diff --git a/FlightGear.dsp b/FlightGear.dsp
index e58087aae..5f6d95384 100644
--- a/FlightGear.dsp
+++ b/FlightGear.dsp
@@ -2280,6 +2280,51 @@ SOURCE=.\src\Main\viewer.cxx
 
 !ENDIF 
 
+# End Source File
+# Begin Source File
+
+SOURCE=.\src\Main\viewer_lookat.cxx
+
+!IF  "$(CFG)" == "FlightGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\main"
+
+!ELSEIF  "$(CFG)" == "FlightGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\main"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\src\Main\viewer_rph.cxx
+
+!IF  "$(CFG)" == "FlightGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\main"
+
+!ELSEIF  "$(CFG)" == "FlightGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\main"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\src\Main\viewmgr.cxx
+
+!IF  "$(CFG)" == "FlightGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\main"
+
+!ELSEIF  "$(CFG)" == "FlightGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\main"
+
+!ENDIF 
+
 # End Source File
 # End Group
 # Begin Group "Lib_Navaids"
diff --git a/src/FDM/Balloon.cxx b/src/FDM/Balloon.cxx
index 7ea20dd59..216a7d42c 100644
--- a/src/FDM/Balloon.cxx
+++ b/src/FDM/Balloon.cxx
@@ -176,37 +176,14 @@ bool FGBalloonSim::copy_from_BalloonSim() {
 
     // Positions
     current_balloon.getPosition( temp );
-    double lat_geoc = temp[0];
-    double lon	    = temp[1];
-    double alt	    = temp[2] * METER_TO_FEET;
-
-    double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
-    sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
-		  &lat_geod, &tmp_alt, &sl_radius1 );
-    sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
-
-    FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod
-	    << " lat_geoc = " << lat_geoc
-	    << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET
-	    << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
-	    << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
-	    << " Equator = " << EQUATORIAL_RADIUS_FT );
-	    
-    _set_Geocentric_Position( lat_geoc, lon, 
-			       sl_radius2 * METER_TO_FEET + alt );
-    _set_Geodetic_Position( lat_geod, lon, alt );
+    //temp[0]: geocentric latitude
+    //temp[1]: longitude
+    //temp[2]: altitude (meters)
 
+    _updatePosition( temp[0], temp[1], temp[2] * METER_TO_FEET  );
+    
     current_balloon.getHPR( temp );
-    /* **FIXME*** */ _set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
-    /* **FIXME*** */ _set_Earth_position_angle( 0.0 );
-
-    /* ***FIXME*** */ _set_Runway_altitude( 0.0 );
-
-    _set_sin_lat_geocentric( lat_geoc );
-    _set_cos_lat_geocentric( lat_geoc );
-  
-    _set_sin_cos_longitude( lon );
-    _set_sin_cos_latitude( lat_geod );
+    set_Euler_Angles( temp[0], temp[1], temp[2] );
     
     return true;
 }
diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx
index 9285fb35f..44058b127 100644
--- a/src/FDM/JSBSim.cxx
+++ b/src/FDM/JSBSim.cxx
@@ -343,7 +343,9 @@ bool FGJSBsim::copy_from_JSBsim() {
     _set_Velocities_Wind_Body( fdmex->GetTranslation()->GetUVW()(1),
 			       fdmex->GetTranslation()->GetUVW()(2),
 			       fdmex->GetTranslation()->GetUVW()(3) );
-  
+    
+    _set_V_rel_wind( fdmex->GetTranslation()->GetVt() );
+    
     _set_V_equiv_kts( fdmex->GetAuxiliary()->GetVequivalentKTS() );
 
     // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
@@ -367,27 +369,10 @@ bool FGJSBsim::copy_from_JSBsim() {
     _set_Mach_number( fdmex->GetTranslation()->GetMach() );
 
     // Positions
-
-    double lat_geoc = fdmex->GetPosition()->GetLatitude();
-    double lon = fdmex->GetPosition()->GetLongitude();
-    double alt = fdmex->GetPosition()->Geth();
-    double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
-
-    sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
-		  &lat_geod, &tmp_alt, &sl_radius1 );
-    sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
-
-    FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod
-	    << " lat_geoc = " << lat_geoc
-	    << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET
-	    << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
-	    << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
-	    << " Equator = " << EQUATORIAL_RADIUS_FT );
-
-    _set_Geocentric_Position( lat_geoc, lon, sl_radius2 * METER_TO_FEET + alt );
-  
-    _set_Geodetic_Position( lat_geod, lon, alt );
-  
+    _updatePosition( fdmex->GetPosition()->GetLatitude(),
+                     fdmex->GetPosition()->GetLongitude(),
+		     fdmex->GetPosition()->Geth() );
+    
     _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
 		       fdmex->GetRotation()->Gettht(),
 		       fdmex->GetRotation()->Getpsi() );
@@ -398,41 +383,51 @@ bool FGJSBsim::copy_from_JSBsim() {
     _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 
-    /* **FIXME*** */ _set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
-    /* **FIXME*** */ _set_Earth_position_angle( fdmex->GetAuxiliary()->
-						GetEarthPositionAngle() );
+    _set_Earth_position_angle( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
 
-    /* ***FIXME*** */ _set_Runway_altitude( scenery.cur_radius * METERS_TO_FEET -
-					    get_Sea_level_radius() );
-  
-    _set_sin_lat_geocentric( lat_geoc );
-    _set_cos_lat_geocentric( lat_geoc );
-  
-    _set_sin_cos_longitude( lon );
-  
-    _set_sin_cos_latitude( lat_geod );
-  
     _set_Climb_Rate( fdmex->GetPosition()->Gethdot() );
 
