diff --git a/utils/Modeller/yasim_import.py b/utils/Modeller/yasim_import.py
new file mode 100644
index 000000000..6a862cbd6
--- /dev/null
+++ b/utils/Modeller/yasim_import.py
@@ -0,0 +1,825 @@
+#!BPY
+
+# """
+# Name: 'YASim (.xml)'
+# Blender: 245
+# Group: 'Import'
+# Tooltip: 'Loads and visualizes a YASim FDM geometry'
+# """
+
+__author__ = "Melchior FRANZ < mfranz # aon : at >"
+__url__ = ["http://www.flightgear.org/", "http://cvs.flightgear.org/viewvc/source/utils/Modeller/yasim_import.py"]
+__version__ = "0.2"
+__bpydoc__ = """\
+yasim_import.py loads and visualizes a YASim FDM geometry
+=========================================================
+
+It is recommended to load the model superimposed over a greyed out and immutable copy of the aircraft model:
+
+  (0) put this script into ~/.blender/scripts/
+  (1) load or import aircraft model (menu -> "File" -> "Import" -> "AC3D (.ac) ...")
+  (2) create new *empty* scene (menu -> arrow button left of "SCE:scene1" combobox -> "ADD NEW" -> "empty")
+  (3) rename scene to yasim (not required)
+  (4) link to scene1 (F10 -> "Output" tab in "Buttons Window" -> arrow button left of text entry "No Set Scene" -> "scene1")
+  (5) now load the YASim config file (menu -> "File" -> "Import" -> "YASim (.xml) ...")
+
+This is good enough for simple checks. But if you are working on the YASim configuration, then you need a
+quick and convenient way to reload the file. In that case continue after (4):
+
+  (5) switch the button area at the bottom of the blender screen to "Scripts Window" mode (green python snake icon)
+  (6) load the YASim config file (menu -> "Scripts" -> "Import" -> "YASim (.xml) ...")
+  (7) make the "Scripts Window" area as small as possible by dragging the area separator down
+  (8) optionally split the "3D View" area and switch the right part to the "Outliner"
+  (9) press the "Reload YASim" button in the script area to reload the file
+
+
+If the 3D model is displaced with respect to the FDM model, then the <offsets> values from the
+model animation XML file should be added as comment to the YASim config file, as a line all by
+itself, with no spaces surrounding the equal signs. Spaces elsewhere are allowed. For example:
+
+  <offsets>
+      <x-m>3.45</x-m>
+      <z-m>-0.4</z-m>
+      <pitch-deg>5</pitch-deg>
+  </offsets>
+
+becomes:
+
+  <!-- offsets: x=3.45 z=-0.4 p=5 -->
+
+Possible variables are:
+
+  x ... <x-m>
+  y ... <y-m>
+  z ... <z-m>
+  h ... <heading-deg>
+  p ... <pitch-deg>
+  r ... <roll-deg>
+
+Of course, absolute FDM coordinates can then no longer directly be read from Blender's 3D view.
+The cursor coordinates display in the script area, however, shows the coordinates in YASim space.
+Note that object names don't contain XML indices but element numbers. YASim_flap0#2 is the third
+flap0 in the whole file, not necessarily in its parent XML group. A floating point part in the
+object name (e.g. YASim_flap0#2.004) only means that the geometry has been reloaded that often.
+It's an unavoidable consequence of how Blender deals with meshes.
+
+
+Elements are displayed as follows:
+
+  cockpit                             -> monkey head
+  fuselage                            -> blue "tube" (with only 12 sides for less clutter); center at "a"
+  vstab                               -> red with yellow control surfaces (flap0, flap1, slat, spoiler)
+  wing/mstab/hstab                    -> green with yellow control surfaces (which are always 20 cm deep);
+                                         symmetric surfaces are only displayed on the left side, unless
+                                         the "Mirror" button is active
+  thrusters (jet/propeller/thruster)  -> dashed line from center to actionpt;
+                                         arrow from actionpt along thrust vector (always 1 m long);
+                                         propeller circle
+  rotor                               -> radius and rel_len_blade_start circle, normal and forward vector,
+                                         one blade at phi0 with direction arrow near blade tip
+  gear                                -> contact point and compression vector (no arrow head)
+  tank                                -> magenta cube (10 cm side length)
+  weight                              -> inverted cyan cone
+  ballast                             -> yellow cylinder
+  hitch                               -> hexagon (10 cm diameter)
+  hook                                -> dashed line for up angle, T-line for down angle
+  launchbar                           -> dashed line for up angles, T-line for down angles
+                                         (launchbar and holdback each)
+
+
+The Mirror button complements symmetrical surfaces (wing/hstab/mstab) and control surfaces
+(flap0/flap1/slat/spoiler). This is useful for asymmetrical aircraft, but has the disadvantage
+that it moves the surfaces' object centers from their usual place, yasim's [x, y, z] value,
+to [0, 0, 0]. Turning mirroring off restores the object center.
