From 9d353a326636c9ba4ad424c0365252e1404edd08 Mon Sep 17 00:00:00 2001
From: Stuart Buchanan <stuart_d_buchanan@yahoo.co.uk>
Date: Sun, 10 Feb 2019 22:06:31 +0000
Subject: [PATCH] FG1000: GFC700 Autopilot Integration

Support for GFC700 autopilot.  Current modes that work: AP, FD, ROL, PIT, HDG, VS
---
 .../FG1000/GDU104X/GDU-1044B.1.xml            |  12 +
 .../FG1000/GDU104X/GDU-1044B.2.xml            |  12 +
 .../FG1000/GDU104X/GDU-1044B.3.xml            |  12 +
 .../FG1000/GDU104X/GDU-1044B.4.xml            |  12 +
 .../FG1000/GFC700-AP-off-FSM.xml              |  60 ++
 .../FG1000/GFC700-lateral-FSM.xml             | 268 +++++++
 .../FG1000/GFC700-vertical-FSM.xml            | 374 ++++++++++
 Aircraft/Instruments-3d/FG1000/GFC700.xml     | 656 ++++++++++++++++++
 .../FG1000/MFDPages/PFDInstruments.svg        | 100 +--
 .../FG1000/MFDPages/SurroundPFD.svg           |  90 ++-
 .../Nasal/Interfaces/GFC700Interface.nas      | 133 ++++
 .../Nasal/Interfaces/GFC700Publisher.nas      |  41 ++
 .../Interfaces/GenericInterfaceController.nas |  75 +-
 .../PFDInstruments/PFDInstruments.nas         |  22 +-
 .../PFDInstrumentsController.nas              |  13 +-
 .../Nasal/MFDPages/Surround/Surround.nas      |  42 ++
 .../Instruments-3d/FG1000/Nasal/NavMap.nas    |   2 +-
 Nasal/canvas/PFD/TextElement.nas              |   1 +
 18 files changed, 1846 insertions(+), 79 deletions(-)
 create mode 100644 Aircraft/Instruments-3d/FG1000/GFC700-AP-off-FSM.xml
 create mode 100644 Aircraft/Instruments-3d/FG1000/GFC700-lateral-FSM.xml
 create mode 100644 Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
 create mode 100644 Aircraft/Instruments-3d/FG1000/GFC700.xml
 create mode 100644 Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Interface.nas
 create mode 100644 Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Publisher.nas

