
+				pointList[PNumber - 1][0].set_alt(geo.elevation(pointList[PNumber - 1][0].lat(),pointList[PNumber - 1][0].lon()));
+				route.add(geo.Coord.new(pointList[PNumber - 1][0]));
+			}
+		}
+	}
+
+	return route.get_sliced();
+}
+
+var _calculate_hdg = func() {
+	_route_hdg = [];
+	var route_hdg = dynarr.dynarr.new();
+	var ilast = size(_route) - 1;
+	for (i = 0; i < ilast; i += 1) {
+		var hdg = _route[i].course_to(_route[i + 1]);
+		route_hdg.add(hdg);
+	}
+	# Last heading would be undefined, so just repeat the one before the last.
+	route_hdg.add(route_hdg.get_sliced()[ilast - 1]);
+	_route_hdg = route_hdg.get_sliced();
+}
+
+# Checks each waypoint's turn radius and marks the route invalid if
+# it is smaller than the aircraft's turn radius.
+var _check_turn_radius = func() {
+	# A waypoint's turn radius is the radius of a circle circumscribed around the waypoint, previous and next waypoints.
+	# Formula source: https://math.stackexchange.com/questions/947882/radius-of-circumscribed-circle-of-triangle-as-function-of-the-sides
+
+	var len = size(_route);
+	_invalid = 0;
+
+	# We can't calculate the radius for the first and last point
+	for (i = 1; i < len - 2; i += 1) {
+		# Disable check for push and pull points
+		if (_route_reverse[i] != 1) {
+			var a = _route[i].distance_to(_route[i + 1]);
+			var b = _route[i].distance_to(_route[i - 1]);
+			var c = _route[i - 1].distance_to(_route[i + 1]);
+
+
+			var margin = _R_turn_min / 5000;
+
+			# Stright line check with marging to prevent floating point error
+			if (a + b + margin >= c and a + b - margin <= c) {
+				var r = - 1;
+			} else {
+				var r = (a * b * c) / math.sqrt(
+						2 * a * a * b * b
+						+ 2 * a * a * c * c
+						+ 2 * b * b * c * c
+						- a * a * a * a
+						- b * b * b * b
+						- c * c * c * c
+					);
+			}
+
+			if ((r < _R_turn_min) and (r != -1)) {
+				_invalid = 1;
+			}
+		}
+	}
+
+	setprop("/sim/model/autopush/route/invalid", _invalid);
+}
+
+setlistener("/sim/model/autopush/route/show", func(p) {
+	var show = p.getValue();
+	if (_listener == nil) {
+		if (show) {
+			_place_user_point_models();
+			_place_waypoint_models();
+		} else {
+			_clear_user_point_models();
+			_clear_waypoint_models();
+		}
+	}
+	_show = show;
+}, 1, 0);
+
+
+var enter = func() {
+	clear();
+	top_view();
+	_R_turn_min = getprop("/sim/model/autopush/min-turn-radius-m");
+	var wp = geo.aircraft_position();
+	var H = geo.elevation(wp.lat(), wp.lon());
+	if (H != nil) {
+		wp.set_alt(H);
+	}
+	_add(wp);
+	_listener = setlistener("/sim/signals/click", func {
+		_add(geo.click_position());
+	});
+	# This property can be overridden manually, if needed.
+	var wingspan = getprop("/sim/model/autopush/route/wingspan-m");
+	if ((wingspan == nil) or (wingspan == 0.0)) {
+		# JSBSim
+		wingspan = getprop("/fdm/jsbsim/metrics/bw-ft");
+		if (wingspan != nil) {
+			wingspan *= FT2M;
+		} else {
+			# YAsim
+			wingspan = getprop("/fdm/yasim/model/wings/wing/wing-span");
+		}
+		setprop("/sim/model/autopush/route/wingspan-m", wingspan);
+	}
+}
+
+var _set_userpoint_mode = func(id, mode) {
+	if (_user_point_modes.arr[id] != mode) {
+		_user_point_modes.arr[id] = mode;
+	}
+	if (_user_point_models[id] != nil) {
+		_user_point_models[id].remove();
+		var model = "Models/Autopush/cursor.xml";
+		if (_user_point_modes.arr[id] == 1) {
+			model = "Models/Autopush/cursor_sharp.xml";
+		} else if (_user_point_modes.arr[id] == 2) {
+			model = "Models/Autopush/cursor_reverse.xml";
+		}
+		_user_point_models[id] = geo.put_model(model, _user_points.get_sliced()[id], 0.0);
+	}
+}
+
+var toggle_sharp = func() {
+	if (_listener == nil) {
+		return;
+	}
+	id = _N - 1;
+	if (_user_point_modes.arr[id]) {
+		_set_userpoint_mode(id, 0);
+	} else {
+		_set_userpoint_mode(id, 1);
+	}
+}
+
+var done = func() {
+	_stop(0);
+}
+
+var clear = func() {
+	autopush_driver.stop();
+	_stop(1);
+	_clear_user_point_models();
+	_clear_waypoint_models();
+	_N = 0;
+	_user_points = dynarr.dynarr.new(4);
+	_user_point_modes = dynarr.dynarr.new(1);
+}
+
+var route = func() {
+	if (_invalid or (_N < 2)) {
+		return nil;
+	}
+	return _route;
+}
+
+var route_reverse = func() {
+	if (_invalid or (_N < 2)) {