+
+
+
+Environment variable BLENDER_YASIM_IMPORT can be set to a space-separated list of options:
+
+  $ BLENDER_YASIM_IMPORT="mirror verbose"  blender
+
+whereby:
+
+  verbose  ... enables verbose logs
+  mirror   ... enables mirroring of symmetric surfaces
+"""
+
+
+#--------------------------------------------------------------------------------
+# Copyright (C) 2009  Melchior FRANZ  < mfranz # aon : at >
+#
+# This program 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.
+#
+# This program 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 this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+#--------------------------------------------------------------------------------
+
+
+import Blender, BPyMessages, string, math, os
+from Blender.Mathutils import *
+from xml.sax import handler, make_parser
+
+
+CONFIG = string.split(os.getenv("BLENDER_YASIM_IMPORT") or "")
+YASIM_MATRIX = Matrix([-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1])
+ORIGIN = Vector(0, 0, 0)
+X = Vector(1, 0, 0)
+Y = Vector(0, 1, 0)
+Z = Vector(0, 0, 1)
+DEG2RAD = math.pi / 180
+RAD2DEG = 180 / math.pi
+
+NO_EVENT = 0
+RELOAD_BUTTON = 1
+CURSOR_BUTTON = 2
+MIRROR_BUTTON = 3
+
+
+
+class Global:
+	verbose = "verbose" in CONFIG
+	path = ""
+	matrix = None
+	data = None
+	cursor = ORIGIN
+	last_cursor = Vector(Blender.Window.GetCursorPos())
+	mirror_button = Blender.Draw.Create("mirror" in CONFIG)
+
+
+
+class Abort(Exception):
+	def __init__(self, msg, term = None):
+		self.msg = msg
+		self.term = term
+
+
+
+def log(msg):
+	if Global.verbose:
+		print(msg)
+
+
+
+def draw_dashed_line(mesh, start, end):
+	w = 0.04
+	step = w * (end - start).normalize()
+	n = len(mesh.verts)
+	for i in range(int(1 + 0.5 * (end - start).length / w)):
+		a = start + 2 * i * step
+		b = a + step
+		if (b - end).length < step.length:
+			b = end
+		mesh.verts.extend([a, b])
+		mesh.edges.extend([n + 2 * i, n + 2 * i + 1])
+
+
+
+def draw_arrow(mesh, start, end):
+	v = end - start
+	m = v.toTrackQuat('x', 'z').toMatrix().resize4x4() * TranslationMatrix(start)
+	v = v.length * X
+	n = len(mesh.verts)
+	mesh.verts.extend([ORIGIN * m , v * m, (v - 0.05 * X + 0.05 * Y) * m, (v - 0.05 * X - 0.05 * Y) * m]) # head
+	mesh.verts.extend([(ORIGIN + 0.05 * Y) * m, (ORIGIN - 0.05 * Y) * m]) # base
+	mesh.edges.extend([[n, n + 1], [n + 1, n + 2], [n + 1, n + 3], [n + 4, n + 5]])
+
+
+
+def draw_circle(mesh, numpoints, radius, matrix):
+	n = len(mesh.verts)
+	for i in range(numpoints):
+		angle = 2.0 * math.pi * i / numpoints
+		v = Vector(radius * math.cos(angle), radius * math.sin(angle), 0)
+		mesh.verts.extend([v * matrix])
+	for i in range(numpoints):
+		i1 = (i + 1) % numpoints
+		mesh.edges.extend([[n + i, n + i1]])
+
+
+
+class Item:
+	scene = Blender.Scene.GetCurrent()
+
+	def make_twosided(self, mesh):
+		mesh.faceUV = True
+		for f in mesh.faces:
+			f.mode |= Blender.Mesh.FaceModes.TWOSIDE | Blender.Mesh.FaceModes.OBCOL
+
+	def set_color(self, obj, color):
+		mat = Blender.Material.New()
+		mat.setRGBCol(color[0], color[1], color[2])
+		mat.setAlpha(color[3])
+		mat.mode |= Blender.Material.Modes.ZTRANSP | Blender.Material.Modes.TRANSPSHADOW
+		obj.transp = True
+
+		mesh = obj.getData(mesh = True)
+		mesh.materials += [mat]
+
+		for f in mesh.faces:
+			f.smooth = True
+		mesh.calcNormals()
+
+
+
+class Cockpit(Item):
+	def __init__(self, center):
+		mesh = Blender.Mesh.Primitives.Monkey()
+		mesh.transform(ScaleMatrix(0.13, 4) * Euler(90, 0, 90).toMatrix().resize4x4() * TranslationMatrix(Vector(-0.1, 0, -0.032)))
+		obj = self.scene.objects.new(mesh, "YASim_cockpit")
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+