-    for ( i = 0; i < 3; i++ ) {
-	for ( j = 0; j < 3; j++ ) {
+    for ( i = 1; i <= 3; i++ ) {
+	for ( j = 1; j <= 3; j++ ) {
 	    _set_T_Local_to_Body( i, j, fdmex->GetState()->GetTl2b()(i,j) );
 	}
     }
-
     return true;
 }
+
+void FGJSBsim::snap_shot(void) {
+  	fgic->SetLatitudeRadIC(get_Lat_geocentric() );
+  	fgic->SetLongitudeRadIC( get_Longitude() );
+  	fgic->SetAltitudeFtIC( get_Altitude() );
+  	fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
+  	fgic->SetVtrueFpsIC( get_V_rel_wind() );
+  	fgic->SetPitchAngleRadIC( get_Theta() );
+  	fgic->SetRollAngleRadIC( get_Phi() );
+  	fgic->SetTrueHeadingRadIC( get_Psi() );
+  	fgic->SetClimbRateFpsIC( get_Climb_Rate() );
+}				
+
+
 //Positions
 void FGJSBsim::set_Latitude(double lat) {
-    FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Latitude: " << lat);
-    fgic->SetLatitudeRadIC(lat);
+    double sea_level_radius_meters,lat_geoc;
+    
+    FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Latitude: " << lat ); 
+    
+    snap_shot();
+    sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
+    fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * METER_TO_FEET  );
+    fgic->SetLatitudeRadIC( lat_geoc );
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus
     needTrim=true;
 }  
 
 void FGJSBsim::set_Longitude(double lon) {
-    FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Longitude: " << lon);
+    
+    FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Longitude: " << lon );
+    
+    snap_shot();
     fgic->SetLongitudeRadIC(lon);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus
@@ -440,7 +435,14 @@ void FGJSBsim::set_Longitude(double lon) {
 }  
 
 void FGJSBsim::set_Altitude(double alt) {
-    FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Altitude: " << alt );
+    double sea_level_radius_meters,lat_geoc;
+    
+    FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Altitude: " << alt );    
+    
+    snap_shot();
+    sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
+    fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * METER_TO_FEET );
+    fgic->SetLatitudeRadIC( lat_geoc );
     fgic->SetAltitudeFtIC(alt);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus
@@ -449,6 +451,8 @@ void FGJSBsim::set_Altitude(double alt) {
   
 void FGJSBsim::set_V_calibrated_kts(double vc) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
+    
+    snap_shot();
     fgic->SetVcalibratedKtsIC(vc);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus
@@ -457,6 +461,8 @@ void FGJSBsim::set_V_calibrated_kts(double vc) {
 
 void FGJSBsim::set_Mach_number(double mach) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
+    
+    snap_shot();
     fgic->SetMachIC(mach);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus
@@ -466,22 +472,21 @@ void FGJSBsim::set_Mach_number(double mach) {
 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Velocities_Local: " 
 	   << north << ", " <<  east << ", " << down ); 
+    
+    snap_shot();
     fgic->SetVnorthFpsIC(north);
     fgic->SetVeastFpsIC(east);
     fgic->SetVdownFpsIC(down);
     fdmex->RunIC(fgic); //loop JSBSim once
-    cout << "fdmex->GetTranslation()->GetVt(): " << fdmex->GetTranslation()->GetVt() << endl;
-    cout << "fdmex->GetPosition()->GetVn(): " << fdmex->GetPosition()->GetVn() << endl;
-
     copy_from_JSBsim(); //update the bus
-    busdump();
     needTrim=true;
 }  
 
 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Velocities_Wind_Body: " 
 	   << u << ", " <<  v << ", " <<  w );
- 
+    
+    snap_shot();
     fgic->SetUBodyFpsIC(u);
     fgic->SetVBodyFpsIC(v);
     fgic->SetWBodyFpsIC(w);
@@ -494,6 +499,8 @@ void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Euler_Angles: " 
 	   << phi << ", " << theta << ", " << psi );
+    
+    snap_shot();
     fgic->SetPitchAngleRadIC(theta);
     fgic->SetRollAngleRadIC(phi);
     fgic->SetTrueHeadingRadIC(psi);
@@ -505,6 +512,8 @@ void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 //Flight Path
 void FGJSBsim::set_Climb_Rate( double roc) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
+    
+    snap_shot();
     fgic->SetClimbRateFpsIC(roc);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus 
@@ -513,6 +522,8 @@ void FGJSBsim::set_Climb_Rate( double roc) {
 
 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
+    
+    snap_shot();
     fgic->SetFlightPathAngleRadIC(gamma);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus  
@@ -522,6 +533,8 @@ void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 //Earth
 void FGJSBsim::set_Sea_level_radius(double slr) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
+    
+    snap_shot();
     fgic->SetSeaLevelRadiusFtIC(slr);
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus 
@@ -530,6 +543,8 @@ void FGJSBsim::set_Sea_level_radius(double slr) {
 
 void FGJSBsim::set_Runway_altitude(double ralt) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
+    
+    snap_shot();
     _set_Runway_altitude( ralt );
     fdmex->RunIC(fgic); //loop JSBSim once
     copy_from_JSBsim(); //update the bus 
@@ -538,6 +553,8 @@ void FGJSBsim::set_Runway_altitude(double ralt) {
 
 void FGJSBsim::set_Static_pressure(double p) { 
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Static_pressure: " << p );
+    
+    snap_shot();
     fdmex->GetAtmosphere()->SetExPressure(p);
     if(fdmex->GetAtmosphere()->External() == true)
 	needTrim=true;
@@ -545,6 +562,8 @@ void FGJSBsim::set_Static_pressure(double p) {
   
 void FGJSBsim::set_Static_temperature(double T) { 
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Static_temperature: " << T );
+    
+    snap_shot();
     fdmex->GetAtmosphere()->SetExTemperature(T);
     if(fdmex->GetAtmosphere()->External() == true)
 	needTrim=true;
@@ -553,6 +572,8 @@ void FGJSBsim::set_Static_temperature(double T) {
 