diff --git a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.1.xml b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.1.xml
index a91a17ac9..4329fb7b6 100644
--- a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.1.xml
+++ b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.1.xml
@@ -284,6 +284,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>AP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -304,6 +305,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>HDG</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -324,6 +326,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>NAV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -344,6 +347,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>APR</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -364,6 +368,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>VS</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -384,6 +389,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>FLC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -404,6 +410,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>FD</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -424,6 +431,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>ALT</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -444,6 +452,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>VNV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -464,6 +473,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>BC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -484,6 +494,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>NOSE_UP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -504,6 +515,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>1</device>
         <notification>NOSE_DOWN</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
diff --git a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.2.xml b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.2.xml
index ffea8a1b8..e3f0dc38a 100644
--- a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.2.xml
+++ b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.2.xml
@@ -284,6 +284,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>AP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -304,6 +305,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>HDG</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -324,6 +326,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>NAV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -344,6 +347,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>APR</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -364,6 +368,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>VS</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -384,6 +389,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>FLC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -404,6 +410,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>FD</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -424,6 +431,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>ALT</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -444,6 +452,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>VNV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -464,6 +473,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>BC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -484,6 +494,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>NOSE_UP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -504,6 +515,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>2</device>
         <notification>NOSE_DOWN</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
diff --git a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.3.xml b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.3.xml
index 3791e8be8..f0fd0a93f 100644
--- a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.3.xml
+++ b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.3.xml
@@ -284,6 +284,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>AP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -304,6 +305,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>HDG</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -324,6 +326,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>NAV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -344,6 +347,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>APR</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -364,6 +368,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>VS</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -384,6 +389,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>FLC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -404,6 +410,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>FD</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -424,6 +431,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>ALT</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -444,6 +452,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>VNV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -464,6 +473,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>BC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -484,6 +494,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>NOSE_UP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -504,6 +515,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>3</device>
         <notification>NOSE_DOWN</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
diff --git a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.4.xml b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.4.xml
index 21fd16f47..4f13781f3 100644
--- a/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.4.xml
+++ b/Aircraft/Instruments-3d/FG1000/GDU104X/GDU-1044B.4.xml
@@ -284,6 +284,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>AP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -304,6 +305,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>HDG</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -324,6 +326,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>NAV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -344,6 +347,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>APR</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -364,6 +368,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>VS</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -384,6 +389,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>FLC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -404,6 +410,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>FD</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -424,6 +431,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>ALT</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -444,6 +452,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>VNV</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -464,6 +473,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>BC</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -484,6 +494,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>NOSE_UP</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
@@ -504,6 +515,7 @@
         <command>FG1000HardKeyPushed</command>
         <device>4</device>
         <notification>NOSE_DOWN</notification>
+        <offset>1</offset>
       </binding>
     </action>
     <hovered>
diff --git a/Aircraft/Instruments-3d/FG1000/GFC700-AP-off-FSM.xml b/Aircraft/Instruments-3d/FG1000/GFC700-AP-off-FSM.xml
new file mode 100644
index 000000000..3fe0988a3
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/GFC700-AP-off-FSM.xml
@@ -0,0 +1,60 @@
+<PropertyList>
+<!-- GFC 700 Autopilot Finite State Machine for switching OFF the AP.
+
+This is rather odd.  This handles switching on/off the autopilot, which reverts
+to Flight Director mode, by simply setting the passive-mode flag.
+
+-->
+<branch>/autopilot/GFC700/FSM/AP-off</branch>
+
+<state>
+  <name>OFF</name>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/AP-mode-button</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/passive-mode</property>
+    <value>1</value>
+  </enter>
+</state>
+
+<state>
+  <name>ON</name>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/AP-mode-button</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/passive-mode</property>
+    <value>0</value>
+  </enter>
+</state>
+
+<transition>
+  <name>OFF-ON</name>
+  <source>OFF</source>
+  <target>ON</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/AP-mode-button</property><value>AP</value></equals>
+  </condition>
+</transition>
+
+<transition>
+  <name>ON-OFF</name>
+  <source>ON</source>
+  <target>OFF</target>
+  <exclude-target>false</exclude-target>
+  <condition>
+    <equals><property>/autopilot/AP-mode-button</property><value>AP</value></equals>
+  </condition>
+</transition>
+
+</PropertyList>
diff --git a/Aircraft/Instruments-3d/FG1000/GFC700-lateral-FSM.xml b/Aircraft/Instruments-3d/FG1000/GFC700-lateral-FSM.xml
new file mode 100644
index 000000000..6e82344c8
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/GFC700-lateral-FSM.xml
@@ -0,0 +1,268 @@
+<PropertyList>
+
+<!-- GFC 700 Autopilot Finite State Machine for LATERAL mode-->
+<branch>/autopilot/GFC700/FSM/lateral</branch>
+
+<state>
+  <name>OFF</name>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/heading</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/lateral-mode</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/lateral-mode-armed</property>
+    <value></value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/lateral-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <!-- Roll mode.  Either set wings level (if roll < 6.0), or set to current roll -->
+  <name>ROL</name>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/lateral-mode</property>
+    <value>ROL</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/lateral-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<transition>
+  <!-- Go to wings level mode if roll [-6.0,6.0] -->
+  <name>ROL-ROL-WL</name>
+  <source>ROL</source>
+  <target>ROL-WL</target>
+  <condition>
+    <less-than>
+      <property>/autopilot/internal/filtered-roll-deg</property>
+      <value>6.0</value>
+    </less-than>
+    <greater-than>
+      <property>/autopilot/internal/filtered-roll-deg</property>
+      <value>-6.0</value>
+    </greater-than>
+  </condition>
+</transition>
+
+<transition>
+  <!-- Otherwise, just got to ROLL with the set roll value -->
+  <name>ROL-ROL-SET</name>
+  <source>ROL</source>
+  <target>ROL-SET</target>
+  <condition>
+    <or>
+      <greater-than>
+        <property>/autopilot/internal/filtered-roll-deg</property>
+        <value>6.0</value>
+      </greater-than>
+      <less-than>
+        <property>/autopilot/internal/filtered-roll-deg</property>
+        <value>-6.0</value>
+      </less-than>
+    </or>
+  </condition>
+</transition>
+
+<state>
+  <name>ROL-SET</name>
+  <!-- Roll hold mode.  We assign a filtered value, which limits to to [-22.0, 20.0] -->
+  <enter>
+    <command>property-assign</command>
+    <property n="0">/autopilot/settings/target-roll-deg</property>
+    <property n="1">/autopilot/internal/filtered-roll-deg</property>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/heading</property>
+    <value>roll-hold</value>
+  </enter>
+</state>
+
+<state>
+  <name>ROL-WL</name>
+  <!-- Roll hold mode - wings level.  Used if the roll value when enabled is [-6,6]-->
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/settings/target-roll-deg</property>
+    <value>0.0</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/heading</property>
+    <value>roll-hold</value>
+  </enter>
+</state>
+
+<state>
+  <name>GA</name>
+  <!-- GA mode - Wings level -->
+  <enter>
+    <command>property-assign</command>
+    <property n="0">/autopilot/settings/target-roll-deg</property>
+    <value>0.0</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/heading</property>
+    <value>roll-hold</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/lateral-mode</property>
+    <value>GA</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/lateral-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <name>HDG</name>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/heading</property>
+    <value>dg-heading-hold</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/lateral-mode</property>
+    <value>HDG</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/lateral-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, changes to ROL mode -->