+
+
+class Tank(Item):
+	def __init__(self, name, center):
+		mesh = Blender.Mesh.Primitives.Cube()
+		mesh.transform(ScaleMatrix(0.05, 4))
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+		self.set_color(obj, [1, 0, 1, 0.5])
+
+
+
+class Ballast(Item):
+	def __init__(self, name, center):
+		mesh = Blender.Mesh.Primitives.Cylinder()
+		mesh.transform(ScaleMatrix(0.05, 4))
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+		self.set_color(obj, [1, 1, 0, 0.5])
+
+
+
+class Weight(Item):
+	def __init__(self, name, center):
+		mesh = Blender.Mesh.Primitives.Cone()
+		mesh.transform(ScaleMatrix(0.05, 4))
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+		self.set_color(obj, [0, 1, 1, 0.5])
+
+
+
+class Gear(Item):
+	def __init__(self, name, center, compression):
+		mesh = Blender.Mesh.New()
+		mesh.verts.extend([ORIGIN, compression])
+		mesh.edges.extend([0, 1])
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+
+
+
+class Hook(Item):
+	def __init__(self, name, center, length, up_angle, dn_angle):
+		mesh = Blender.Mesh.New()
+		up = ORIGIN - length * math.cos(up_angle * DEG2RAD) * X - length * math.sin(up_angle * DEG2RAD) * Z
+		dn = ORIGIN - length * math.cos(dn_angle * DEG2RAD) * X - length * math.sin(dn_angle * DEG2RAD) * Z
+		mesh.verts.extend([ORIGIN, dn, dn + 0.05 * Y, dn - 0.05 * Y])
+		mesh.edges.extend([[0, 1], [2, 3]])
+		draw_dashed_line(mesh, ORIGIN, up)
+		draw_dashed_line(mesh, ORIGIN, dn)
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(center) * Global.matrix)
+
+
+
+class Launchbar(Item):
+	def __init__(self, name, lb, lb_length, hb, hb_length, up_angle, dn_angle):
+		mesh = Blender.Mesh.New()
+		hb = hb - lb
+		lb_tip = ORIGIN + lb_length * math.cos(dn_angle * DEG2RAD) * X - lb_length * math.sin(dn_angle * DEG2RAD) * Z
+		hb_tip = hb - hb_length * math.cos(dn_angle * DEG2RAD) * X - hb_length * math.sin(dn_angle * DEG2RAD) * Z
+		mesh.verts.extend([lb_tip, ORIGIN, hb, hb_tip, lb_tip + 0.05 * Y, lb_tip - 0.05 * Y, hb_tip + 0.05 * Y, hb_tip - 0.05 * Y])
+		mesh.edges.extend([[0, 1], [1, 2], [2, 3], [4, 5], [6, 7]])
+		draw_dashed_line(mesh, ORIGIN, lb_length * math.cos(up_angle * DEG2RAD) * X - lb_length * math.sin(up_angle * DEG2RAD) * Z)
+		draw_dashed_line(mesh, hb, hb - hb_length * math.cos(up_angle * DEG2RAD) * X - hb_length * math.sin(up_angle * DEG2RAD) * Z)
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(TranslationMatrix(lb) * Global.matrix)
+
+
+
+class Hitch(Item):
+	def __init__(self, name, center):
+		mesh = Blender.Mesh.Primitives.Circle(6, 0.1)
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(RotationMatrix(90, 4, "x") * TranslationMatrix(center) * Global.matrix)
+
+
+
+class Thrust:
+	def set_actionpt(self, p):
+		self.actionpt = p
+
+	def set_dir(self, d):
+		self.thrustvector = d
+
+
+
+class Thruster(Thrust, Item):
+	def __init__(self, name, center, thrustvector):
+		(self.name, self.center, self.actionpt, self.thrustvector) = (name, center, center, thrustvector)
+
+	def __del__(self):
+		a = self.actionpt - self.center
+		mesh = Blender.Mesh.New()
+		draw_dashed_line(mesh, ORIGIN, a)
+		draw_arrow(mesh, a, a + self.thrustvector.normalize())
+		obj = self.scene.objects.new(mesh, self.name)
+		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)
+
+
+
+class Propeller(Thrust, Item):
+	def __init__(self, name, center, radius):
+		(self.name, self.center, self.radius, self.actionpt, self.thrustvector) = (name, center, radius, center, -X)
+
+	def __del__(self):
+		a = self.actionpt - self.center
+		matrix = self.thrustvector.toTrackQuat('z', 'x').toMatrix().resize4x4() * TranslationMatrix(a)
+
+		mesh = Blender.Mesh.New()