+		return nil;
+	}
+	return _route_reverse;
+}
--- a/YourAircraftDir/autopush-config.xml.template
+++ b/YourAircraftDir/autopush-config.xml.template
@ -0,0 +1,30 @@
+<PropertyList>
+	<steer-cmd-norm	alias="/controls/flight/rudder"/>
+	<yaw alias="/gear/gear[0]/steering-norm"/>
+	<yaw-mult type="float">MULTIPLIER</yaw-mult>
+	<pitch-deg type="float">PITCH</pitch-deg>
+	<min-turn-radius-m type="float">MIN_RADIUS</min-turn-radius-m>
+	<stopping-distance-m type="float">STOP_DIST</stopping-distance-m>
+	<chocks	alias="/controls/gear/wheel-chocks"/>
+	<available type="int">1</available>
+	<enabled type="int"/>
+	<connected type="bool">false</connected>
+	<target-speed-km_h type="float">0.0</target-speed-km_h>
+	<K_p type="float">0.5</K_p>
+	<F_p type="float">0.15</F_p>
+	<K_i type="float">0.25</K_i>
+	<F_i type="float">0.1</F_i>
+	<K_d type="float">0.0</K_d>
+	<F_d type="float">0.0</F_d>
+	<driver>
+		<F_V type="float">8.0</F_V>
+		<K_psi type="float">0.03</K_psi>
+		<F_psi type="float">1.0</F_psi>
+		<K_psidot type="float">0.03</K_psidot>
+		<F_psidot type="float">1.0</F_psidot>
+	</driver>
+	<route>
+		<show type="bool"/>
+	</route>
+	<debug type="int">0</debug>
+</PropertyList>
--- a/YourAircraftDir/gui/dialogs/autopush.xml
+++ b/YourAircraftDir/gui/dialogs/autopush.xml
@ -0,0 +1,360 @@
+<?xml version="1.0"?>
+
+<!--
+
+AUTOPUSH
+Pushback dialog.
+
+Copyright (c) 2018 Autopush authors:
+ Joshua Davidson http://github.com/Octal450
+ Merspieler http://gitlab.com/merspieler
+Original code (c) FlightGear
+Distribute under the terms of GPLv2.
+
+-->
+
+<PropertyList>
+
+	<name>autopush</name>
+	<layout>vbox</layout>
+
+	<group>
+
+		<layout>hbox</layout>
+
+		<text>
+			<label>Pushback</label>
+		</text>
+
+		<empty>
+			<stretch>true</stretch>
+		</empty>
+
+		<button>
+			<halign>right</halign>
+			<pref-width>16</pref-width>
+			<pref-height>16</pref-height>
+			<legend/>
+			<key>Esc</key>
+			<binding>
+				<command>dialog-close</command>
+			</binding>
+		</button>
+
+	</group>
+
+	<hrule/>
+
+	<group>
+
+		<stretch>true</stretch>
+		<layout>vbox</layout>
+		<halign>center</halign>
+		<valign>top</valign>
+
+		<checkbox>
+			<halign>left</halign>
+			<label>Connect</label>
+			<property>/sim/model/autopush/enabled</property>
+			<live>true</live>
+			<binding>
+				<command>dialog-apply</command>
+			</binding>
+		</checkbox>
+
+		<group>
+			<layout>table</layout>
+
+			<text>
+				<row>0</row>
+				<col>0</col>
+				<label>Steering:</label>
+				<halign>left</halign>
+			</text>
+
+			<button>
+				<row>0</row>
+				<col>1</col>
+				<pref-width>25</pref-width>
+				<pref-height>25</pref-height>
+				<legend>&lt;</legend>
+				<binding>
+					<command>property-adjust</command>
+					<property>/sim/model/autopush/steer-cmd-norm</property>
+					<min>-1.0</min>
+					<max>1.0</max>
+					<step>-0.02</step>
+					<wrap>false</wrap>
+				</binding>
+			</button>
+
+			<slider>
+				<row>0</row>
+				<col>2</col>
+				<min>-1.0</min>
+				<max>1.0</max>
+				<property>/sim/model/autopush/steer-cmd-norm</property>
+				<step>0.1</step>
+				<live>true</live>
+				<binding>
+					<command>dialog-apply</command>
+				</binding>
+			</slider>
+
+			<button>
+				<row>0</row>
+				<col>3</col>
+				<pref-width>25</pref-width>
+				<pref-height>25</pref-height>
+				<legend>&gt;</legend>
+				<binding>
+					<command>property-adjust</command>
+					<property>/sim/model/autopush/steer-cmd-norm</property>
+					<min>-1.0</min>
+					<max>1.0</max>
+					<step>0.02</step>
+					<wrap>false</wrap>
+				</binding>
+			</button>
+
+			<button>
+				<row>0</row>
+				<col>4</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Center</legend>
+				<binding>
+					<command>property-assign</command>
+					<property>/sim/model/autopush/steer-cmd-norm</property>
+					<value>0.0</value>
+				</binding>
+			</button>
+
+			<text>
+				<row>1</row>
+				<col>0</col>
+				<label>Speed:</label>
+				<halign>left</halign>
+			</text>
+
+			<button>
+				<row>1</row>
+				<col>1</col>
+				<pref-width>25</pref-width>
+				<pref-height>25</pref-height>
+				<legend>&lt;</legend>
+				<binding>
+					<command>property-adjust</command>