 void FGJSBsim::set_Density(double rho) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Density: " << rho );
+    
+    snap_shot();
     fdmex->GetAtmosphere()->SetExDensity(rho);
     if(fdmex->GetAtmosphere()->External() == true)
 	needTrim=true;
@@ -564,6 +585,8 @@ void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
 					     double wdown ) {
     FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: " 
 	   << wnorth << ", " << weast << ", " << wdown );
+    
+    snap_shot();
     fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
     if(fdmex->GetAtmosphere()->External() == true)
         needTrim=true;
diff --git a/src/FDM/JSBSim.hxx b/src/FDM/JSBSim.hxx
index 9d5f542c0..4b9cf8e2f 100644
--- a/src/FDM/JSBSim.hxx
+++ b/src/FDM/JSBSim.hxx
@@ -21,6 +21,9 @@
  along with this program; if not, write to the Free Software
  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 
+ Further information about the GNU General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
 HISTORY
 --------------------------------------------------------------------------------
 02/01/1999   CLO   Created
@@ -77,15 +80,6 @@ CLASS DECLARATION
 
 class FGJSBsim: public FGInterface {
 
-    // The aircraft for this instance
-    FGFDMExec *fdmex;
-    FGInitialCondition *fgic;
-    bool needTrim;
-    
-    bool trimmed;
-    float trim_elev;
-    float trim_throttle;
-
 public:
     /// Constructor
     FGJSBsim::FGJSBsim(void);
@@ -100,40 +94,120 @@ public:
 
     /// Reset flight params to a specific position
     bool init( double dt );
-    
-    // Positions
-    void set_Latitude(double lat);  // geocentric
-    void set_Longitude(double lon);    
-    void set_Altitude(double alt);        // triggers re-calc of AGL altitude
-    //void set_AltitudeAGL(double altagl); // and vice-versa
-    
-    // Speeds -- setting any of these will trigger a re-calc of the rest
-    void set_V_calibrated_kts(double vc);
-    void set_Mach_number(double mach);
-    void set_Velocities_Local( double north, double east, double down );
-    void set_Velocities_Wind_Body( double u, double v, double w);
-    
-    // Euler angles 
-    void set_Euler_Angles( double phi, double theta, double psi );
-    
-    // Flight Path
-    void set_Climb_Rate( double roc);
-    void set_Gamma_vert_rad( double gamma);
-    
-    // Earth
-    void set_Sea_level_radius(double slr);
-    void set_Runway_altitude(double ralt);
-    
-    // Atmosphere
-    void set_Static_pressure(double p);
-    void set_Static_temperature(double T);
-    void set_Density(double rho);
-    void set_Velocities_Local_Airmass (double wnorth, 
-				       double weast, 
-				       double wdown );
 
-    // update position based on inputs, positions, velocities, etc.
+    /// Position Parameters
+    //@{
+    /** Set geocentric latitude
+        @param lat latitude in radians measured from the 0 meridian where
+	                 the westerly direction is positive and east is negative */
+    void set_Latitude(double lat);  // geocentric
+
+    /** Set longitude
+        @param lon longitude in radians measured from the equator where
+	                 the northerly direction is positive and south is negative */
+    void set_Longitude(double lon);
+
+    /** Set altitude
+        Note: this triggers a recalculation of AGL altitude
+	      @param alt altitude in feet */
+    void set_Altitude(double alt);        // triggers re-calc of AGL altitude
+    //@}
+
+    //void set_AltitudeAGL(double altagl); // and vice-versa
+
+    /// Velocity Parameters
+    //@{
+    /** Sets calibrated airspeed
+        Setting this will trigger a recalc of the other velocity terms.
+	      @param vc Calibrated airspeed in ft/sec */
+    void set_V_calibrated_kts(double vc);
+
+    /** Sets Mach number.
+        Setting this will trigger a recalc of the other velocity terms.
+	      @param mach Mach number */
+    void set_Mach_number(double mach);
+
+    /** Sets velocity in N-E-D coordinates.
+        Setting this will trigger a recalc of the other velocity terms.
+	      @param north velocity northward in ft/sec
+	      @param east velocity eastward in ft/sec
+	      @param down velocity downward in ft/sec */
+    void set_Velocities_Local( double north, double east, double down );
+
+    /** Sets aircraft velocity in stability frame.
+        Setting this will trigger a recalc of the other velocity terms.
+	      @param u X velocity in ft/sec
+	      @param v Y velocity  in ft/sec
+	      @param w Z velocity in ft/sec */
+    void set_Velocities_Wind_Body( double u, double v, double w);
+    //@}
+
+    /** Euler angle parameters
+        @param phi roll angle in radians
+	      @param theta pitch angle in radians
+	      @param psi heading angle in radians */
+    void set_Euler_Angles( double phi, double theta, double psi );
+
+    /// Flight Path Parameters
+    //@{
+    /** Sets rate of climb
+        @param roc Rate of climb in ft/sec */
+    void set_Climb_Rate( double roc);
+
+    /** Sets the flight path angle in radians
+        @param gamma flight path angle in radians. */
+    void set_Gamma_vert_rad( double gamma);
+    //@}
+
+    /// Earth Parameters
+    //@{
+    /** Sets the sea level radius in feet.
+        @param slr Sea Level Radius in feet */
+    void set_Sea_level_radius(double slr);
+
+    /** Sets the runway altitude in feet above sea level.
+        @param ralt Runway altitude in feet above sea level. */
+    void set_Runway_altitude(double ralt);
+    //@}
+
+    /// Atmospheric Parameters
+    //@{
+    /** Sets the atmospheric static pressure
+        @param p pressure in psf */
+    void set_Static_pressure(double p);
+
+    /** Sets the atmospheric temperature
+        @param T temperature in degrees rankine */
+    void set_Static_temperature(double T);
+
+    /** Sets the atmospheric density.
+        @param rho air density slugs/cubic foot */
+    void set_Density(double rho);
+
+    /** Sets the velocity of the local airmass for wind modeling.
+        @param wnorth velocity north in fps
+        @param weast velocity east in fps
+        @param wdown velocity down in fps*/
+    void set_Velocities_Local_Airmass (double wnorth,
+				       double weast,
+				       double wdown );
+    //@}
+
+    /** Update the position based on inputs, positions, velocities, etc.
+        @param multiloop number of times to loop through the FDM
+	      @return true if successful */
     bool update( int multiloop );
+
+private:
+    FGFDMExec *fdmex;
+    FGInitialCondition *fgic;
+    bool needTrim;
+
+    bool trimmed;
+    float trim_elev;
+    float trim_throttle;
+    
+    void snap_shot(void);
 };
 
 
diff --git a/src/FDM/JSBSim/FGInitialCondition.cpp b/src/FDM/JSBSim/FGInitialCondition.cpp
index 284cddb23..14ea2ae0c 100644
--- a/src/FDM/JSBSim/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/FGInitialCondition.cpp
@@ -110,8 +110,8 @@ void FGInitialCondition::SetVequivalentKtsIC(float tt) {
   vc=calcVcas(mach);
 }
 