+		mesh.verts.extend([ORIGIN * matrix, (ORIGIN + self.radius * X) * matrix])
+		mesh.edges.extend([[0, 1]])
+		draw_dashed_line(mesh, ORIGIN, a)
+		draw_arrow(mesh, a, a + self.thrustvector.normalize())
+
+		draw_circle(mesh, 128, self.radius, matrix)
+		obj = self.scene.objects.new(mesh, self.name)
+		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)
+
+
+
+class Jet(Thrust, Item):
+	def __init__(self, name, center, rotate):
+		(self.name, self.center, self.actionpt) = (name, center, center)
+		self.thrustvector = -X * RotationMatrix(rotate, 4, "y")
+
+	def __del__(self):
+		a = self.actionpt - self.center
+		mesh = Blender.Mesh.New()
+		draw_dashed_line(mesh, ORIGIN, a)
+		draw_arrow(mesh, a, a + self.thrustvector.normalize())
+		obj = self.scene.objects.new(mesh, self.name)
+		obj.setMatrix(TranslationMatrix(self.center) * Global.matrix)
+
+
+
+class Fuselage(Item):
+	def __init__(self, name, a, b, width, taper, midpoint):
+		numvert = 12
+		angle = []
+		for i in range(numvert):
+			alpha = i * 2 * math.pi / float(numvert)
+			angle.append([math.cos(alpha), math.sin(alpha)])
+
+		axis = b - a
+		length = axis.length
+		mesh = Blender.Mesh.New()
+
+		for i in range(numvert):
+			mesh.verts.extend([[0, 0.5 * width * taper * angle[i][0], 0.5 * width * taper * angle[i][1]]])
+		for i in range(numvert):
+			mesh.verts.extend([[midpoint * length, 0.5 * width * angle[i][0], 0.5 * width * angle[i][1]]])
+		for i in range(numvert):
+			mesh.verts.extend([[length, 0.5 * width * taper * angle[i][0], 0.5 * width * taper * angle[i][1]]])
+		for i in range(numvert):
+			i1 = (i + 1) % numvert
+			mesh.faces.extend([[i, i1, i1 + numvert, i + numvert]])
+			mesh.faces.extend([[i + numvert, i1 + numvert, i1 + 2 * numvert, i + 2 * numvert]])
+
+		mesh.verts.extend([ORIGIN, length * X])
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(axis.toTrackQuat('x', 'y').toMatrix().resize4x4() * TranslationMatrix(a) * Global.matrix)
+		self.set_color(obj, [0, 0, 0.5, 0.4])
+
+
+
+class Rotor(Item):
+	def __init__(self, name, center, up, fwd, numblades, radius, chord, twist, taper, rel_len_blade_start, phi0, ccw):
+		matrix = RotationMatrix(phi0, 4, "z") * up.toTrackQuat('z', 'x').toMatrix().resize4x4()
+		invert = matrix.copy().invert()
+		direction = [-1, 1][ccw]
+		twist *= DEG2RAD
+		a = ORIGIN + rel_len_blade_start * radius * X
+		b = ORIGIN + radius * X
+		tw = 0.5 * chord * taper * math.cos(twist) * Y + 0.5 * direction * chord * taper * math.sin(twist) * Z
+
+		mesh = Blender.Mesh.New()
+		mesh.verts.extend([ORIGIN, a, b, a + 0.5 * chord * Y, a - 0.5 * chord * Y, b + tw, b - tw])
+		mesh.edges.extend([[0, 1], [1, 2], [1, 3], [1, 4], [3, 5], [4, 6], [5, 6]])
+		draw_circle(mesh, 64, rel_len_blade_start * radius, Matrix())
+		draw_circle(mesh, 128, radius, Matrix())
+		draw_arrow(mesh, ORIGIN, up * invert)
+		draw_arrow(mesh, ORIGIN, fwd * invert)
+		b += 0.1 * X + direction * chord * Y
+		draw_arrow(mesh, b, b + min(0.5 * radius, 1) * direction * Y)
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(matrix * TranslationMatrix(center) * Global.matrix)
+
+
+
+class Wing(Item):
+	def __init__(self, name, root, length, chord, incidence, twist, taper, sweep, dihedral):
+		#  <1--0--2
+		#   \  |  /
+		#    4-3-5
+		self.is_symmetric = not name.startswith("YASim_vstab#")
+		mesh = Blender.Mesh.New()
+		mesh.verts.extend([ORIGIN, ORIGIN + 0.5 * chord * X, ORIGIN - 0.5 * chord * X])
+		tip = ORIGIN + math.cos(sweep * DEG2RAD) * length * Y - math.sin(sweep * DEG2RAD) * length * X
+		tipfore = tip + 0.5 * taper * chord * math.cos(twist * DEG2RAD) * X + 0.5 * taper * chord * math.sin(twist * DEG2RAD) * Z