+					<property>/sim/model/autopush/target-speed-km_h</property>
+					<min>-25</min>
+					<max>25</max>
+					<step>-1</step>
+					<wrap>false</wrap>
+				</binding>
+			</button>
+
+			<slider>
+				<row>1</row>
+				<col>2</col>
+				<min>-25</min>
+				<max>25</max>
+				<property>/sim/model/autopush/target-speed-km_h</property>
+				<step>1.0</step>
+				<live>true</live>
+				<binding>
+					<command>dialog-apply</command>
+				</binding>
+			</slider>
+
+			<button>
+				<row>1</row>
+				<col>3</col>
+				<pref-width>25</pref-width>
+				<pref-height>25</pref-height>
+				<legend>&gt;</legend>
+				<binding>
+					<command>property-adjust</command>
+					<property>/sim/model/autopush/target-speed-km_h</property>
+					<min>-25</min>
+					<max>25</max>
+					<step>1</step>
+					<wrap>false</wrap>
+				</binding>
+			</button>
+
+			<button>
+				<row>1</row>
+				<col>4</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Stop</legend>
+				<binding>
+					<command>property-assign</command>
+					<property>/sim/model/autopush/target-speed-km_h</property>
+					<value>0.0</value>
+				</binding>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_driver.pause();</script>
+				</binding>
+			</button>
+
+			<text>
+				<row>1</row>
+				<col>5</col>
+				<pref-width>16</pref-width>
+				<property>/sim/model/autopush/target-speed-km_h</property>
+				<format>%3.0f</format>
+				<live>true</live>
+				<halign>right</halign>
+			</text>
+
+			<text>
+				<row>1</row>
+				<col>6</col>
+				<label> km/h</label>
+				<halign>left</halign>
+			</text>
+
+		</group>
+
+		<hrule/>
+
+		<group>
+			<layout>table</layout>
+
+			<text>
+				<row>0</row>
+				<col>0</col>
+				<label>Auto Push:</label>
+				<halign>left</halign>
+			</text>
+
+			<button>
+				<row>0</row>
+				<col>1</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Start</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_driver.start();</script>
+				</binding>
+			</button>
+
+			<button>
+				<row>0</row>
+				<col>2</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Pause</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_driver.pause();</script>
+				</binding>
+			</button>
+
+			<button>
+				<row>0</row>
+				<col>3</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>View</legend>
+				<halign>left</halign>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_route.top_view();</script>
+				</binding>
+			</button>
+
+			<text>
+				<row>1</row>
+				<col>0</col>
+				<label>Route:</label>
+				<halign>left</halign>
+			</text>
+
+			<button>
+				<row>1</row>
+				<col>1</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Enter</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_route.enter();</script>
+				</binding>
+			</button>
+
+			<button>
+				<row>1</row>
+				<col>2</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Done</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_route.done();</script>
+				</binding>
+			</button>
+
+			<checkbox>
+				<row>1</row>
+				<col>3</col>
+				<halign>left</halign>
+				<label>Always Show</label>
+				<property>/sim/model/autopush/route/show</property>
+				<live>true</live>
+				<binding>
+					<command>dialog-apply</command>
+				</binding>
+			</checkbox>
+
+			<text>
+				<row>2</row>
+				<col>0</col>
+				<label>Last Point:</label>
+				<halign>left</halign>
+			</text>
+
+			<button>
+				<row>2</row>
+				<col>1</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Sharp</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_route.toggle_sharp();</script>
+				</binding>
+			</button>
+
+			<button>
+				<row>2</row>
+				<col>2</col>
+				<pref-width>50</pref-width>
+				<pref-height>25</pref-height>
+				<legend>Delete</legend>
+				<binding>
+					<command>nasal</command>
+					<script>autopush_route.delete_last();</script>
+				</binding>
+			</button>
+
+			<checkbox>
+				<row>2</row>
+				<col>3</col>
+				<halign>left</halign>
+				<label>Show Wingtip</label>
+				<live>true</live>
+				<property>/sim/model/autopush/route/show-wingtip</property>
+				<binding>
+					<command>dialog-apply</command>
+				</binding>
+			</checkbox>
+
+		</group>
+
+	</group>
+
+</PropertyList>