-void FGInitialCondition::SetVtrueKtsIC(float tt) {
-  vt=tt*jsbKTSTOFPS;
+void FGInitialCondition::SetVtrueFpsIC(float tt) {
+  vt=tt;
   lastSpeedSet=setvt;
   mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
   vc=calcVcas(mach);
diff --git a/src/FDM/JSBSim/FGInitialCondition.h b/src/FDM/JSBSim/FGInitialCondition.h
index 7303bbad1..ccb5e9a96 100644
--- a/src/FDM/JSBSim/FGInitialCondition.h
+++ b/src/FDM/JSBSim/FGInitialCondition.h
@@ -118,7 +118,8 @@ public:
 
   void SetVcalibratedKtsIC(float tt);
   void SetVequivalentKtsIC(float tt);
-  void SetVtrueKtsIC(float tt);
+  inline void SetVtrueKtsIC(float tt) { SetVtrueFpsIC(tt*jsbKTSTOFPS); }
+  void SetVtrueFpsIC(float tt);
   void SetMachIC(float tt);
 
   void SetUBodyFpsIC(float tt);
@@ -206,6 +207,9 @@ public:
   inline float GetThetaRadIC(void) { return theta; }
   inline float GetPhiRadIC(void)   { return phi; }
   inline float GetPsiRadIC(void)   { return psi; }
+  
+  inline float GetSeaLevelRadiusFtIC(void)  { return sea_level_radius; }
+  inline float GetTerrainAltitudeFtIC(void) { return terrain_altitude; }
 
 
 
diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp
index f383f72b3..4fe8aab56 100644
--- a/src/FDM/JSBSim/FGState.cpp
+++ b/src/FDM/JSBSim/FGState.cpp
@@ -360,6 +360,10 @@ void FGState::Initialize(FGInitialCondition *FGIC) {
   psi = FGIC->GetPsiRadIC();
 
   Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
+  
+  FDMExec->GetPosition()->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
+  FDMExec->GetPosition()->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() + 
+                                             FGIC->GetTerrainAltitudeFtIC() );
 }
 
 /******************************************************************************/
diff --git a/src/FDM/LaRCsim.cxx b/src/FDM/LaRCsim.cxx
index 8423e5283..856c104ff 100644
--- a/src/FDM/LaRCsim.cxx
+++ b/src/FDM/LaRCsim.cxx
@@ -38,24 +38,22 @@
 #include "LaRCsim.hxx"
 
 FGLaRCsim::FGLaRCsim(void) {
-   ls_toplevel_init( 0.0, (char *)globals->get_options()->get_aircraft().c_str() );
-   lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
-   copy_to_LaRCsim(); // initialize all of LaRCsim's vars
-   //this should go away someday -- formerly done in fg_init.cxx
-   Mass = 8.547270E+01;
-   I_xx = 1.048000E+03;
-	 I_yy = 3.000000E+03;
-   I_zz = 3.530000E+03;
-   I_xz = 0.000000E+00;
-   
-   
-
+    ls_toplevel_init( 0.0, 
+		      (char *)globals->get_options()->get_aircraft().c_str() );
+    lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
+    copy_to_LaRCsim(); // initialize all of LaRCsim's vars
+    //this should go away someday -- formerly done in fg_init.cxx
+    Mass = 8.547270E+01;
+    I_xx = 1.048000E+03;
+    I_yy = 3.000000E+03;
+    I_zz = 3.530000E+03;
+    I_xz = 0.000000E+00;
 }
 
 FGLaRCsim::~FGLaRCsim(void) {
-   if(lsic != NULL) {
-    delete lsic;
-   }
+    if(lsic != NULL) {
+	delete lsic;
+    }
 }    
 
 // Initialize the LaRCsim flight model, dt is the time increment for
@@ -71,7 +69,7 @@ bool FGLaRCsim::init( double dt ) {
     // update the engines interface
     FGEngInterface e;
     add_engine( e );
-    
+	
 
     // FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::init()"  );
 
@@ -87,7 +85,6 @@ bool FGLaRCsim::init( double dt ) {
 
     // actual LaRCsim top level init
     // ls_toplevel_init( dt, (char *)globals->get_options()->get_aircraft().c_str() );
-    
 
     FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " << 
 	    get_Latitude() );
@@ -116,9 +113,9 @@ bool FGLaRCsim::update( int multiloop ) {
 	eng.set_Throttle_Lever_Pos( controls.get_throttle( 0 ) * 100.0 );
 	eng.set_Propeller_Lever_Pos( 100 );
 	if ( controls.get_mixture( 0 ) > 0.60 ) {
-	    eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 );
+            eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 );
 	} else {
-	    eng.set_Mixture_Lever_Pos( 60.0 );
+            eng.set_Mixture_Lever_Pos( 60.0 );
 	}
 
 	// update engine model
@@ -138,13 +135,16 @@ bool FGLaRCsim::update( int multiloop ) {
 	e->set_prop_thrust( eng.get_prop_thrust_SI() );
 