+		tipaft = tip + tip - tipfore
+		mesh.verts.extend([tip, tipfore, tipaft])
+		mesh.faces.extend([[0, 1, 4, 3], [2, 0, 3, 5]])
+
+		self.make_twosided(mesh)
+
+		obj = self.scene.objects.new(mesh, name)
+		mesh.transform(Euler(dihedral, -incidence, 0).toMatrix().resize4x4())
+		self.set_color(obj, [[0.5, 0.0, 0, 0.5], [0.0, 0.5, 0, 0.5]][self.is_symmetric])
+		(self.obj, self.mesh) = (obj, mesh)
+
+		if self.is_symmetric and Global.mirror_button.val:
+			mod = obj.modifiers.append(Blender.Modifier.Type.MIRROR)
+			mod[Blender.Modifier.Settings.AXIS_X] = False
+			mod[Blender.Modifier.Settings.AXIS_Y] = True
+			mod[Blender.Modifier.Settings.AXIS_Z] = False
+			mesh.transform(TranslationMatrix(root)) # must move object center to x axis
+			obj.setMatrix(Global.matrix)
+		else:
+			obj.setMatrix(TranslationMatrix(root) * Global.matrix)
+
+	def add_flap(self, name, start, end):
+		a = Vector(self.mesh.verts[2].co)
+		b = Vector(self.mesh.verts[5].co)
+		c = 0.2 * (Vector(self.mesh.verts[0].co - a)).normalize()
+		m = self.obj.getMatrix()
+
+		mesh = Blender.Mesh.New()
+		i0 = a + start * (b - a)
+		i1 = a + end * (b - a)
+		mesh.verts.extend([i0, i1, i0 + c, i1 + c])
+		mesh.faces.extend([[0, 1, 3, 2]])
+
+		self.make_twosided(mesh)
+
+		obj = self.scene.objects.new(mesh, name)
+		obj.setMatrix(m)
+		self.set_color(obj, [0.8, 0.8, 0, 0.9])
+
+		if self.is_symmetric and Global.mirror_button.val:
+			mod = obj.modifiers.append(Blender.Modifier.Type.MIRROR)
+			mod[Blender.Modifier.Settings.AXIS_X] = False
+			mod[Blender.Modifier.Settings.AXIS_Y] = True
+			mod[Blender.Modifier.Settings.AXIS_Z] = False
+
+
+
+class import_yasim(handler.ErrorHandler, handler.ContentHandler):
+	ignored = ["cruise", "approach", "control-input", "control-output", "control-speed", \
+			"control-setting", "stall", "airplane", "piston-engine", "turbine-engine", \
+			"rotorgear", "tow", "winch", "solve-weight"]
+
+
+	# err_handler
+	def warning(self, exception):
+		print((self.error_string("Warning", exception)))
+
+	def error(self, exception):
+		print((self.error_string("Error", exception)))
+
+	def fatalError(self, exception):
+		raise Abort(str(exception), self.error_string("Fatal", exception))
+
+	def error_string(self, tag, e):
+		(column, line) = (e.getColumnNumber(), e.getLineNumber())
+		return "%s: %s\n%s%s^"  % (tag, str(e), Global.data[line - 1], column * ' ')
+
+
+	# doc_handler
+	def setDocumentLocator(self, locator):
+		self.locator = locator
+
+	def startDocument(self):
+		self.tags = []
+		self.counter = {}
+		self.items = [None]
+
+	def endDocument(self):
+		for o in Item.scene.objects:
+			o.sel = True
+
+	def startElement(self, tag, attrs):
+		if len(self.tags) == 0 and tag != "airplane":
+			raise Abort("this isn't a YASim config file (bad root tag at line %d)" % self.locator.getLineNumber())
+
+		self.tags.append(tag)
+		path = string.join(self.tags, '/')
+		item = Item()
+		parent = self.items[-1]
+
+		if self.counter.has_key(tag):
+			self.counter[tag] += 1
+		else:
+			self.counter[tag] = 0
+
+		if tag == "cockpit":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\033[31mcockpit x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
+			item = Cockpit(c)
+
+		elif tag == "fuselage":
+			a = Vector(float(attrs["ax"]), float(attrs["ay"]), float(attrs["az"]))
+			b = Vector(float(attrs["bx"]), float(attrs["by"]), float(attrs["bz"]))
+			width = float(attrs["width"])
+			taper = float(attrs.get("taper", 1))
+			midpoint = float(attrs.get("midpoint", 0.5))
+			log("\033[32mfuselage ax=%f ay=%f az=%f bx=%f by=%f bz=%f width=%f taper=%f midpoint=%f\033[m" % \