+<transition>
+  <name>OFF-ROL</name>
+  <source>OFF</source>
+  <target>ROL</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <or>
+      <equals><property>/autopilot/lateral-mode-button</property><value>FD</value></equals>
+      <equals><property>/autopilot/lateral-mode-button</property><value>CWS</value></equals>
+      <equals><property>/autopilot/lateral-mode-button</property><value>NAV</value></equals>
+      <equals><property>/autopilot/lateral-mode-button</property><value>BC</value></equals>
+      <equals><property>/autopilot/lateral-mode-button</property><value>APR</value></equals>
+      <equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
+    </or>
+  </condition>
+</transition>
+
+
+<transition>
+  <name>OFF-HDG</name>
+  <source>OFF</source>
+  <target>HDG</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <or>
+      <equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
+    </or>
+  </condition>
+</transition>
+
+<!-- AP/FD logic is somewhat complex:
+1) Pressing AP toggles the autopilot on/off
+  a) OFF to ON : OFF-AP-ROL transition below
+  b) ON to OFF : Handled by a separate FSM.  We could use a series of transitions
+     to the same states below, but that would result in entry bindings being repeated, which would be bad
+2) When the AP is enabled, the FD button is disabled. (Easy - no transition!)
+3) Pressing the FD button when the FD is enabled switches off the FD : Switch-off transition below
+-->
+
+<!-- From the OFF state, pressing AP changes to ROL mode, with the AP enabled (e.g. not passive mode) -->
+<transition>
+  <name>OFF-AP-ROL</name>
+  <source>OFF</source>
+  <target>ROL</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>AP</value></equals>
+  </condition>
+  <binding>
+    <command>property-assign</command>
+    <property>/autopilot/locks/passive-mode</property>
+    <value>0</value>
+  </binding>
+</transition>
+
+<!-- From any state pressing FD when FD is ON switches off the FD -->
+<transition>
+  <name>FD-Switch-off</name>
+  <target>OFF</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>FD</value></equals>
+    <equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
+  </condition>
+</transition>
+
+<!-- Series of transitions to handle case where disabling the AP.  Need to remain in existing state -->
+
+<!-- From any state, pressing GA goes to GA mode, and returns to ROL mode when pressed again -->
+<transition>
+  <name>To GA</name>
+  <target>GA</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>GA</value></equals>
+  </condition>
+</transition>
+
+<transition>
+  <name>From GA</name>
+  <source>GA</source>
+  <target>ROL</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>GA</value></equals>
+  </condition>
+</transition>
+
+<!-- From any state, pressing HDG goes to HDG mode, and returns to ROL mode when pressed again -->
+<transition>
+  <name>To HDG</name>
+  <target>HDG</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
+  </condition>
+</transition>
+
+<transition>
+  <name>From HDG</name>
+  <source>HDG</source>
+  <target>ROL</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
+  </condition>
+</transition>
+
+</PropertyList>
diff --git a/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml b/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
new file mode 100644
index 000000000..af471c65a
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
@@ -0,0 +1,374 @@
+<PropertyList>
+
+<!-- GFC 700 Autopilot Finite State Machine for vertical mode.  Also handles AP and FD toggling -->
+<branch>/autopilot/GFC700/FSM/vertical</branch>
+
+<state>
+  <name>OFF</name>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-armed</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-target</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/speed</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/passive-mode</property>
+    <value>1</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <name>PIT</name>
+  <!-- Pitch hold mode.  We assign a filtered value, which limits to to [-15.0, 20.0] -->
+  <enter>
+    <command>property-assign</command>
+    <property n="0">/autopilot/settings/target-pitch-deg</property>
+    <property n="1">/autopilot/internal/filtered-pitch-deg</property>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value>pitch-hold</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value>PIT</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-target</property>
+    <value></value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <name>GA</name>
+  <!-- GA mode - 7 degree pitch up-->
+  <enter>
+    <command>property-assign</command>
+    <property n="0">/autopilot/settings/target-pitch-deg</property>
+    <value>7.0</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value>pitch-hold</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value>GA</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-target</property>
+    <value></value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <name>VS</name>
+  <!-- VS mode -->
+  <enter>
+    <command>nasal</command>
+    <script>
+      <!-- Calculate the fpm value to the nearest 100fpm. -->
+      setprop("/autopilot/settings/vertical-speed-fpm",
+        math.round(getprop("/autopilot/internal/vert-speed-fpm"),100)
+      );
+
+      setprop("/autopilot/annunciator/vertical-mode-target",
+            sprintf("%+ifpm", getprop("/autopilot/settings/vertical-speed-fpm"))
+      );
+    </script>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value>vertical-speed-hold</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value>VS</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<state>
+  <name>ALTS-ARM</name>
+  <!-- Arm Altitude Capture Mode - ALTS -->
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-armed</property>
+    <value>ALTS</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<transition>
+  <name>ALTS Capture</name>
+  <!-- Altitude Capture Mode enabled when we get within 500ft of the selected altitude -->
+  <source>ALTS-ARM</source>
+  <target>ALTS</target>
+  <condition>
+    <less-than>
+      <property>/autopilot/internal/target-altitude-delta-ft</property>
+      <value>500</value>
+    </less-than>
+    <greater-than>
+      <property>/autopilot/internal/target-altitude-delta-ft</property>
+      <value>-500</value>
+    </greater-than>
+  </condition>
+</transition>
+
+<state>
+  <name>ALTS</name>
+  <enter>
+    <command>nasal</command>
+    <script>
+      <!-- Set up the 2nd target, so that it is independent of the Selected Altitude,
+       then annunciator to the reference value current target value, then enable
+      the altitude capture function  -->
+      setprop("/autopilot/settings/target-altitude-ft-2", getprop("/autopilot/settings/target-altitude-ft"));
+      setprop("/autopilot/annunciator/vertical-mode-target",
+        sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
+      );
+    </script>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value>ALTS</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-armed</property>
+    <value>ALT</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value>altitude-hold2</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<transition>
+  <!-- ALTS (Selected Altitude Capture) automatically armed from PIT, TO/GA, VS, VPTH, FLC modes -->
+  <name>ALTS-ARM</name>
+  <source>PIT</source>
+  <source>GA</source>
+  <source>VS</source>
+  <target>ALTS-ARM</target>
+  <!-- Transitions must have a condition element.  So set it to True -->
+  <condition>
+    <not>
+      <property>/sim/time/elapsed-sec</property>
+      <value>0</value>
+    </not>
+  </condition>
+</transition>
+
+<transition>
+  <!-- Altitude Hold Mode enabled when we get within 50ft of the selected altitude -->
+  <name>ALTS-ALT</name>
+  <source>ALTS</source>
+  <target>ALT</target>
+  <condition>
+    <less-than>
+      <property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
+      <value>50</value>
+    </less-than>
+    <greater-than>
+      <property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
+      <value>-50</value>
+    </greater-than>
+  </condition>
+</transition>
+
+<state>
+  <name>ALT</name>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode</property>
+    <value>ALT</value>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/annunciator/vertical-mode-armed</property>
+    <value></value>
+  </enter>
+  <enter>
+    <command>nasal</command>
+    <script>
+      setprop("/autopilot/annunciator/vertical-mode-target",
+        sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
+      );
+    </script>
+  </enter>
+  <enter>
+    <command>property-assign</command>
+    <property>/autopilot/locks/altitude</property>
+    <value>altitude-hold2</value>
+  </enter>
+  <enter>
+    <!-- Reset button to avoid triggering next transition immediately -->
+    <command>property-assign</command>
+    <property>/autopilot/vertical-mode-button</property>
+    <value></value>
+  </enter>
+</state>
+
+<!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, HDG changes to PIT mode -->
+<transition>
+  <name>OFF-PIT</name>
+  <source>OFF</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <or>
+      <equals><property>/autopilot/vertical-mode-button</property><value>AP</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>CWS</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>NAV</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>BC</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>APR</value></equals>
+      <equals><property>/autopilot/vertical-mode-button</property><value>HDG</value></equals>
+    </or>
+  </condition>
+</transition>
+
+<!-- From most vertical modes, pressing the mode key again returns to PIT mode -->
+<transition>
+  <name>VS-PIT</name>
+  <source>VS</source>
+  <target>PIT</target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
+  </condition>
+</transition>
+
+<transition>
+  <name>GA-PIT</name>
+  <source>GA</source>
+  <target>PIT</target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
+  </condition>
+</transition>
+
+<!-- AP/FD logic is somewhat complex:
+1) Pressing AP toggles the autopilot on/off
+    Handled by a separate FSM.  We could use a series of transitions
+    to the same states below, but that would result in entry bindings being repeated, which would be bad
+2) When the AP is enabled, the FD button is disabled. (Easy - no transition!)
+3) Pressing the FD button when the FD is enabled switches off the FD : Switch-off transition below
+-->
+
+<!-- From any state pressing FD when FD is ON switches off the FD -->
+<transition>
+  <name>FD-Switch-off</name>
+  <target>OFF</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <not><equals><property>/autopilot/annunciator/autopilot-enabled</property><value>1</value></equals></not>
+    <equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
+    <equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
+  </condition>
+</transition>
+
+<!-- From any state pressing VS changes to VS mode -->
+<transition>
+  <name>VS</name>
+  <target>VS</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
+  </condition>
+</transition>
+
+<!-- From any state, pressing GA goes to GA mode -->
+<transition>
+  <name>GA</name>
+  <target>GA</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
+  </condition>
+</transition>
+
+<!-- From any state, pressing ALT goes to ALT mode -->
+<transition>
+  <name>ALT</name>
+  <target>ALT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>ALT</value></equals>
+  </condition>
+  <binding>
+    <command>nasal</command>
+    <script>
+      <!-- Set up the 2nd target to the current altitude within 10ft-->
+      setprop("/autopilot/settings/target-altitude-ft-2",
+        math.round(getprop("/instrumentation/altimeter/indicated-altitude-ft"),10));
+    </script>
+  </binding>
+</transition>
+
+</PropertyList>
diff --git a/Aircraft/Instruments-3d/FG1000/GFC700.xml b/Aircraft/Instruments-3d/FG1000/GFC700.xml
new file mode 100644
index 000000000..251cfe0f0
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/GFC700.xml
@@ -0,0 +1,656 @@
+<?xml version="1.0"?>
+
+<!-- GFC 700 Autopilot Configuration -->
+<!-- Each component is evaluated in the order specified.  You can make up -->
+<!-- property names to pass the result of one component on to a subsequent -->
+<!-- component. -->
+
+<PropertyList>
+
+  <state-machine include="GFC700-vertical-FSM.xml"/>
+  <state-machine include="GFC700-lateral-FSM.xml"/>
