From 48260480b3be2fea953d51676ea88bb4608a0f96 Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Fri, 7 Dec 2001 20:00:59 +0000
Subject: [PATCH] Updated to YASim-0.1.2

---
 src/FDM/YASim/Airplane.cpp        | 86 +++++++++++++++++++------------
 src/FDM/YASim/BodyEnvironment.hpp |  6 ++-
 src/FDM/YASim/ControlMap.cpp      | 26 ++++++----
 src/FDM/YASim/ControlMap.hpp      |  6 +--
 src/FDM/YASim/FGFDM.cpp           | 26 ++++++----
 src/FDM/YASim/Gear.cpp            | 20 ++++---
 src/FDM/YASim/Glue.cpp            | 21 ++++++--
 src/FDM/YASim/Glue.hpp            | 11 ----
 src/FDM/YASim/Integrator.cpp      | 24 +++++----
 src/FDM/YASim/Math.cpp            |  3 +-
 src/FDM/YASim/Model.cpp           | 33 +++++++-----
 src/FDM/YASim/Model.hpp           |  4 +-
 src/FDM/YASim/PistonEngine.cpp    |  6 +--
 src/FDM/YASim/PistonEngine.hpp    |  2 +-
 src/FDM/YASim/PropEngine.cpp      | 13 +++--
 src/FDM/YASim/Propeller.cpp       | 24 ++++-----
 src/FDM/YASim/Propeller.hpp       |  4 +-
 src/FDM/YASim/RigidBody.cpp       | 22 ++++----
 src/FDM/YASim/RigidBody.hpp       |  2 +-
 src/FDM/YASim/Surface.cpp         | 15 ++++--
 src/FDM/YASim/Thruster.cpp        | 23 +++++----
 src/FDM/YASim/Thruster.hpp        |  4 +-
 src/FDM/YASim/Wing.cpp            | 53 ++++++++++++-------
 src/FDM/YASim/YASim.cxx           | 77 +++++++++++++++++++++++++--
 24 files changed, 330 insertions(+), 181 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 3d76fff54..9f1f1de0d 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -35,15 +35,16 @@ Airplane::Airplane()
 
 Airplane::~Airplane()
 {
-    for(int i=0; i<_fuselages.size(); i++)
+    int i;
+    for(i=0; i<_fuselages.size(); i++)
 	delete (Fuselage*)_fuselages.get(i);
-    for(int i=0; i<_tanks.size(); i++)
+    for(i=0; i<_tanks.size(); i++)
 	delete (Tank*)_tanks.get(i);
-    for(int i=0; i<_thrusters.size(); i++)
+    for(i=0; i<_thrusters.size(); i++)
 	delete (ThrustRec*)_thrusters.get(i);
-    for(int i=0; i<_gears.size(); i++)
+    for(i=0; i<_gears.size(); i++)
 	delete (GearRec*)_gears.get(i);
-    for(int i=0; i<_surfs.size(); i++)
+    for(i=0; i<_surfs.size(); i++)
 	delete (Surface*)_surfs.get(i);    
 }
 
@@ -85,12 +86,14 @@ void Airplane::getPilotAccel(float* out)
 
 void Airplane::setPilotPos(float* pos)
 {
-    for(int i=0; i<3; i++) _pilotPos[i] = pos[i];
+    int i;
+    for(i=0; i<3; i++) _pilotPos[i] = pos[i];
 }
 
 void Airplane::getPilotPos(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _pilotPos[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _pilotPos[i];
 }
 
 int Airplane::numGear()
@@ -105,7 +108,8 @@ Gear* Airplane::getGear(int g)
 
 void Airplane::setGearState(bool down, float dt)
 {
-    for(int i=0; i<_gears.size(); i++) {
+    int i;
+    for(i=0; i<_gears.size(); i++) {
         GearRec* gr = (GearRec*)_gears.get(i);
         if(gr->time == 0) {
             // Non-extensible
@@ -206,7 +210,8 @@ void Airplane::addVStab(Wing* vstab)
 void Airplane::addFuselage(float* front, float* back, float width)
 {
     Fuselage* f = new Fuselage();
-    for(int i=0; i<3; i++) {
+    int i;
+    for(i=0; i<3; i++) {
 	f->front[i] = front[i];
 	f->back[i]  = back[i];
     }
@@ -217,7 +222,8 @@ void Airplane::addFuselage(float* front, float* back, float width)
 int Airplane::addTank(float* pos, float cap, float density)
 {
     Tank* t = new Tank();
-    for(int i=0; i<3; i++) t->pos[i] = pos[i];
+    int i;
+    for(i=0; i<3; i++) t->pos[i] = pos[i];
     t->cap = cap;
     t->fill = cap;
     t->density = density;
@@ -239,7 +245,8 @@ void Airplane::addThruster(Thruster* thruster, float mass, float* cg)
     ThrustRec* t = new ThrustRec();
     t->thruster = thruster;
     t->mass = mass;
-    for(int i=0; i<3; i++) t->cg[i] = cg[i];
+    int i;
+    for(i=0; i<3; i++) t->cg[i] = cg[i];
     _thrusters.add(t);
 }
 