 #if 0
-	FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " << controls.get_throttle( 0 ) * 100.0);
+	FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " 
+		<< controls.get_throttle( 0 ) * 100.0);
 	FG_LOG( FG_FLIGHT, FG_INFO, " Mixture = " << 80);
 	FG_LOG( FG_FLIGHT, FG_INFO, " RPM = " << eng.get_RPM());
 	FG_LOG( FG_FLIGHT, FG_INFO, " MP = " << eng.get_Manifold_Pressure());
-	FG_LOG( FG_FLIGHT, FG_INFO, " HP = " << ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) );
+	FG_LOG( FG_FLIGHT, FG_INFO, " HP = " 
+	  	<< ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) );
 	FG_LOG( FG_FLIGHT, FG_INFO, " EGT = " << eng.get_EGT());
-	FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) " << eng.get_prop_thrust_SI());	// Thrust in Newtons
+	FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) " 
+	  	<< eng.get_prop_thrust_SI());	// Thrust in Newtons
 	FG_LOG( FG_FLIGHT, FG_INFO, '\n');
 #endif
 	// Hmm .. Newtons to lbs is 0.2248 ...    
@@ -185,8 +185,8 @@ bool FGLaRCsim::update( int multiloop ) {
 
     // Weather
     /* V_north_airmass = get_V_north_airmass();
-    V_east_airmass =  get_V_east_airmass();
-    V_down_airmass =  get_V_down_airmass(); */
+       V_east_airmass =  get_V_east_airmass();
+       V_down_airmass =  get_V_down_airmass(); */
 
 
     // old -- FGInterface_2_LaRCsim() not needed except for Init()
@@ -198,14 +198,9 @@ bool FGLaRCsim::update( int multiloop ) {
 
     ls_update(multiloop);
 
-    if(isnan(Phi)) {
-	busdump();
-	exit(1);
-    } 
-
     // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
     // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
-    
+
     // translate LaRCsim back to FG structure so that the
     // autopilot (and the rest of the sim can use the updated
     // values
@@ -438,7 +433,7 @@ bool FGLaRCsim::copy_from_LaRCsim() {
     // set_Velocities_Gust( U_gust, V_gust, W_gust );
     _set_Velocities_Wind_Body( U_body, V_body, W_body );
 
-    // set_V_rel_wind( V_rel_wind );
+    _set_V_rel_wind( V_rel_wind );
     // set_V_true_kts( V_true_kts );
     // set_V_rel_ground( V_rel_ground );
     // set_V_inertial( V_inertial );
@@ -451,7 +446,7 @@ bool FGLaRCsim::copy_from_LaRCsim() {
     _set_Omega_Body( P_body, Q_body, R_body );
     // set_Omega_Local( P_local, Q_local, R_local );
     // set_Omega_Total( P_total, Q_total, R_total );
-    
+
     _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
     _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
 
@@ -472,7 +467,7 @@ bool FGLaRCsim::copy_from_LaRCsim() {
 
     // Positions
     _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc, 
-                               Radius_to_vehicle );
+			      Radius_to_vehicle );
     _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
     _set_Euler_Angles( Phi, Theta, Psi );
 
@@ -549,159 +544,188 @@ bool FGLaRCsim::copy_from_LaRCsim() {
 
 
 void FGLaRCsim::set_ls(void) {
-   Phi=lsic->GetRollAngleRadIC();
-   Theta=lsic->GetPitchAngleRadIC();
-   Psi=lsic->GetHeadingRadIC();
-   V_north=lsic->GetVnorthFpsIC();
-   V_east=lsic->GetVeastFpsIC();
-   V_down=lsic->GetVdownFpsIC();
-   Altitude=lsic->GetAltitudeFtIC();
-   Latitude=lsic->GetLatitudeGDRadIC();
-   Longitude=lsic->GetLongitudeRadIC();
-   Runway_altitude=lsic->GetRunwayAltitudeFtIC();
-   V_north_airmass = lsic->GetVnorthAirmassFpsIC();
-   V_east_airmass = lsic->GetVeastAirmassFpsIC();
-   V_down_airmass = lsic->GetVdownAirmassFpsIC();
-   ls_loop(0.0,-1);
-   copy_from_LaRCsim();
-   FG_LOG( FG_FLIGHT, FG_INFO, "  FGLaRCsim::set_ls(): "  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Phi: " <<  Phi  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Theta: " <<  Theta  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Psi: " <<  Psi  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_north: " <<  V_north  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_east: " <<  V_east  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_down: " <<  V_down  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Altitude: " <<  Altitude  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Latitude: " <<  Latitude  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Longitude: " <<  Longitude  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     Runway_altitude: " <<  Runway_altitude  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_north_airmass: " <<  V_north_airmass  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_east_airmass: " <<  V_east_airmass  );
-   FG_LOG( FG_FLIGHT, FG_INFO, "     V_down_airmass: " <<  V_down_airmass  );
+    Phi=lsic->GetRollAngleRadIC();
+    Theta=lsic->GetPitchAngleRadIC();
+    Psi=lsic->GetHeadingRadIC();
+    V_north=lsic->GetVnorthFpsIC();
+    V_east=lsic->GetVeastFpsIC();
+    V_down=lsic->GetVdownFpsIC();
+    Altitude=lsic->GetAltitudeFtIC();
+    Latitude=lsic->GetLatitudeGDRadIC();
+    Longitude=lsic->GetLongitudeRadIC();
+    Runway_altitude=lsic->GetRunwayAltitudeFtIC();
+    V_north_airmass = lsic->GetVnorthAirmassFpsIC();
+    V_east_airmass = lsic->GetVeastAirmassFpsIC();
+    V_down_airmass = lsic->GetVdownAirmassFpsIC();
+    ls_loop(0.0,-1);
+    copy_from_LaRCsim();
+    FG_LOG( FG_FLIGHT, FG_INFO, "  FGLaRCsim::set_ls(): "  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Phi: " <<  Phi  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Theta: " <<  Theta  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Psi: " <<  Psi  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_north: " <<  V_north  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_east: " <<  V_east  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_down: " <<  V_down  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Altitude: " <<  Altitude  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Latitude: " <<  Latitude  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Longitude: " <<  Longitude  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     Runway_altitude: " <<  Runway_altitude  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_north_airmass: " <<  V_north_airmass  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_east_airmass: " <<  V_east_airmass  );
+    FG_LOG( FG_FLIGHT, FG_INFO, "     V_down_airmass: " <<  V_down_airmass  );
 }  
 