+  <state-machine include="GFC700-AP-off-FSM.xml"/>
+
+  <filter>
+    <name>heading bug error computer/normalizer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/autopilot/settings/heading-bug-deg</property>
+      <offset>
+        <property>/orientation/heading-magnetic-deg</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <output>/autopilot/internal/heading-bug-error-deg</output>
+    <output>/autopilot/internal/fdm-heading-bug-error-deg</output>
+    <period>
+      <min>-180</min>
+      <max>180</max>
+    </period>
+    <gain>1.0</gain>
+  </filter>
+
+  <filter>
+    <name>true heading error computer/normalizer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/autopilot/settings/true-heading-deg</property>
+      <offset>
+        <property>/orientation/heading-deg</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <output>/autopilot/internal/true-heading-error-deg</output>
+    <period>
+      <min>-180</min>
+      <max>180</max>
+    </period>
+    <gain>1.0</gain>
+  </filter>
+
+  <filter>
+    <name>nav1 heading error computer/normalizer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
+      <offset>
+        <property>/orientation/heading-deg</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <output>/autopilot/internal/nav1-heading-error-deg</output>
+    <period>
+      <min>-180</min>
+      <max>180</max>
+    </period>
+    <gain>1.0</gain>
+  </filter>
+
+  <filter>
+    <name>nav1 selected course error computer/normalizer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/instrumentation/nav[0]/radials/selected-deg</property>
+      <offset>
+        <property>/orientation/heading-magnetic-deg</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <output>/autopilot/internal/nav1-course-error</output>
+    <period>
+      <min>-180</min>
+      <max>180</max>
+    </period>
+    <gain>1.0</gain>
+  </filter>
+
+  <filter>
+    <name>vertical speed fpm computer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>/velocities/vertical-speed-fps</input>
+    <output>/autopilot/internal/vert-speed-fpm</output>
+    <gain>60.0</gain>
+  </filter>
+
+  <predict-simple>
+    <name>speed in 5 seconds predictor</name>
+    <debug>false</debug>
+    <input>/velocities/airspeed-kt</input>
+    <output>/autopilot/internal/lookahead-5-sec-airspeed-kt</output>
+    <seconds>5.0</seconds>
+    <filter-gain>0.0</filter-gain>
+  </predict-simple>
+
+  <predict-simple>
+    <name>speed in 10 seconds predictor</name>
+    <debug>false</debug>
+    <input>/velocities/airspeed-kt</input>
+    <output>/autopilot/internal/lookahead-10-sec-airspeed-kt</output>
+    <seconds>10.0</seconds>
+    <filter-gain>0.0</filter-gain>
+  </predict-simple>
+
+  <filter>
+    <name>static port pressure rate computer</name>
+    <debug>false</debug>
+    <type>derivative</type>
+    <input>/systems/static[0]/pressure-inhg</input>
+    <output>/autopilot/internal/pressure-rate</output>
+    <filter-time>1.0</filter-time>
+  </filter>
+
+  <filter>
+    <name>nav1 track error computer</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
+      <offset>
+        <property>orientation/track-deg</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <output>/autopilot/internal/nav1-track-error-deg</output>
+    <period>
+      <min>-180</min>
+      <max>180</max>
+    </period>
+    <gain>1.0</gain>
+  </filter>
+
+  <filter>
+    <name>limited-pitch</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/instrumentation/attitude-indicator/indicated-pitch-deg</property>
+    </input>
+    <gain>1.0</gain>
+    <output>/autopilot/internal/filtered-pitch-deg</output>
+    <min>-15.0</min>
+    <max>20.0</max>
+  </filter>
+
+  <filter>
+    <name>limited-roll</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/instrumentation/attitude-indicator/indicated-roll-deg</property>
+    </input>
+    <gain>1.0</gain>
+    <output>/autopilot/internal/filtered-roll-deg</output>
+    <min>-22.0</min>
+    <max>22.0</max>
+  </filter>
+
+  <filter>
+    <name>ALTS-delta</name>
+    <debug>false</debug>
+    <type>gain</type>
+    <input>
+      <property>/autopilot/settings/target-altitude-ft</property>
+      <offset>
+        <property>/instrumentation/altimeter/indicated-altitude-ft-2</property>
+        <scale>-1.0</scale>
+      </offset>
+    </input>
+    <gain>1.0</gain>
+    <output>/autopilot/internal/ALTS-target-altitude-delta-ft</output>
+  </filter>
+
+  <!-- Logic filters to show autopilot and Flight Director status -->
+  <logic>
+    <input>
+      <and>
+        <equals><property>/autopilot/locks/passive-mode</property><value>0</value></equals>
+        <or>
+          <not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
+          <not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
+        </or>
+      </and>
+    </input>
+    <output>/autopilot/annunciator/autopilot-enabled</output>
+  </logic>
+
+  <logic>
+    <input>
+      <and>
+        <equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
+        <or>
+          <not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
+          <not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
+        </or>
+      </and>
+    </input>
+    <output>/autopilot/annunciator/flight-director-enabled</output>
+  </logic>
+
+  <!-- =============================================================== -->
+  <!-- Roll Axis Modes                                                 -->
+  <!-- =============================================================== -->
+
+
+  <!-- Aileron control, used by all lateral modes ROL/NAV/HDG -->
+  <pid-controller>
+    <name>Roll Hold</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <and>
+          <or>
+            <equals>
+              <property>/autopilot/locks/heading</property>
+              <value>roll-hold</value>
+            </equals>
+            <equals>
+              <property>/autopilot/locks/heading</property>
+              <value>dg-heading-hold</value>
+            </equals>
+            <equals>
+              <property>/autopilot/locks/heading</property>
+              <value>nav1-hold</value>
+            </equals>
+          </or>
+          <equals>
+            <property>/autopilot/locks/passive-mode</property>
+            <value>0</value>
+          </equals>
+          <not>
+            <equals>
+              <property>/autopilot/locks/control-wheel-steering</property>
+              <value>1</value>
+            </equals>
+          </not>
+        </and>
+      </condition>
+    </enable>
+    <input>
+      <prop>/orientation/roll-deg</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-roll-deg</prop>
+    </reference>
+    <output>
+      <prop>/controls/flight/aileron</prop>
+    </output>
+    <config>
+      <Kp>0.1</Kp>        <!-- proportional gain -->
+      <beta>1.0</beta>    <!-- input value weighing factor -->
+      <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                          <!-- unfiltered derivative error -->
+      <Ti>10.0</Ti>       <!-- integrator time -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-1.0</u_min> <!-- minimum output clamp -->
+      <u_max>1.0</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+  <!-- Heading Bug Hold.  2 stage cascade controller. -->
+
+  <!-- Stage #1 sets target roll based on diff between current heading -->
+  <!-- and heading bug. -->
+  <pid-controller>
+    <name>Heading Bug Hold (DG based) Stage 1</name>
+    <debug>false</debug>
+    <enable>
+      <prop>/autopilot/locks/heading</prop>
+      <value>dg-heading-hold</value>
+    </enable>
+    <input>
+      <prop>/autopilot/internal/heading-bug-error-deg</prop>
+    </input>
+    <reference>
+      <value>0.0</value>
+    </reference>
+    <output>
+      <prop>/autopilot/settings/target-roll-deg</prop>
+    </output>
+    <config>
+      <Kp>-1.0</Kp>        <!-- proportional gain -->
+      <beta>1.0</beta>     <!-- input value weighing factor -->
+      <alpha>0.1</alpha>   <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>   <!-- input value weighing factor for -->
+                           <!-- unfiltered derivative error -->
+      <Ti>10.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>     <!-- derivator time -->
+      <u_min>-20.0</u_min> <!-- minimum output clamp -->
+      <u_max>20.0</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+  <!-- True Heading hold.  2 stage cascade controller. -->
+
+  <!-- Stage #1 sets target roll based on diff between current heading -->
+  <!-- and target heading. -->
+  <pid-controller>
+    <name>True Heading Hold (DG based) Stage 1</name>
+    <debug>false</debug>
+    <enable>
+      <prop>/autopilot/locks/heading</prop>
+      <value>true-heading-hold</value>
+    </enable>
+    <input>
+      <prop>/autopilot/internal/true-heading-error-deg</prop>
+    </input>
+    <reference>
+      <value>0.0</value>
+    </reference>
+    <output>
+      <prop>/autopilot/settings/target-roll-deg</prop>
+    </output>
+    <config>
+      <Kp>-1.0</Kp>        <!-- proportional gain -->
+      <beta>1.0</beta>     <!-- input value weighing factor -->
+      <alpha>0.1</alpha>   <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>   <!-- input value weighing factor for -->
+                           <!-- unfiltered derivative error -->
+      <Ti>10.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>     <!-- derivator time -->
+      <u_min>-20.0</u_min> <!-- minimum output clamp -->
+      <u_max>20.0</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+  <!-- Nav1 hold.  2 stage cascade controller. -->
+
+  <!-- Stage #1 sets target roll based on diff between current heading -->
+  <!-- and target heading. -->
+  <pid-controller>
+    <name>Nav1 Hold Stage 1</name>
+    <debug>false</debug>
+    <enable>
+      <prop>/autopilot/locks/heading</prop>
+      <value>nav1-hold</value>
+    </enable>
+    <input>
+      <prop>/autopilot/internal/nav1-heading-error-deg</prop>
+    </input>
+    <reference>
+      <value>0.0</value>
+    </reference>
+    <output>
+      <prop>/autopilot/internal/target-roll-deg</prop>
+    </output>
+    <config>
+      <Kp>-1.0</Kp>        <!-- proportional gain -->
+      <beta>1.0</beta>     <!-- input value weighing factor -->
+      <alpha>0.1</alpha>   <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>   <!-- input value weighing factor for -->
+                           <!-- unfiltered derivative error -->
+      <Ti>10.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>     <!-- derivator time -->
+      <u_min>-20.0</u_min> <!-- minimum output clamp -->
+      <u_max>20.0</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+ <!-- =============================================================== -->
+ <!-- Pitch Axis Modes                                                -->
+ <!-- =============================================================== -->
+
+ <!-- Simple pitch hold for PIT and FLC modes. -->
+ <pid-controller>
+    <name>Pitch hold</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <and>
+          <equals>
+            <property>/autopilot/locks/passive-mode</property>
+            <value>0</value>
+          </equals>
+          <not>
+            <equals>
+              <property>/autopilot/locks/control-wheel-steering</property>
+              <value>1</value>
+            </equals>
+          </not>
+          <or>
+            <not>
+              <equals>
+                <property>/autopilot/locks/altitude</property>
+                <value></value>
+              </equals>
+            </not>
+            <not>
+              <equals>
+                <property>/autopilot/locks/speed</property>
+                <value></value>
+              </equals>
+            </not>
+          </or>
+        </and>
+      </condition>
+    </enable>
+    <input>
+      <prop>/orientation/pitch-deg</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-pitch-deg</prop>
+    </reference>
+    <output>
+      <prop>/controls/flight/elevator-trim</prop>
+    </output>
+    <config>
+      <Kp>-0.05</Kp>      <!-- proportional gain -->
+      <beta>1.0</beta>    <!-- input value weighing factor -->
+      <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                          <!-- unfiltered derivative error -->
+      <Ti>1.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-1.0</u_min> <!-- minimum output clamp -->
+      <u_max>1.0</u_max>  <!-- maximum output clamp -->