+					(a[0], a[1], a[2], b[0], b[1], b[2], width, taper, midpoint))
+			item = Fuselage("YASim_%s#%d" % (tag, self.counter[tag]), a, b, width, taper, midpoint)
+
+		elif tag == "gear":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			compression = float(attrs.get("compression", 1))
+			up = Z * compression
+			if attrs.has_key("upx"):
+				up = Vector(float(attrs["upx"]), float(attrs["upy"]), float(attrs["upz"])).normalize() * compression
+			log("\033[35;1mgear x=%f y=%f z=%f compression=%f upx=%f upy=%f upz=%f\033[m" \
+					% (c[0], c[1], c[2], compression, up[0], up[1], up[2]))
+			item = Gear("YASim_gear#%d" % self.counter[tag], c, up)
+
+		elif tag == "jet":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			rotate = float(attrs.get("rotate", 0))
+			log("\033[36;1mjet x=%f y=%f z=%f rotate=%f\033[m" % (c[0], c[1], c[2], rotate))
+			item = Jet("YASim_jet#%d" % self.counter[tag], c, rotate)
+
+		elif tag == "propeller":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			radius = float(attrs["radius"])
+			log("\033[36;1m%s x=%f y=%f z=%f radius=%f\033[m" % (tag, c[0], c[1], c[2], radius))
+			item = Propeller("YASim_propeller#%d" % self.counter[tag], c, radius)
+
+		elif tag == "thruster":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			v = Vector(float(attrs["vx"]), float(attrs["vy"]), float(attrs["vz"]))
+			log("\033[36;1m%s x=%f y=%f z=%f vx=%f vy=%f vz=%f\033[m" % (tag, c[0], c[1], c[2], v[0], v[1], v[2]))
+			item = Thruster("YASim_thruster#%d" % self.counter[tag], c, v)
+
+		elif tag == "actionpt":
+			if not isinstance(parent, Thrust):
+				raise Abort("%s is not part of a thruster/propeller/jet at line %d" \
+						% (path, self.locator.getLineNumber()))
+
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\t\033[36mactionpt x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
+			parent.set_actionpt(c)
+
+		elif tag == "dir":
+			if not isinstance(parent, Thrust):
+				raise Abort("%s is not part of a thruster/propeller/jet at line %d" \
+						% (path, self.locator.getLineNumber()))
+
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\t\033[36mdir x=%f y=%f z=%f\033[m" % (c[0], c[1], c[2]))
+			parent.set_dir(c)
+
+		elif tag == "tank":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\033[34;1m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
+			item = Tank("YASim_tank#%d" % self.counter[tag], c)
+
+		elif tag == "ballast":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\033[34m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
+			item = Ballast("YASim_ballast#%d" % self.counter[tag], c)
+
+		elif tag == "weight":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\033[34m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
+			item = Weight("YASim_weight#%d" % self.counter[tag], c)
+
+		elif tag == "hook":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			length = float(attrs.get("length", 1))
+			up_angle = float(attrs.get("up-angle", 0))
+			down_angle = float(attrs.get("down-angle", 70))
+			log("\033[35m%s x=%f y=%f z=%f length=%f up-angle=%f down-angle=%f\033[m" \
+					% (tag, c[0], c[1], c[2], length, up_angle, down_angle))
+			item = Hook("YASim_hook#%d" % self.counter[tag], c, length, up_angle, down_angle)
+
+		elif tag == "hitch":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			log("\033[35m%s x=%f y=%f z=%f\033[m" % (tag, c[0], c[1], c[2]))
+			item = Hitch("YASim_hitch#%d" % self.counter[tag], c)
+
+		elif tag == "launchbar":
+			c = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			length = float(attrs.get("length", 1))
+			up_angle = float(attrs.get("up-angle", -45))
+			down_angle = float(attrs.get("down-angle", 45))