-    //Positions
+void FGLaRCsim::snap_shot(void) {
+    lsic->SetLatitudeGDRadIC( get_Latitude() );
+    lsic->SetLongitudeRadIC( get_Longitude() );
+    lsic->SetAltitudeFtIC( get_Altitude() );
+    lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
+    lsic->SetVtrueFpsIC( get_V_rel_wind() );
+    lsic->SetPitchAngleRadIC( get_Theta() );
+    lsic->SetRollAngleRadIC( get_Phi() );
+    lsic->SetHeadingRadIC( get_Psi() );
+    lsic->SetClimbRateFpsIC( get_Climb_Rate() );
+    lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
+			       get_V_east_airmass(),
+			       get_V_down_airmass() );
+}				
+
+//Positions
 void FGLaRCsim::set_Latitude(double lat) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat  );
-  lsic->SetLatitudeGDRadIC(lat);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat  );
+    snap_shot();
+    lsic->SetLatitudeGDRadIC(lat);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }  
 
 void FGLaRCsim::set_Longitude(double lon) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon  );
-  lsic->SetLongitudeRadIC(lon);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon  );
+    snap_shot();
+    lsic->SetLongitudeRadIC(lon);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }  
 
 void FGLaRCsim::set_Altitude(double alt) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Altitude: " << alt  );
-  lsic->SetAltitudeFtIC(alt);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Altitude: " << alt  );
+    snap_shot();
+    lsic->SetAltitudeFtIC(alt);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }
-  
+
 void FGLaRCsim::set_V_calibrated_kts(double vc) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_V_calibrated_kts: " << vc  );
-  lsic->SetVcalibratedKtsIC(vc);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "FGLaRCsim::set_V_calibrated_kts: " << vc  );
+    snap_shot();
+    lsic->SetVcalibratedKtsIC(vc);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }  
 
 void FGLaRCsim::set_Mach_number(double mach) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Mach_number: " << mach  );
-  lsic->SetMachIC(mach);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Mach_number: " << mach  );
+    snap_shot();
+    lsic->SetMachIC(mach);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }  
 
 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_local: " 
-                     << north << "  " << east << "  " << down   );
- lsic->SetVnorthFpsIC(north);
- lsic->SetVeastFpsIC(east);
- lsic->SetVdownFpsIC(down);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_local: " 
+	    << north << "  " << east << "  " << down   );
+    snap_shot();
+    lsic->SetVNEDFpsIC(north, east, down);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 }  
 
 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: " 
-                     << u << "  " << v << "  " << w   );
-
- lsic->SetUBodyFpsIC(u);
- lsic->SetVBodyFpsIC(v);
- lsic->SetWBodyFpsIC(w);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: " 
+	    << u << "  " << v << "  " << w   );
+    snap_shot();
+    lsic->SetUVWFpsIC(u,v,w);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus
 } 
 
 //Euler angles 
 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Euler_angles: " 
-                     << phi << "  " << theta << "  " << psi   );
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Euler_angles: " 
+	    << phi << "  " << theta << "  " << psi   );
 
- lsic->SetPitchAngleRadIC(theta);
- lsic->SetRollAngleRadIC(phi);
- lsic->SetHeadingRadIC(psi);
- set_ls();
- copy_from_LaRCsim(); //update the bus 
+    snap_shot();
+    lsic->SetPitchAngleRadIC(theta);
+    lsic->SetRollAngleRadIC(phi);
+    lsic->SetHeadingRadIC(psi);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus 
 }  
 
 //Flight Path
 void FGLaRCsim::set_Climb_Rate( double roc) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Climb_rate: " << roc  );
-  lsic->SetClimbRateFpsIC(roc);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus 
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Climb_rate: " << roc  );
+    snap_shot();
+    lsic->SetClimbRateFpsIC(roc);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus 
 }  
 
 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma  );
-  lsic->SetFlightPathAngleRadIC(gamma);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus  
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma  );
+    snap_shot();
+    lsic->SetFlightPathAngleRadIC(gamma);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus  
 }  
 
 void FGLaRCsim::set_Runway_altitude(double ralt) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt  );
-  lsic->SetRunwayAltitudeFtIC(ralt);
-  set_ls();
-  copy_from_LaRCsim(); //update the bus 
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt  );
+    snap_shot();
+    lsic->SetRunwayAltitudeFtIC(ralt);
+    set_ls();
+    copy_from_LaRCsim(); //update the bus 
 } 
 
 void FGLaRCsim::set_AltitudeAGL(double altagl) {
-  FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl  );
-  lsic->SetAltitudeAGLFtIC(altagl);
-  set_ls();
-  copy_from_LaRCsim();
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl  );
+    snap_shot();
+    lsic->SetAltitudeAGLFtIC(altagl);
+    set_ls();
+    copy_from_LaRCsim();
 }
 
 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth, 
-                                      double weast, 
-                                       double wdown ) {
-     FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: " 
-                     << wnorth << "  " << weast << "  " << wdown   );
-     _set_Velocities_Local_Airmass( wnorth, weast, wdown );
-     set_ls();
-     copy_from_LaRCsim();
+					      double weast, 
+					      double wdown ) {
+    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: " 
+	    << wnorth << "  " << weast << "  " << wdown );
+    snap_shot();
+    lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
+    set_ls();
+    copy_from_LaRCsim();
 }     
 
 void FGLaRCsim::set_Static_pressure(double p) { 
-    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_pressure: " << p  );
-    FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" );
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "FGLaRCsim::set_Static_pressure: " << p  );
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "LaRCsim does not support externally supplied atmospheric data" );
 }
 
 void FGLaRCsim::set_Static_temperature(double T) { 
-    FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_temperature: " << T  );
-    FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" );
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "FGLaRCsim::set_Static_temperature: " << T  );
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "LaRCsim does not support externally supplied atmospheric data" );
 
 }
-    
+
 void FGLaRCsim::set_Density(double rho) { 
     FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Density: " << rho  );
-    FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" );
+    FG_LOG( FG_FLIGHT, FG_INFO, 
+	    "LaRCsim does not support externally supplied atmospheric data" );
 