+    </config>
+   </pid-controller>
+
+   <!-- Common vertical speed controller for ALT/APR/VNV modes mode -->
+   <pid-controller>
+     <name>Altitude Hold (Altimeter based) Stage 2</name>
+     <debug>false</debug>
+     <enable>
+       <condition>
+         <and>
+           <not>
+             <equals>
+               <property>/autopilot/locks/control-wheel-steering</property>
+               <value>1</value>
+             </equals>
+           </not>
+           <or>
+             <equals>
+               <property>/autopilot/locks/altitude</property>
+               <value>altitude-hold</value>
+             </equals>
+             <equals>
+               <property>/autopilot/locks/altitude</property>
+               <value>altitude-hold2</value>
+             </equals>
+           </or>
+         </and>
+       </condition>
+     </enable>
+     <input>
+       <prop>/velocities/vertical-speed-fps</prop>
+     </input>
+     <reference>
+       <prop>/autopilot/internal/target-climb-rate-fps</prop>
+     </reference>
+     <output>
+       <prop>/autopilot/settings/target-pitch-deg</prop>
+     </output>
+     <config>
+       <Kp>-0.01</Kp>      <!-- proportional gain -->
+       <beta>1.0</beta>    <!-- input value weighing factor -->
+       <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+       <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                           <!-- unfiltered derivative error -->
+       <Ti>10.0</Ti>       <!-- integrator time -->
+       <Td>0.00001</Td>    <!-- derivator time -->
+       <u_min>-1.0</u_min> <!-- minimum output clamp -->
+       <u_max>1.0</u_max>  <!-- maximum output clamp -->
+     </config>
+   </pid-controller>
+
+
+  <!-- Altitude hold.  2 stage cascade controller. -->
+
+  <!-- Stage #1 sets target rate of climb based on diff between current alt -->
+  <!-- and target altitude. -->
+  <pi-simple-controller>
+    <name>Altitude Hold (Altimeter based) Stage 1</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <equals>
+          <property>/autopilot/locks/altitude</property>
+          <value>altitude-hold</value>
+        </equals>
+      </condition>
+    </enable>
+    <input>
+      <prop>/position/altitude-ft</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-altitude-ft</prop>
+    </reference>
+    <output>
+      <prop>/autopilot/internal/target-climb-rate-fps</prop>
+    </output>
+    <config>
+      <Kp>0.3</Kp>          <!-- proportional gain -->
+      <Ki>0.0</Ki>          <!-- integral gain -->
+      <u_min>-16.67</u_min> <!-- minimum output clamp -->
+      <u_max>8.33</u_max>   <!-- maximum output clamp -->
+    </config>
+  </pi-simple-controller>
+
+  <!-- Altitude hold2.  2 stage cascade controller. -->
+
+  <!-- Stage #1 sets target rate of climb based on diff between current alt -->
+  <!-- and target altitude. -->
+  <pi-simple-controller>
+    <name>Altitude Hold (Altimeter based) Stage 1</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <equals>
+          <property>/autopilot/locks/altitude</property>
+          <value>altitude-hold2</value>
+        </equals>
+      </condition>
+    </enable>
+    <input>
+      <prop>/position/altitude-ft</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-altitude-ft-2</prop>
+    </reference>
+    <output>
+      <prop>/autopilot/internal/target-climb-rate-fps</prop>
+    </output>
+    <config>
+      <Kp>0.3</Kp>          <!-- proportional gain -->
+      <Ki>0.0</Ki>          <!-- integral gain -->
+      <u_min>-16.67</u_min> <!-- minimum output clamp -->
+      <u_max>8.33</u_max>   <!-- maximum output clamp -->
+    </config>
+  </pi-simple-controller>
+
+  <!-- Glideslope hold. -->
+
+  <!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
+  <pid-controller>
+    <name>Glideslope Hold</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <equals>
+          <property>/autopilot/locks/altitude</property>
+          <value>gs1-hold</value>
+        </equals>
+      </condition>
+    </enable>
+    <input>
+      <prop>/velocities/vertical-speed-fps</prop>
+    </input>
+    <reference>
+      <prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
+    </reference>
+     <output>
+      <prop>/autopilot/settings/target-pitch-deg</prop>
+    </output>
+    <config>
+      <Kp>-0.01</Kp>      <!-- proportional gain -->
+      <beta>1.0</beta>    <!-- input value weighing factor -->
+      <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                          <!-- unfiltered derivative error -->
+      <Ti>10.0</Ti>       <!-- integrator time -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-1.0</u_min> <!-- minimum output clamp -->
+      <u_max>1.0</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+  <!-- vertical speed hold VS mode -->
+  <pid-controller>
+    <name>Vertical Speed Hold</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <equals>
+          <property>/autopilot/locks/altitude</property>
+          <value>vertical-speed-hold</value>
+        </equals>
+      </condition>
+    </enable>
+    <input>
+      <prop>/velocities/vertical-speed-fps</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/vertical-speed-fpm</prop>
+      <scale>0.01667</scale>
+    </reference>
+    <output>
+      <prop>/autopilot/settings/target-pitch-deg</prop>
+    </output>
+    <config>
+      <Kp>0.1</Kp>       <!-- proportional gain -->
+      <beta>1.0</beta>    <!-- input value weighing factor -->
+      <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                          <!-- unfiltered derivative error -->
+      <Ti>1.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-15.0</u_min><!-- minimum output clamp -->
+      <u_max>15.0</u_max> <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+  <!-- =============================================================== -->
+  <!-- Velocity Modes                                                  -->
+  <!-- =============================================================== -->
+
+  <!-- FLC mode - Hold speed by varying pitch trim (Two stage cascading controller) -->
+  <pid-controller>
+    <name>Speed hold (vary pitch trim) Stage #1</name>
+    <debug>false</debug>
+    <enable>
+      <condition>
+        <equals>
+          <property>/autopilot/locks/speed</property>
+          <value>speed-with-pitch-trim</value>
+        </equals>
+      </condition>
+    </enable>
+    <input>
+      <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-speed-kt</prop>
+    </reference>
+    <output>
+      <prop>/autopilot/settings/target-pitch-deg</prop>
+    </output>
+    <config>
+      <Kp>-1.0</Kp>       <!-- proportional gain -->
+      <beta>1.0</beta>    <!-- input value weighing factor -->
+      <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                          <!-- unfiltered derivative error -->
+      <Ti>1.0</Ti>        <!-- integrator time -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-15.0</u_min><!-- minimum output clamp -->
+      <u_max>15.0</u_max> <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
+</PropertyList>
diff --git a/Aircraft/Instruments-3d/FG1000/MFDPages/PFDInstruments.svg b/Aircraft/Instruments-3d/FG1000/MFDPages/PFDInstruments.svg
index 26bd7d5fc..1fd96d535 100644
--- a/Aircraft/Instruments-3d/FG1000/MFDPages/PFDInstruments.svg
+++ b/Aircraft/Instruments-3d/FG1000/MFDPages/PFDInstruments.svg
@@ -24,11 +24,11 @@
      borderopacity="1"
      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:zoom="3.7187502"
-     inkscape:cx="505.11063"
-     inkscape:cy="193.43835"
+     inkscape:zoom="2.6295535"
+     inkscape:cx="378.97168"
+     inkscape:cy="351.68237"
      inkscape:document-units="px"
-     inkscape:current-layer="svg3140"
+     inkscape:current-layer="PFDInstrumentsBankPoint"
      showgrid="false"
      showguides="false"
      inkscape:guide-bbox="true"
@@ -2473,41 +2473,6 @@
        style="display:inline;opacity:1"
        inkscape:label="BankPoint"
        id="PFDInstrumentsBankPoint">
-      <path
-         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:none;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
-         d="m 459.5,96 c -67.34296,-10e-7 -129.57461,35.92928 -163.24609,94.25 -33.67148,58.32072 -33.67149,130.17928 0,188.5 C 329.92539,437.07072 392.15704,473 459.5,473 v -2 c -66.63164,0 -128.19785,-35.54531 -161.51367,-93.25 -33.31582,-57.70469 -33.31582,-128.79531 0,-186.5 C 331.30215,133.54531 392.86836,97.999999 459.5,98 Z"
-         id="bankPointerLineL"
-         inkscape:connector-curvature="0" />
-      <path
-         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:none;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
-         d="m 459.5,96 v 2 C 562.51295,98.000002 646,181.48705 646,284.5 646,387.51295 562.51295,471 459.5,471 v 2 C 563.59383,473 648,388.59383 648,284.5 648,180.40617 563.59383,96.000002 459.5,96 Z"
-         id="PFDInstrumentsbankPointerLineR"
-         inkscape:connector-curvature="0" />
-      <path
-         inkscape:connector-curvature="0"
-         id="PFDInstrumentsRollPointer"
-         d="m 459.5,98 -11.0288,22 h 22.05598 z"
-         style="display:inline;fill:#ffffff;fill-opacity:1;stroke:none"
-         sodipodi:nodetypes="cccc"
-         inkscape:label="RollPointer" />
-      <path
-         inkscape:connector-curvature="0"
-         id="PFDInstrumentsSlipSkid"
-         d="M 447.43093,122 444,129 h 30.87838 l -3.43093,-7 z"
-         style="display:inline;fill:#ffffff;fill-opacity:1;stroke:none"
-         inkscape:label="SlipSkid" />
-      <path
-         style="display:inline;fill:#ffde29;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-         d="M 255.5,280.5 H 298 l 3.5,4 -3.5,4 h -42.5 z"
-         id="lWingTip"
-         inkscape:connector-curvature="0"
-         inkscape:label="lWingTip" />
-      <path
-         style="display:inline;opacity:1;fill:#ffde29;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-         d="m 663.49738,280.5 h -42.5 l -3.5,4 3.5,4 h 42.5 z"
-         id="rWingTip"
-         inkscape:connector-curvature="0"
-         inkscape:label="rWingTip" />
       <g
          id="g5175"
          transform="matrix(0.99913533,0,0,0.99999965,0.19473622,0.4851099)"
@@ -2557,6 +2522,63 @@
              style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
         </g>
       </g>
+      <path
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:none;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
+         d="m 459.5,96 c -67.34296,-10e-7 -129.57461,35.92928 -163.24609,94.25 -33.67148,58.32072 -33.67149,130.17928 0,188.5 C 329.92539,437.07072 392.15704,473 459.5,473 v -2 c -66.63164,0 -128.19785,-35.54531 -161.51367,-93.25 -33.31582,-57.70469 -33.31582,-128.79531 0,-186.5 C 331.30215,133.54531 392.86836,97.999999 459.5,98 Z"
+         id="bankPointerLineL"
+         inkscape:connector-curvature="0" />
+      <path
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+         inkscape:connector-curvature="0" />
+      <path
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+         style="display:inline;fill:#ffffff;fill-opacity:1;stroke:none"
+         sodipodi:nodetypes="cccc"
+         inkscape:label="RollPointer" />
+      <path
+         inkscape:connector-curvature="0"
+         id="PFDInstrumentsSlipSkid"
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+         inkscape:label="SlipSkid" />
+      <path
+         style="display:inline;fill:#ffde29;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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+         id="rWingTip"
+         inkscape:connector-curvature="0"
+         inkscape:label="rWingTip" />
+      <g
+         style="display:inline;opacity:1"
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+         transform="matrix(0.99913533,0,0,0.99999965,-0.28003001,0.26394506)"
+         inkscape:label="aircraftSymbol">
+        <g
+           id="g5167-8"
+           transform="matrix(-1,0,0,1,919.54877,0.13445281)">
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+             style="fill:#ff00ff;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+          <path
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+             id="path5456"
+             inkscape:connector-curvature="0"
+             sodipodi:nodetypes="ccccc" />
+        </g>
+      </g>
     </g>
     <g
        style="display:inline;opacity:1"