@@ -284,7 +291,8 @@ void Airplane::setWeight(int handle, float mass)
 
 void Airplane::setFuelFraction(float frac)
 {
-    for(int i=0; i<_tanks.size(); i++) {
+    int i;
+    for(i=0; i<_tanks.size(); i++) {
         Tank* t = (Tank*)_tanks.get(i);
         _model.getBody()->setMass(t->handle, t->cap * frac);
     }
@@ -330,7 +338,8 @@ void Airplane::setupState(float aoa, float speed, State* s)
 
     s->v[0] = speed; s->v[1] = 0; s->v[2] = 0;
 
-    for(int i=0; i<3; i++)
+    int i;
+    for(i=0; i<3; i++)
 	s->pos[i] = s->rot[i] = s->acc[i] = s->racc[i] = 0;
 
     // Put us 1m above the origin, or else the gravity computation in
@@ -346,7 +355,8 @@ float Airplane::compileWing(Wing* w)
     w->compile();
 
     float wgt = 0;
-    for(int i=0; i<w->numSurfaces(); i++) {
+    int i;
+    for(i=0; i<w->numSurfaces(); i++) {
         Surface* s = (Surface*)w->getSurface(i);
         _model.addSurface(s);
 
@@ -367,7 +377,8 @@ float Airplane::compileFuselage(Fuselage* f)
     float wid = f->width;
     int segs = (int)Math::ceil(len/wid);
     float segWgt = len*wid/segs;
-    for(int j=0; j<segs; j++) {
+    int j;
+    for(j=0; j<segs; j++) {
         float frac = (j+0.5) / segs;
         float pos[3];
         Math::mul3(frac, fwd, pos);
@@ -442,34 +453,35 @@ void Airplane::compile()
     // The Wing objects
     aeroWgt += compileWing(_wing);
     aeroWgt += compileWing(_tail);
-    for(int i=0; i<_vstabs.size(); i++) {
+    int i;
+    for(i=0; i<_vstabs.size(); i++) {
         aeroWgt += compileWing((Wing*)_vstabs.get(i)); 
     }
     
     // The fuselage(s)
-    for(int i=0; i<_fuselages.size(); i++) {
+    for(i=0; i<_fuselages.size(); i++) {
         aeroWgt += compileFuselage((Fuselage*)_fuselages.get(i));
     }
 
     // Count up the absolute weight we have
     float nonAeroWgt = _ballast;
-    for(int i=0; i<_thrusters.size(); i++)
+    for(i=0; i<_thrusters.size(); i++)
         nonAeroWgt += ((ThrustRec*)_thrusters.get(i))->mass;
 
     // Rescale to the specified empty weight
     float wscale = (_emptyWeight-nonAeroWgt)/aeroWgt;
-    for(int i=firstMass; i<body->numMasses(); i++)
+    for(i=firstMass; i<body->numMasses(); i++)
         body->setMass(i, body->getMass(i)*wscale);
 
     // Add the thruster masses
-    for(int i=0; i<_thrusters.size(); i++) {
+    for(i=0; i<_thrusters.size(); i++) {
         ThrustRec* t = (ThrustRec*)_thrusters.get(i);
         body->addMass(t->mass, t->cg);
     }
 
     // Add the tanks, empty for now.
     float totalFuel = 0;
-    for(int i=0; i<_tanks.size(); i++) { 
+    for(i=0; i<_tanks.size(); i++) { 
         Tank* t = (Tank*)_tanks.get(i); 
         t->handle = body->addMass(0, t->pos);
         totalFuel += t->cap;
@@ -480,11 +492,11 @@ void Airplane::compile()
     body->recalc();
 
     // Add surfaces for the landing gear.
-    for(int i=0; i<_gears.size(); i++)
+    for(i=0; i<_gears.size(); i++)
         compileGear((GearRec*)_gears.get(i));
 