 }
 
diff --git a/src/FDM/LaRCsim.hxx b/src/FDM/LaRCsim.hxx
index 837eaba00..2ac2f5dd4 100644
--- a/src/FDM/LaRCsim.hxx
+++ b/src/FDM/LaRCsim.hxx
@@ -36,6 +36,7 @@ class FGLaRCsim: public FGInterface {
     FGNewEngine eng;
     LaRCsimIC* lsic;
     void set_ls(void);
+    void snap_shot(void);
     double time_step;
     
 public:
diff --git a/src/FDM/LaRCsim/ls_model.c b/src/FDM/LaRCsim/ls_model.c
index 0a5da7d1d..c717508c2 100644
--- a/src/FDM/LaRCsim/ls_model.c
+++ b/src/FDM/LaRCsim/ls_model.c
@@ -37,6 +37,9 @@
 	CURRENT RCS HEADER INFO:
 $Header$
 $Log$
+Revision 1.3  2000/10/28 14:30:33  curt
+Updates by Tony working on the FDM interface bus.
+
 Revision 1.2  2000/04/10 18:09:41  curt
 David Megginson made a few (mostly minor) mods to the LaRCsim files, and
 it's now possible to choose the LaRCsim model at runtime, as in
@@ -119,6 +122,7 @@ void ls_model( SCALAR dt, int Initialize ) {
       navion_gear( dt, Initialize );
       break;
     case C172:
+      if(Initialize < 0) c172_init();
       inertias( dt, Initialize );
       subsystems( dt, Initialize );
       c172_aero( dt, Initialize );
diff --git a/src/FDM/LaRCsimIC.cxx b/src/FDM/LaRCsimIC.cxx
index 9b00c3b58..8e629e2b6 100644
--- a/src/FDM/LaRCsimIC.cxx
+++ b/src/FDM/LaRCsimIC.cxx
@@ -119,40 +119,18 @@ void LaRCsimIC::SetPitchAngleRadIC(SCALAR tt) {
   getAlpha();
 }
 
-void LaRCsimIC::SetUBodyFpsIC( SCALAR tt) {
-  u=tt;
+void LaRCsimIC::SetUVWFpsIC(SCALAR vu, SCALAR vv, SCALAR vw) {
+  u=vu; v=vv; w=vw;
   vt=sqrt(u*u+v*v+w*w);
   lastSpeedSet=lssetuvw;
 }
 
   
-void LaRCsimIC::SetVBodyFpsIC( SCALAR tt) {
-  v=tt;
-  vt=sqrt(u*u+v*v+w*w);
-  lastSpeedSet=lssetuvw;
-}
-
-void LaRCsimIC::SetWBodyFpsIC( SCALAR tt) {
-  w=tt;
-  vt=sqrt(u*u+v*v+w*w);
-  lastSpeedSet=lssetuvw;
-}
-
-void LaRCsimIC::SetVNorthAirmassFpsIC(SCALAR tt) {
-  vnorthwind=tt;
-  vw=sqrt(vnorthwind*vnorthwind + veastwind*veastwind + vdownwind*vdownwind);
-}  
-
-void LaRCsimIC::SetVEastAirmassFpsIC(SCALAR tt) {
-  veastwind=tt;
-  vw=sqrt(vnorthwind*vnorthwind + veastwind*veastwind + vdownwind*vdownwind);
-}  
-
-void LaRCsimIC::SetVDownAirmassFpsIC(SCALAR tt){
-  vdownwind=tt;
+void LaRCsimIC::SetVNEDAirmassFpsIC(SCALAR north, SCALAR east, SCALAR down ) {
+  vnorthwind=north; veastwind=east; vdownwind=down;
   vw=sqrt(vnorthwind*vnorthwind + veastwind*veastwind + vdownwind*vdownwind);
   vtg=vt+vw;
-  hdot=-vtg*sin(gamma);
+  SetClimbRateFpsIC(-1*(vdown+vdownwind));
 }  
 
 void LaRCsimIC::SetAltitudeFtIC( SCALAR tt) {
@@ -243,25 +221,15 @@ void LaRCsimIC::calcNEDfromVt(void) {
            vdownwind;
 }           
 
-void LaRCsimIC::SetVnorthFpsIC( SCALAR tt) {
-  vnorth=tt;
+void LaRCsimIC::SetVNEDFpsIC( SCALAR north, SCALAR east, SCALAR down) {
+  vnorth=north;
+  veast=east;
+  vdown=down;
+  SetClimbRateFpsIC(-1*vdown);
   lastSpeedSet=lssetned;
   calcVtfromNED();
 }        
   
-void LaRCsimIC::SetVeastFpsIC( SCALAR tt) {
-  veast=tt;
-  lastSpeedSet=lssetned;
-  calcVtfromNED();
-} 
-
-void LaRCsimIC::SetVdownFpsIC( SCALAR tt) {
-  vdown=tt;
-  calcVtfromNED();
-  SetClimbRateFpsIC(-1*vdown);
-  lastSpeedSet=lssetned;
-} 
-
 void LaRCsimIC::SetLatitudeGDRadIC(SCALAR tt) {
   latitude_gd=tt;
   ls_geod_to_geoc(latitude_gd,altitude,&sea_level_radius, &latitude_gc);
diff --git a/src/FDM/LaRCsimIC.hxx b/src/FDM/LaRCsimIC.hxx
index 366f6bb07..001019422 100644
--- a/src/FDM/LaRCsimIC.hxx
+++ b/src/FDM/LaRCsimIC.hxx
@@ -59,17 +59,11 @@ public:
   
   void SetVequivalentKtsIC(SCALAR tt);
 
-  void SetUBodyFpsIC(SCALAR tt);
-  void SetVBodyFpsIC(SCALAR tt);
-  void SetWBodyFpsIC(SCALAR tt);
+  void SetUVWFpsIC(SCALAR vu, SCALAR vv, SCALAR vw);
+ 
+  void SetVNEDFpsIC(SCALAR north, SCALAR east, SCALAR down);
   