diff --git a/Aircraft/Instruments-3d/FG1000/MFDPages/SurroundPFD.svg b/Aircraft/Instruments-3d/FG1000/MFDPages/SurroundPFD.svg
index daca90f0c..cba4956ad 100644
--- a/Aircraft/Instruments-3d/FG1000/MFDPages/SurroundPFD.svg
+++ b/Aircraft/Instruments-3d/FG1000/MFDPages/SurroundPFD.svg
@@ -23,11 +23,11 @@
      borderopacity="0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="2.828427"
-     inkscape:cx="837.03116"
-     inkscape:cy="90.026882"
+     inkscape:zoom="1.4142135"
+     inkscape:cx="642.54405"
+     inkscape:cy="640.61088"
      inkscape:document-units="px"
-     inkscape:current-layer="NrstPageGroup"
+     inkscape:current-layer="g57958"
      showgrid="true"
      inkscape:window-width="2495"
      inkscape:window-height="1416"
@@ -65,8 +65,7 @@
      id="layer1"
      inkscape:groupmode="layer"
      inkscape:label="Surround"
-     style="display:inline"
-     sodipodi:insensitive="true">
+     style="display:inline">
     <g
        id="NAV"
        inkscape:label="NAV"
@@ -885,14 +884,89 @@
              x="397.90625"
              id="tspan57988"
              sodipodi:role="line">D</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-weight:normal;font-size:21.33374929px;line-height:125%;font-family:FreeSans;letter-spacing:0px;word-spacing:0px;display:inline;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;-inkscape-font-specification:'FreeSans, Normal';font-stretch:normal;font-variant:normal;text-anchor:start;text-align:start;writing-mode:lr;"
+           x="269.76041"
+           y="47.697918"
+           id="SurroundHeaderAPLateralArmed"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7801">ARM</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-weight:normal;font-size:21.33374929px;line-height:125%;font-family:FreeSans;letter-spacing:0px;word-spacing:0px;display:inline;fill:#00ff00;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;-inkscape-font-specification:'FreeSans, Normal';font-stretch:normal;font-variant:normal;text-anchor:start;text-align:start;writing-mode:lr;"
+           x="344.76041"
+           y="47.697918"
+           id="SurroundHeaderAPLateralActive"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7803">ACT</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:21.33374929px;line-height:125%;font-family:FreeSans;-inkscape-font-specification:'FreeSans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr;text-anchor:start;display:inline;fill:#00ff00;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;"
+           x="404.32443"
+           y="48"
+           id="SurroundHeaderAPStatus"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7838">AP</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:21.33374929px;line-height:125%;font-family:FreeSans;-inkscape-font-specification:'FreeSans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr;text-anchor:start;display:inline;fill:#00ff00;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;"
+           x="497.86313"
+           y="48.000004"
+           id="SurroundHeaderAPVerticalActive"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7873">ACT</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:21.33374977px;line-height:125%;font-family:FreeSans;-inkscape-font-specification:'FreeSans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;display:inline;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+           x="659.67999"
+           y="48"
+           id="SurroundHeaderAPVerticalArmed"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7893"
+             x="659.67999"
+             y="48">ARM</tspan></text>
+        <text
+           sodipodi:linespacing="125%"
+           xml:space="preserve"
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:21.33374977px;line-height:125%;font-family:FreeSans;-inkscape-font-specification:'FreeSans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;display:inline;fill:#00ff00;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+           x="595.99384"
+           y="48.000008"
+           id="SurroundHeaderAPVerticalReference"
+           inkscape:label="DATA-FIELD2-VAL-text"><tspan
+             sodipodi:role="line"
+             id="tspan7913"
+             x="595.99384"
+             y="48.000008">5000ft</tspan></text>
       </g>
+      <path
+         inkscape:connector-curvature="0"
+         id="path4617-5"
+         d="m 395.71032,56 0,-28"
+         style="display:inline;fill:none;stroke:#ffffff;stroke-width:1.42064464;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
+      <path
+         inkscape:connector-curvature="0"
+         id="path4617-5-4"
+         d="m 489.28968,56 0,-28"
+         style="display:inline;fill:none;stroke:#ffffff;stroke-width:1.42064464;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
     </g>
   </g>
   <g
      inkscape:groupmode="layer"
      id="layer2"
      inkscape:label="PageGroup"
-     style="display:inline">
+     style="display:inline"
+     sodipodi:insensitive="true">
     <g
        style="display:inline"
        id="WPTPageGroup"
@@ -1162,7 +1236,7 @@
        id="FPLPageGroup"
        inkscape:label="#g5441">
       <rect
-         style="opacity:1;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.752;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+         style="opacity:1;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.75199997;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          id="rect5325"
          width="257.24811"
          height="70.710793"
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Interface.nas b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Interface.nas
new file mode 100644
index 000000000..0d730badf
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Interface.nas
@@ -0,0 +1,133 @@
+# Copyright 2019 Stuart Buchanan
+# This file is part of FlightGear.
+#
+# FlightGear is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 2 of the License, or
+# (at your option) any later version.
+#
+# FlightGear is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with FlightGear.  If not, see <http://www.gnu.org/licenses/>.
+#
+# Emesary interface to set autopilot configuration.
+#
+
+var GFC700Interface = {
+
+new : func ()
+{
+  var obj = { parents : [ GFC700Interface ] };
+
+  # Emesary
+  obj._recipient = nil;
+  obj._transmitter = emesary.GlobalTransmitter;
+  obj._registered = 0;
+
+  obj._vertical_mode = globals.props.getNode("/autopilot/annunciator/vertical-mode", 1);
+  obj._pitch_setting = globals.props.getNode("/autopilot/settings/target-pitch-deg", 1);
+  obj._climb_setting = globals.props.getNode("/autopilot/settings/vertical-speed-fpm", 1);
+  obj._speed_setting = globals.props.getNode("/autopilot/settings/target-speed-kt", 1);
+
+  # State variables
+  obj._vertical_mode_button = globals.props.getNode("/autopilot/vertical-mode-button", 1);
+  obj._lateral_mode_button = globals.props.getNode("/autopilot/lateral-mode-button", 1);
+  obj._ap_mode_button = globals.props.getNode("/autopilot/AP-mode-button", 1);
+  obj._ap_enabled = globals.props.getNode("/autopilot/annunciator/autopilot-enabled", 1);;
+  obj._fd_enabled = globals.props.getNode("/autopilot/annunciator/flight-director-enabled", 1);;
+
+  return obj;
+},
+
+# Under the covers there are 3 FSMs, two of which run in parallel, and need
+# separate input channels.
+sendModeChange : func(value) {
+  me._vertical_mode_button.setValue(value);
+  me._lateral_mode_button.setValue(value);
+  if (value == "AP") {
+    me._ap_mode_button.setValue("AP");
+  }
+  return emesary.Transmitter.ReceiptStatus_Finished;
+},
+
+handleNoseUpDown : func(value) {
+  var vertical_mode = me._vertical_mode.getValue();
+
+  if (vertical_mode == "PIT") {
+    me._pitch_setting.setValue(me._pitch_setting.getValue() + (value * 1));
+  }
+
+  if (vertical_mode == "VS") {
+    me._climb_setting.setValue(me._climb_setting.getValue() + (value * 100));
+    setprop("/autopilot/annunciator/vertical-mode-target",
+          sprintf("%+ifpm", me._climb_setting.getValue())
+    );
+  }
+
+  if (vertical_mode == "FLC") {
+    me._speed_setting.setValue(me._speed_setting.getValue() + (value * 1));
+  }
+
+  return emesary.Transmitter.ReceiptStatus_Finished;
+},
+
+RegisterWithEmesary : func()
+{
+  if (me._recipient == nil){
+    me._recipient = emesary.Recipient.new("AutopilotInterface");
+    var controller = me;
+
+    # Note that unlike the various keys, this data isn't specific to a particular
+    # Device - it's shared by all.  Hence we don't check for the notificaiton
+    # Device_Id.
+    me._recipient.Receive = func(notification)
+    {
+
+      if (notification.NotificationType == notifications.PFDEventNotification.DefaultType and
+          notification.Event_Id == notifications.PFDEventNotification.HardKeyPushed and
+          notification.EventParameter != nil)
+      {
+        var id = notification.EventParameter.Id;
+        var value = notification.EventParameter.Value;
+
+        if (id == fg1000.FASCIA.AP )   return controller.sendModeChange("AP");
+        if (id == fg1000.FASCIA.HDG)   return controller.sendModeChange("HDG");
+        if (id == fg1000.FASCIA.NAV)   return controller.sendModeChange("NAV");
+        if (id == fg1000.FASCIA.APR)   return controller.sendModeChange("APR");
+        if (id == fg1000.FASCIA.VS )   return controller.sendModeChange("VS");
+        if (id == fg1000.FASCIA.FLC)   return controller.sendModeChange("FLC");
+        if (id == fg1000.FASCIA.FD )   return controller.sendModeChange("FD");
+        if (id == fg1000.FASCIA.ALT)   return controller.sendModeChange("ALT");
+        if (id == fg1000.FASCIA.VNV)   return controller.sendModeChange("VNV");
+        if (id == fg1000.FASCIA.BC )   controller.sendModeChange("BC");
+        if (id == fg1000.FASCIA.NOSE_UP)   return controller.handleNoseUpDown(1);
+        if (id == fg1000.FASCIA.NOSE_DOWN)   return controller.handleNoseUpDown(-1);
+      }
+      return emesary.Transmitter.ReceiptStatus_NotProcessed;
+    };
+  }
+
+  me._transmitter.Register(me._recipient);
+  me._registered = 1;
+},
+
+DeRegisterWithEmesary : func()
+{
+  # remove registration from transmitter; but keep the recipient once it is created.
+  if (me._registered == 1) me._transmitter.DeRegister(me._recipient);
+  me._registered = 0;
+},
+
+
+start : func() {
+  me.RegisterWithEmesary();
+},
+stop : func() {
+  me.DeRegisterWithEmesary();
+},
+
+};
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Publisher.nas b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Publisher.nas
new file mode 100644
index 000000000..91e75c9f2
--- /dev/null
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GFC700Publisher.nas
@@ -0,0 +1,41 @@
+# Copyright 2019 Stuart Buchanan
+# This file is part of FlightGear.
+#
+# FlightGear is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 2 of the License, or
+# (at your option) any later version.
+#
+# FlightGear is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with FlightGear.  If not, see <http://www.gnu.org/licenses/>.
+#
+# Emesary interface to publish autopilot configuration.
+#
+
+var GFC700Publisher = {
+
+new : func ()
+{
+  var obj = { parents : [
+    GFC700Publisher,
+    TriggeredPropertyPublisher.new(notifications.PFDEventNotification.FMSData) ] };
+
+  obj.addPropMap("AutopilotEnabled", "/autopilot/annunciator/autopilot-enabled");
+  obj.addPropMap("AutopilotFDEnabled", "/autopilot/annunciator/flight-director-enabled");
+  obj.addPropMap("AutopilotHeadingMode", "/autopilot/annunciator/lateral-mode");
+  obj.addPropMap("AutopilotHeadingModeArmed", "/autopilot/annunciator/lateral-mode-armed");
+  obj.addPropMap("AutopilotAltitudeMode", "/autopilot/annunciator/vertical-mode");
+  obj.addPropMap("AutopilotAltitudeModeArmed", "/autopilot/annunciator/vertical-mode-armed");
+  obj.addPropMap("AutopilotTargetPitch", "/autopilot/settings/target-pitch-deg");
+  obj.addPropMap("AutopilotTargetRoll", "/autopilot/settings/target-roll-deg");
+  obj.addPropMap("AutopilotTargetVertical", "/autopilot/annunciator/vertical-mode-target");
+
+  return obj;
+},
+
+};
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GenericInterfaceController.nas b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GenericInterfaceController.nas
index 27b3ffab0..47c47bd45 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GenericInterfaceController.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/Interfaces/GenericInterfaceController.nas
@@ -17,9 +17,9 @@
 # Generic Interface controller.
 