     // The Thruster objects
-    for(int i=0; i<_thrusters.size(); i++) {
+    for(i=0; i<_thrusters.size(); i++) {
         ThrustRec* tr = (ThrustRec*)_thrusters.get(i);
         tr->handle = _model.addThruster(tr->thruster);
     }
@@ -512,7 +524,8 @@ void Airplane::solveGear()
     // "buffer" to keep things from blowing up with aircraft with a
     // single gear very near the c.g. (AV-8, for example).
     float total = 0;
-    for(int i=0; i<_gears.size(); i++) {
+    int i;
+    for(i=0; i<_gears.size(); i++) {
         GearRec* gr = (GearRec*)_gears.get(i);
         Gear* g = gr->gear;
         g->getPosition(pos);
@@ -522,7 +535,7 @@ void Airplane::solveGear()
     }
 
     // Renormalize so they sum to 1
-    for(int i=0; i<_gears.size(); i++)
+    for(i=0; i<_gears.size(); i++)
         ((GearRec*)_gears.get(i))->wgt /= total;
     
     // The force at max compression should be sufficient to stop a
@@ -535,7 +548,7 @@ void Airplane::solveGear()
     // each gear.
     float energy = 0.5*_approachWeight*descentRate*descentRate;
 
-    for(int i=0; i<_gears.size(); i++) {
+    for(i=0; i<_gears.size(); i++) {
         GearRec* gr = (GearRec*)_gears.get(i);
         float e = energy * gr->wgt;
         float comp[3];
@@ -558,7 +571,8 @@ void Airplane::solveGear()
 
 void Airplane::stabilizeThrust()
 {
-    for(int i=0; i<_thrusters.size(); i++)
+    int i;
+    for(i=0; i<_thrusters.size(); i++)
 	_model.getThruster(i)->stabilize();
 }
 
@@ -570,7 +584,8 @@ void Airplane::runCruise()
 
     // The control configuration
     _controls.reset();
-    for(int i=0; i<_cruiseControls.size(); i++) {
+    int i;
+    for(i=0; i<_cruiseControls.size(); i++) {
 	Control* c = (Control*)_cruiseControls.get(i);
 	_controls.setInput(c->control, c->val);
     }
@@ -589,7 +604,7 @@ void Airplane::runCruise()
    
     // Set up the thruster parameters and iterate until the thrust
     // stabilizes.
-    for(int i=0; i<_thrusters.size(); i++) {
+    for(i=0; i<_thrusters.size(); i++) {
 	Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
 	t->setWind(wind);
 	t->setAir(_cruiseP, _cruiseT);
@@ -610,7 +625,8 @@ void Airplane::runApproach()
 
     // The control configuration
     _controls.reset();
-    for(int i=0; i<_approachControls.size(); i++) {
+    int i;
+    for(i=0; i<_approachControls.size(); i++) {
 	Control* c = (Control*)_approachControls.get(i);
 	_controls.setInput(c->control, c->val);
     }
@@ -629,7 +645,7 @@ void Airplane::runApproach()
 
     // Run the thrusters until they get to a stable setting.  FIXME:
     // this is lots of wasted work.
-    for(int i=0; i<_thrusters.size(); i++) {
+    for(i=0; i<_thrusters.size(); i++) {
 	Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
 	t->setWind(wind);
 	t->setAir(_approachP, _approachT);
@@ -648,11 +664,12 @@ void Airplane::applyDragFactor(float factor)
     _dragFactor *= applied;
     _wing->setDragScale(_wing->getDragScale() * applied);
     _tail->setDragScale(_tail->getDragScale() * applied);
-    for(int i=0; i<_vstabs.size(); i++) {
+    int i;
+    for(i=0; i<_vstabs.size(); i++) {
 	Wing* w = (Wing*)_vstabs.get(i);
 	w->setDragScale(w->getDragScale() * applied);
     }
-    for(int i=0; i<_surfs.size(); i++) {
+    for(i=0; i<_surfs.size(); i++) {
 	Surface* s = (Surface*)_surfs.get(i);
 	s->setTotalDrag(s->getTotalDrag() * applied);
     }
@@ -664,7 +681,8 @@ void Airplane::applyLiftRatio(float factor)
     _liftRatio *= applied;
     _wing->setLiftRatio(_wing->getLiftRatio() * applied);
     _tail->setLiftRatio(_tail->getLiftRatio() * applied);
-    for(int i=0; i<_vstabs.size(); i++) {
+    int i;
+    for(i=0; i<_vstabs.size(); i++) {
         Wing* w = (Wing*)_vstabs.get(i);
         w->setLiftRatio(w->getLiftRatio() * applied);
     }
diff --git a/src/FDM/YASim/BodyEnvironment.hpp b/src/FDM/YASim/BodyEnvironment.hpp
index 3d6d38efc..8029555d8 100644
--- a/src/FDM/YASim/BodyEnvironment.hpp
+++ b/src/FDM/YASim/BodyEnvironment.hpp
@@ -21,9 +21,11 @@ struct State {
 