+			holdback = Vector(float(attrs.get("holdback-x", c[0])), float(attrs.get("holdback-y", c[1])), float(attrs.get("holdback-z", c[2])))
+			holdback_length = float(attrs.get("holdback-length", 2))
+			log("\033[35m%s x=%f y=%f z=%f length=%f down-angle=%f up-angle=%f holdback-x=%f holdback-y=%f holdback-z+%f holdback-length=%f\033[m" \
+					% (tag, c[0], c[1], c[2], length, down_angle, up_angle, \
+					holdback[0], holdback[1], holdback[2], holdback_length))
+			item = Launchbar("YASim_launchbar#%d" % self.counter[tag], c, length, holdback, holdback_length, up_angle, down_angle)
+
+		elif tag == "wing" or tag == "hstab" or tag == "vstab" or tag == "mstab":
+			root = Vector(float(attrs["x"]), float(attrs["y"]), float(attrs["z"]))
+			length = float(attrs["length"])
+			chord = float(attrs["chord"])
+			incidence = float(attrs.get("incidence", 0))
+			twist = float(attrs.get("twist", 0))
+			taper = float(attrs.get("taper", 1))
+			sweep = float(attrs.get("sweep", 0))
+			dihedral = float(attrs.get("dihedral", [0, 90][tag == "vstab"]))
+			log("\033[33;1m%s x=%f y=%f z=%f length=%f chord=%f incidence=%f twist=%f taper=%f sweep=%f dihedral=%f\033[m" \
+					% (tag, root[0], root[1], root[2], length, chord, incidence, twist, taper, sweep, dihedral))
+			item = Wing("YASim_%s#%d" % (tag, self.counter[tag]), root, length, chord, incidence, twist, taper, sweep, dihedral)
+
+		elif tag == "flap0" or tag == "flap1" or tag == "slat" or tag == "spoiler":
+			if not isinstance(parent, Wing):
+				raise Abort("%s is not part of a wing or stab at line %d" \
+						% (path, self.locator.getLineNumber()))
+
+			start = float(attrs["start"])
+			end = float(attrs["end"])
+			log("\t\033[33m%s start=%f end=%f\033[m" % (tag, start, end))
+			parent.add_flap("YASim_%s#%d" % (tag, self.counter[tag]), start, end)
+
+		elif tag == "rotor":
+			c = Vector(float(attrs.get("x", 0)), float(attrs.get("y", 0)), float(attrs.get("z", 0)))
+			norm = Vector(float(attrs.get("nx", 0)), float(attrs.get("ny", 0)), float(attrs.get("nz", 1)))
+			fwd = Vector(float(attrs.get("fx", 1)), float(attrs.get("fy", 0)), float(attrs.get("fz", 0)))
+			diameter = float(attrs.get("diameter", 10.2))
+			numblades = int(attrs.get("numblades", 4))
+			chord = float(attrs.get("chord", 0.3))
+			twist = float(attrs.get("twist", 0))
+			taper = float(attrs.get("taper", 1))
+			rel_len_blade_start = float(attrs.get("rel-len-blade-start", 0))
+			phi0 = float(attrs.get("phi0", 0))
+			ccw = not not int(attrs.get("ccw", 0))
+
+			log(("\033[36;1mrotor x=%f y=%f z=%f nx=%f ny=%f nz=%f fx=%f fy=%f fz=%f numblades=%d diameter=%f " \
+					+ "chord=%f twist=%f taper=%f rel_len_blade_start=%f phi0=%f ccw=%d\033[m") \
+					% (c[0], c[1], c[2], norm[0], norm[1], norm[2], fwd[0], fwd[1], fwd[2], numblades, \
+					diameter, chord, twist, taper, rel_len_blade_start, phi0, ccw))
+			item = Rotor("YASim_rotor#%d" % self.counter[tag], c, norm, fwd, numblades, 0.5 * diameter, chord, \
+					twist, taper, rel_len_blade_start, phi0, ccw)
+
+		elif tag not in self.ignored:
+			log("\033[30;1m%s\033[m" % path)
+
+		self.items.append(item)
+
+	def endElement(self, tag):
+		self.tags.pop()
+		self.items.pop()
+
+
+
+def extract_matrix(filedata, tag):
+	v = { 'x': 0.0, 'y': 0.0, 'z': 0.0, 'h': 0.0, 'p': 0.0, 'r': 0.0 }
+	has_offsets = False
+	for line in filedata:
+		line = string.strip(line)
+		if not line.startswith("<!--") or not line.endswith("-->"):
+			continue
+		line = string.strip(line[4:-3])
+		if not string.lower(line).startswith("%s:" % tag):
+			continue
+		line = string.strip(line[len(tag) + 1:])
+		for assignment in string.split(line):