 var nasal_dir = getprop("/sim/fg-root") ~ "/Aircraft/Instruments-3d/FG1000/Nasal/";
-io.load_nasal(nasal_dir ~ 'Interfaces/NavDataInterface.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/PropertyPublisher.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/PropertyUpdater.nas', "fg1000");
+io.load_nasal(nasal_dir ~ 'Interfaces/NavDataInterface.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericEISPublisher.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericNavComPublisher.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericNavComUpdater.nas', "fg1000");
@@ -28,11 +28,26 @@ io.load_nasal(nasal_dir ~ 'Interfaces/GenericFMSUpdater.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericADCPublisher.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericFuelInterface.nas', "fg1000");
 io.load_nasal(nasal_dir ~ 'Interfaces/GenericFuelPublisher.nas', "fg1000");
+io.load_nasal(nasal_dir ~ 'Interfaces/GFC700Interface.nas', "fg1000");
 
 var GenericInterfaceController = {
 
   _instance : nil,
 
+  INTERFACE_LIST : [
+    "NavDataInterface",
+    "GenericEISPublisher",
+    "GenericNavComPublisher",
+    "GenericNavComUpdater",
+    "GenericFMSPublisher",
+    "GenericFMSUpdater",
+    "GenericADCPublisher",
+    "GenericFuelInterface",
+    "GenericFuelPublisher",
+    "GFC700Publisher",
+    "GFC700Interface",
+  ],
+
   # Factory method
   getOrCreateInstance : func() {
     if (GenericInterfaceController._instance == nil) {
@@ -48,42 +63,44 @@ var GenericInterfaceController = {
       running : 0,
     };
 
-    obj.eisPublisher = fg1000.GenericEISPublisher.new();
-    obj.navcomPublisher = fg1000.GenericNavComPublisher.new();
-    obj.navcomUpdater = fg1000.GenericNavComUpdater.new();
-    obj.navdataInterface = fg1000.NavDataInterface.new();
-    obj.gpsPublisher = fg1000.GenericFMSPublisher.new();
-    obj.gpsUpdater = fg1000.GenericFMSUpdater.new();
-    obj.adcPublisher = fg1000.GenericADCPublisher.new();
-    obj.fuelPublisher = fg1000.GenericFuelPublisher.new();
-    obj.fuelInterface = fg1000.GenericFuelInterface.new();
-
     return obj;
   },
 
   start : func() {
     if (me.running) return;
-    me.eisPublisher.start();
-    me.navcomPublisher.start();
-    me.navcomUpdater.start();
-    me.navdataInterface.start();
-    me.gpsPublisher.start();
-    me.gpsUpdater.start();
-    me.adcPublisher.start();
-    me.fuelPublisher.start();
-    me.fuelInterface.start();
+
+    # Reload the interfaces afresh to make development easier.  In normal
+    # usage this interface will only be started once anyway.
+    foreach (var interface; GenericInterfaceController.INTERFACE_LIST) {
+      io.load_nasal(nasal_dir ~ 'Interfaces/' ~ interface ~ '.nas', "fg1000");
+      var code = sprintf("me.%sInstance = fg1000.%s.new();", interface, interface);
+      var instantiate = compile(code);
+      instantiate();
+    }
+
+    foreach (var interface; GenericInterfaceController.INTERFACE_LIST) {
+      io.load_nasal(nasal_dir ~ 'Interfaces/' ~ interface ~ '.nas', "fg1000");
+      var code = 'me.' ~ interface ~ 'Instance.start();';
+      var start_interface = compile(code);
+      start_interface();
+    }
+
+    me.running = 1;
   },
 
   stop : func() {
     if (me.running == 0) return;
-    me.eisPublisher.stop();
-    me.navcomPublisher.stop();
-    me.navcomUpdater.stop();
-    me.navdataInterface.stop();
-    me.gpsPublisher.stop();
-    me.gpsUpdater.stop();
-    me.adcPublisher.stop();
-    me.fuelPublisher.stop();
-    me.fuelInterface.stop();
+    
+    foreach (var interface; GenericInterfaceController.INTERFACE_LIST) {
+      io.load_nasal(nasal_dir ~ 'Interfaces/' ~ interface ~ '.nas', "fg1000");
+      var code = 'me.' ~ interface ~ 'Instance.stop();';
+      var stop_interface = compile(code);
+      stop_interface();
+    }
   },
+
+  restart : func() {
+    me.stop();
+    me.start();
+  }
 };
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstruments.nas b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstruments.nas
index 5c44b03f0..fb8591bef 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstruments.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstruments.nas
@@ -44,6 +44,7 @@ var PFDInstruments =
       _OMI : "",
       _Multiline : 0,
       _annunciation : 0,
+      _fd_enabled : 1,  # Mark the Flight Director as enabled, as it is visible in the SVG.
     };
 