-  void SetVnorthFpsIC(SCALAR tt);
-  void SetVeastFpsIC(SCALAR tt);
-  void SetVdownFpsIC(SCALAR tt);
-  
-  void SetVNorthAirmassFpsIC(SCALAR tt);
-  void SetVEastAirmassFpsIC(SCALAR tt);
-  void SetVDownAirmassFpsIC(SCALAR tt);
+  void SetVNEDAirmassFpsIC(SCALAR north, SCALAR east, SCALAR down );
   
   void SetAltitudeFtIC(SCALAR tt);
   void SetAltitudeAGLFtIC(SCALAR tt);
diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index cbdd1f7bd..b16798b29 100644
--- a/src/FDM/flight.cxx
+++ b/src/FDM/flight.cxx
@@ -27,6 +27,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 
+#include <Scenery/scenery.hxx>
 #include <FDM/LaRCsim/ls_interface.h>
 #include <Main/globals.hxx>
 #include <Time/timestamp.hxx>
@@ -137,8 +138,6 @@ FGInterface::FGInterface(void) {
     sin_latitude=cos_latitude=0;
     sin_longitude=cos_longitude=0;
     altitude_agl=0;
-
-    resetNeeded=false;
 }  
 
 
@@ -158,6 +157,58 @@ bool FGInterface::update( int multi_loop ) {
     return false;
 }
 
+  
+void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
+    double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
+	
+    sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
+		  &lat_geod, &tmp_alt, &sl_radius1 );
+    sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
+
+    FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon 
+	    << " lat_geod = " << lat_geod
+	    << " lat_geoc = " << lat_geoc
+	    << " alt = " << alt 
+	    << " tmp_alt = " << tmp_alt * METER_TO_FEET
+	    << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
+	    << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
+	    << " Equator = " << EQUATORIAL_RADIUS_FT );
+
+    _set_Geocentric_Position( lat_geoc, lon, 
+			      sl_radius2 * METER_TO_FEET + alt );
+	
+    _set_Geodetic_Position( lat_geod, lon, alt );
+	
+    _set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
+    _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET ); 
+	
+    _set_sin_lat_geocentric( lat_geoc );
+    _set_cos_lat_geocentric( lat_geoc );
+	
+    _set_sin_cos_longitude( lon );
+	
+    _set_sin_cos_latitude( lat_geod );
+	
+    /* Norman's code for slope of the terrain */
+    /* needs to be tested -- get it on the HUD and taxi around */
+    /* double *tnorm = scenery.cur_normal;
+	
+       double sy = sin ( -get_Psi() ) ;
+       double cy = cos ( -get_Psi() ) ;
+
+       double phitb, thetatb, psitb;
+       if(tnorm[1] != 0.0) {
+		psitb = -atan2 ( tnorm[0], tnorm[1] );
+       }
+       if(tnorm[2] != 0.0) {	
+		thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
+		phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );  
+       }	
+	
+       _set_terrain_slope(phitb, thetatb, psitb) 
+     */
+}
+
 
 // Extrapolate fdm based on time_offset (in usec)
 void FGInterface::extrapolate( int time_offset ) {
@@ -301,7 +352,7 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 }     
 
 
-void FGInterface::busdump(void) {
+void FGInterface::_busdump(void) {
 
     FG_LOG(FG_FLIGHT,FG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
     FG_LOG(FG_FLIGHT,FG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx
index e49008f48..02bb1c250 100644
--- a/src/FDM/flight.hxx
+++ b/src/FDM/flight.hxx
@@ -160,10 +160,6 @@ typedef vector < FGEngInterface > engine_list;
 // This is based heavily on LaRCsim/ls_generic.h
 class FGInterface {
 
-protected:
-
-    void busdump(void);
-
 private:
   
     // Pilot location rel to ref pt
@@ -253,9 +249,6 @@ private:
     double sin_latitude, cos_latitude;
     double altitude_agl;
     
-    //change flag
-    bool resetNeeded;
-
     // Engine list
     engine_list engines;
 
@@ -263,6 +256,9 @@ private:
     FGTimeStamp next_stamp;           // time this record is valid
 
 protected:
+    void _busdump(void);
+    void _updatePosition( double lat_geoc, double lon, double alt );
+    void _updateWeather( void );
 
     inline void _set_Inertias( double m, double xx, double yy, 
 			      double zz, double xz)
@@ -326,6 +322,7 @@ protected:
 	v_wind_body_v[1] = v;
 	v_wind_body_v[2] = w;
     }
+    inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
     inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
     inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
     inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
@@ -726,7 +723,7 @@ public:
     inline double get_V_body() const { return v_wind_body_v[1]; }
     inline double get_W_body() const { return v_wind_body_v[2]; }
 
-    // inline double get_V_rel_wind() const { return v_rel_wind; }
+    inline double get_V_rel_wind() const { return v_rel_wind; }
     // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
 
     // inline double get_V_true_kts() const { return v_true_kts; }
diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx
index 23e82f52d..cbc848989 100644
--- a/src/Main/fg_init.cxx
+++ b/src/Main/fg_init.cxx
@@ -407,21 +407,21 @@ bool fgInitGeneral( void ) {
 // set initial aircraft speed
 bool fgVelocityInit( void ) {
   switch(globals->get_options()->get_speedset()) {
-    case 1: //FG_VC
+    case FGOptions::FG_VC:
       current_aircraft.fdm_state->set_V_calibrated_kts( 
                                     globals->get_options()->get_vc() );
       break;
-    case 2: //FG_MACH
+    case FGOptions::FG_MACH:
       current_aircraft.fdm_state->set_Mach_number(
                                     globals->get_options()->get_mach() );
       break;
-    case 3: //FG_VTUVW
+    case FGOptions::FG_VTUVW:
       current_aircraft.fdm_state->set_Velocities_Wind_Body(
                                     globals->get_options()->get_uBody(),
                                     globals->get_options()->get_vBody(),
                                     globals->get_options()->get_wBody() );
       break;
-    case 4: //FG_VTNED
+    case FGOptions::FG_VTNED:
       current_aircraft.fdm_state->set_Velocities_Local(
                                     globals->get_options()->get_vNorth(),
                                     globals->get_options()->get_vEast(),