+			(key, value) = string.split(assignment, '=', 2)
+			v[string.strip(key)] = float(string.strip(value))
+			has_offsets = True
+
+	if not has_offsets:
+		return None
+
+	print(("using offsets: x=%f y=%f z=%f h=%f p=%f r=%f" % (v['x'], v['y'], v['z'], v['h'], v['p'], v['r'])))
+	return Euler(v['r'], v['p'], v['h']).toMatrix().resize4x4() * TranslationMatrix(Vector(v['x'], v['y'], v['z']))
+
+
+
+def load_yasim_config(path):
+	if BPyMessages.Error_NoFile(path):
+		return
+
+	Blender.Window.WaitCursor(1)
+	Blender.Window.EditMode(0)
+
+	print(("loading '%s'" % path))
+	try:
+		for o in Item.scene.objects:
+			if o.name.startswith("YASim_"):
+				Item.scene.objects.unlink(o)
+
+		f = open(path)
+		Global.data = f.readlines()
+		f.close
+
+		Global.path = path
+		Global.matrix = YASIM_MATRIX
+		matrix = extract_matrix(Global.data, "offsets")
+		if matrix:
+			Global.matrix *= matrix.invert()
+
+		Global.yasim.parse(path)
+		Blender.Registry.SetKey("FGYASimImportExport", { "path": path }, False)
+		Global.data = None
+
+	except Abort, e:
+		print(("%s\nAborting ..." % (e.term or e.msg)))
+		Blender.Draw.PupMenu("Error%t|" + e.msg)
+
+	Blender.Window.RedrawAll()
+	Blender.Window.WaitCursor(0)
+
+
+
+def gui_draw():
+	from Blender import BGL, Draw
+	(width, height) = Blender.Window.GetAreaSize()
+
+	BGL.glClearColor(0.4, 0.4, 0.45, 1)
+	BGL.glClear(BGL.GL_COLOR_BUFFER_BIT)
+
+	BGL.glColor3f(1, 1, 1)
+	BGL.glRasterPos2f(5, 55)
+	Draw.Text("FlightGear YASim Import:   '%s'" % Global.path)
+
+	Draw.PushButton("Reload", RELOAD_BUTTON, 5, 5, 80, 32, "reload YASim config file")
+	Global.mirror_button = Draw.Toggle("Mirror", MIRROR_BUTTON, 100, 5, 50, 16, Global.mirror_button.val, \
+			"show symmetric surfaces on both sides (reloads config)")
+	Draw.PushButton("Update Cursor", CURSOR_BUTTON, width - 650, 5, 100, 32, "update cursor display (in YASim coordinate system)")
+
+	BGL.glRasterPos2f(width - 530 + Blender.Draw.GetStringWidth("Vector from last") - Blender.Draw.GetStringWidth("Current"), 24)
+	Draw.Text("Current cursor pos:    x = %+.3f    y = %+.3f    z = %+.3f" % tuple(Global.cursor))
+
+	c = Global.cursor - Global.last_cursor
+	BGL.glRasterPos2f(width - 530, 7)
+	Draw.Text("Vector from last cursor pos:    x = %+.3f    y = %+.3f    z = %+.3f    length = %.3f m" % (c[0], c[1], c[2], c.length))
+
+
+
+def gui_event(ev, value):
+	if ev == Blender.Draw.ESCKEY:
+		Blender.Draw.Exit()
+
+
+
+def gui_button(n):
+	if n == NO_EVENT:
+		return
+
+	elif n == RELOAD_BUTTON:
+		load_yasim_config(Global.path)
+
+	elif n == CURSOR_BUTTON:
+		Global.last_cursor = Global.cursor
+		Global.cursor = Vector(Blender.Window.GetCursorPos()) * Global.matrix.invert()
+		d = Global.cursor - Global.last_cursor
+		print(("cursor:   x=\"%f\" y=\"%f\" z=\"%f\"   dx=%f dy=%f dz=%f   length=%f" \
+				% (Global.cursor[0], Global.cursor[1], Global.cursor[2], d[0], d[1], d[2], d.length)))
+
+	elif n == MIRROR_BUTTON:
+		load_yasim_config(Global.path)
+
+	Blender.Draw.Redraw(1)
+
+
+
+def main():
+	log(6 * "\n")
+	registry = Blender.Registry.GetKey("FGYASimImportExport", False)
+	if registry and "path" in registry and Blender.sys.exists(Blender.sys.expandpath(registry["path"])):
+		path = registry["path"]
+	else:
+		path = ""
+
+	xml_handler = import_yasim()
+	Global.yasim = make_parser()
+	Global.yasim.setContentHandler(xml_handler)
+	Global.yasim.setErrorHandler(xml_handler)
+
+	if Blender.Window.GetScreenInfo(Blender.Window.Types.SCRIPT):
+		Blender.Draw.Register(gui_draw, gui_event, gui_button)
+
+	Blender.Window.FileSelector(load_yasim_config, "Import YASim Configuration File", path)
+
+
+
+main()
+