     # Hide various elements for the moment. TODO - implement
@@ -136,7 +137,7 @@ var PFDInstruments =
 
     pg.clearMenu();
     pg.resetMenuColors();
-    pg.addMenuItem(0, "OFF", pg, func(dev, pg, mi) { pg.setInsetMapVisible(0); });  # TODO
+    pg.addMenuItem(0, "OFF", pg, func(dev, pg, mi) { pg.setInsetMapVisible(0); pg.mfd.PFDInstruments.topMenu(dev, pg, mi); } );
     pg.addMenuItem(1, "DCLTR", pg,
       func(dev, pg, mi) { pg.insetMap.incrDCLTR(dev, mi); device.updateMenus(); },
       func(svg, mi) { pg.displayDCLTR(svg, mi); },
@@ -327,6 +328,25 @@ var PFDInstruments =
       .setTranslation(slip * 10, 0);
   },
 
+  updateFD : func(enabled, pitch, roll, fd_pitch, fd_roll) {
+    if (enabled) {
+      me.getElement("FlightDirector")
+        .setCenter(459,282.8)
+        .setRotation(-(roll - fd_roll) * D2R)
+        .setTranslation(0, -(fd_pitch - pitch) * 6.849)
+        .setVisible(1);
+      me._fd_enabled = 1;
+    } else if (me._fd_enabled == 1) {
+      me.getElement("FlightDirector").setVisible(0);
+      me._fd_enabled = 0;
+    }
+
+    # Overrides - command bars disappear if pitch exceeeds -20/+30, roll 65
+    if ((pitch < -20.0) or (pitch > 30.0) or (roll < -65.0) or (roll > 65.0)) {
+      me.getElement("FlightDirector").setVisible(0);
+    }
+  },
+
   updateIAS: func (ias, ias_trend) {
     if (ias >= 10) {
       me.setTextElement("Speed110", sprintf("% 2u",num(math.floor(ias/10))));
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstrumentsController.nas b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstrumentsController.nas
index 3db0c5ec0..ba0d165e0 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstrumentsController.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/PFDInstruments/PFDInstrumentsController.nas
@@ -1,4 +1,3 @@
-
 # Copyright 2018 Stuart Buchanan
 # This file is part of FlightGear.
 #
@@ -41,6 +40,11 @@ var PFDInstrumentsController =
       _mag_var : 0,
       _time_sec : 0,
 
+      _fd_pitch : 0,
+      _fd_roll : 0,
+      _fd_enabled : 0,
+      _ap_enabled : 0,
+
       _fp_active : 0,
       _fp_current_wp : 0,
       _current_flightplan : nil,
@@ -227,6 +231,7 @@ var PFDInstrumentsController =
     var roll = data["ADCRollDeg"];
     var slip = data["ADCSlipSkid"];
     me.page.updateAI(pitch, roll, slip);
+    me.page.updateFD((me._fd_enabled or me._ap_enabled), pitch, roll, me._fd_pitch, me._fd_roll);
 
     me.page.updateVSI(data["ADCVerticalSpeedFPM"]);
     me.page.updateTAS(data["ADCTrueAirspeed"]);
@@ -281,6 +286,12 @@ var PFDInstrumentsController =
     if (data["FMSLegCourseError"] != nil) me._deflection_dots = data["FMSLegCourseError"] /2.0;
     if (data["FMSLegCourseError"] != nil) me._leg_xtrk_nm = data["FMSLegCourseError"];
 
+    if (data["AutopilotFDEnabled"] != nil) me._fd_enabled = data["AutopilotFDEnabled"];
+    if (data["AutopilotEnabled"] != nil) me._ap_enabled = data["AutopilotEnabled"];
+
+    if (data["AutopilotTargetPitch"] != nil) me._fd_pitch   = data["AutopilotTargetPitch"];
+    if (data["AutopilotTargetRoll"] != nil)  me._fd_roll    = data["AutopilotTargetRoll"];
+
     var update_fp = 0;
 
     if (data["FMSFlightPlanEdited"] != nil) {
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/Surround/Surround.nas b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/Surround/Surround.nas
index e1e948a73..d345bafaa 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/Surround/Surround.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/MFDPages/Surround/Surround.nas
@@ -75,6 +75,16 @@ var HEADER_MAPPING = {
   "VSR" : { message : "FMSLegVerticalSpeedRequired", format : "%dfpm"},   # TODO
 };
 
+# Style element use for the AP Status indicator.  This is normally green text
+# on a black background, but is highlighted when disengaged as black text on a yellow
+# background for 5 seconds.
+var AP_STATUS_STYLE = {
+  CURSOR_BLINK_PERIOD : 0.5,
+  HIGHLIGHT_COLOR :  "#ffff00",
+  HIGHLIGHT_TEXT_COLOR : "#000000",
+  NORMAL_TEXT_COLOR : "#00ff00",
+};
+
 var Surround =
 {
   new : func (mfd, myCanvas, device, svg, pfd=0)
@@ -98,6 +108,9 @@ var Surround =
 
     if (pfd) {
       obj.addTextElements(["HeaderFrom", "HeaderTo", "LegDistance", "LegBRG"]);
+      obj.addTextElements(["HeaderAPLateralArmed", "HeaderAPLateralActive", "HeaderAPVerticalArmed", "HeaderAPVerticalActive", "HeaderAPVerticalReference"]);
+      obj._apStatus = PFD.TextElement.new(obj.pageName, svg, "HeaderAPStatus", "", AP_STATUS_STYLE);
+      obj._apStatusTimer = nil;
       obj._dto = PFD.HighlightElement.new(obj.pageName, svg, "HeaderDTO", "DTO");
       obj._leg = PFD.HighlightElement.new(obj.pageName, svg, "HeaderActiveLeg", "Leg");
     } else {
@@ -254,6 +267,35 @@ var Surround =
         }
       }
 
+      if (data["AutopilotHeadingMode"] != nil) me.setTextElement("HeaderAPLateralActive", data["AutopilotHeadingMode"]);
+      if (data["AutopilotHeadingModeArmed"] != nil) me.setTextElement("HeaderAPLateralArmed", data["AutopilotHeadingModeArmed"]);
+      if (data["AutopilotAltitudeMode"] != nil) me.setTextElement("HeaderAPVerticalActive", data["AutopilotAltitudeMode"]);
+      if (data["AutopilotAltitudeModeArmed"] != nil) me.setTextElement("HeaderAPVerticalArmed", data["AutopilotAltitudeModeArmed"]);
+
+      if (data["AutopilotEnabled"] != nil) {
+        if (data["AutopilotEnabled"] == 1) {
+          me._apStatus.setValue("AP");
+          if (me._apStatusTimer != nil) {
+            # We were previously flashing, so stop.
+            me._apStatusTimer.stop();
+            me._apStatusTimer = nil;
+            me._apStatus.unhighlightElement();
+          }
+        } else {
+          if ((me._apStatus.getValue() != "") and (me._apStatus.isHighlighted() == 0)) {
+            # We were previously enabled, so we want to make the AP Status element
+            # flash for 5 seconds before removing it.  The highlightElement()
+            # starts it flashing, and we use a timer to stop it.
+            me._apStatus.highlightElement();
+            if (me._apStatusTimer == nil) me._apStatusTimer =
+              maketimer(5.0, me, func() { me._apStatus.unhighlightElement(); me._apStatus.setValue(""); } );
+            me._apStatusTimer.singleShot = 1;
+            me._apStatusTimer.restart(5.0);
+          }
+        }
+      }
+
+      if (data["AutopilotTargetVertical"] != nil) me.setTextElement("HeaderAPVerticalReference", data["AutopilotTargetVertical"]);
       if (data["FMSLegDesiredTrack"]) me.setTextElement("LegBRG", sprintf("%i°", data["FMSLegDesiredTrack"]));
       if (data["FMSLegDistanceNM"]) me.setTextElement("LegDistance", sprintf("%.1fnm", data["FMSLegDistanceNM"]));
     } else {
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/NavMap.nas b/Aircraft/Instruments-3d/FG1000/Nasal/NavMap.nas
index 816bf49d2..f45a2a9e8 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/NavMap.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/NavMap.nas
@@ -254,7 +254,7 @@ var NavMap = {
   {
     var incr_or_decr = (val > 0) ? 1 : -1;
     me.setZoom(me._current_zoom + incr_or_decr);
-    return emesary.Transmitter.ReceiptStatus_Finished;
+    return emesary.Transmitter.ReceiptStatus_OK;
   },
 
   getMap : func() {
diff --git a/Nasal/canvas/PFD/TextElement.nas b/Nasal/canvas/PFD/TextElement.nas
index 37ec05243..85ecf3b73 100644
--- a/Nasal/canvas/PFD/TextElement.nas
+++ b/Nasal/canvas/PFD/TextElement.nas
@@ -63,6 +63,7 @@ var TextElement =
   },
   isEditable : func () { return 0; },
   isInEdit : func() { return 0; },
+  isHighlighted : func() { return me._highlightEnabled; },
   enterElement : func() { return me.getValue(); },
   clearElement : func() { },
   editElement : func()  { },