     // Simple initialization
     State() {
-        for(int i=0; i<3; i++) {
+        int i;
+        for(i=0; i<3; i++) {
             pos[i] = v[i] = rot[i] = acc[i] = racc[i] = 0;
-            for(int j=0; j<3; j++)
+            int j;
+            for(j=0; j<3; j++)
                 orient[3*i+j] = i==j ? 1 : 0;
         }
     }
diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index 0a90b71b4..ae75a7958 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -10,14 +10,16 @@ namespace yasim {
 
 ControlMap::~ControlMap()
 {
-    for(int i=0; i<_inputs.size(); i++) {
+    int i;
+    for(i=0; i<_inputs.size(); i++) {
 	Vector* v = (Vector*)_inputs.get(i);
-	for(int j=0; j<v->size(); j++)
+	int j;
+	for(j=0; j<v->size(); j++)
 	    delete (MapRec*)v->get(j);
 	delete v;
     }
 
-    for(int i=0; i<_outputs.size(); i++) {
+    for(i=0; i<_outputs.size(); i++) {
 	OutRec* o = (OutRec*)_outputs.get(i);
 	delete[] o->values;
 	delete o;
@@ -34,7 +36,8 @@ void ControlMap::addMapping(int input, int type, void* object, int options)
 {
     // See if the output object already exists
     OutRec* out = 0;
-    for(int i=0; i<_outputs.size(); i++) {
+    int i;
+    for(i=0; i<_outputs.size(); i++) {
 	OutRec* o = (OutRec*)_outputs.get(i);
 	if(o->object == object && o->type == type) {
 	    out = o;
@@ -73,9 +76,11 @@ void ControlMap::addMapping(int input, int type, void* object, int options)
 void ControlMap::reset()
 {
     // Set all the values to zero
-    for(int i=0; i<_outputs.size(); i++) {
+    int i;
+    for(i=0; i<_outputs.size(); i++) {
 	OutRec* o = (OutRec*)_outputs.get(i);
-	for(int j=0; j<o->n; j++)
+	int j;
+	for(j=0; j<o->n; j++)
 	    o->values[j] = 0;
     }
 }
@@ -83,7 +88,8 @@ void ControlMap::reset()
 void ControlMap::setInput(int input, float value)
 {
     Vector* maps = (Vector*)_inputs.get(input);
-    for(int i=0; i<maps->size(); i++) {
+    int i;
+    for(i=0; i<maps->size(); i++) {
 	MapRec* map = (MapRec*)maps->get(i);
 	map->out->values[map->idx] = value;
     }
@@ -91,13 +97,15 @@ void ControlMap::setInput(int input, float value)
 
 void ControlMap::applyControls()
 {
-    for(int outrec=0; outrec<_outputs.size(); outrec++) {
+    int outrec;
+    for(outrec=0; outrec<_outputs.size(); outrec++) {
 	OutRec* o = (OutRec*)_outputs.get(outrec);
 	
 	// Generate a summed value.  Note the check for "split"
 	// control axes like ailerons.
 	float lval = 0, rval = 0;
-	for(int i=0; i<o->n; i++) {
+	int i;
+	for(i=0; i<o->n; i++) {
 	    float val = o->values[i];
 	    int opt = (int)o->options.get(i);
 	    if(opt & OPT_SQUARE)
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index 15daf6c44..722f030ef 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -13,9 +13,9 @@ public:
 		      BRAKE, STEER, EXTEND,
 		      INCIDENCE, FLAP0, FLAP1, SLAT, SPOILER };
 
-    static const int OPT_SPLIT  = 0x01;
-    static const int OPT_INVERT = 0x02;
-    static const int OPT_SQUARE = 0x04;
+    enum { OPT_SPLIT  = 0x01,
+           OPT_INVERT = 0x02,
+           OPT_SQUARE = 0x04 };
 
     // Returns a new, not-yet-used "input handle" for addMapping and
     // setInput.  This typically corresponds to one user axis.
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index 085bbc25c..96e431f65 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -37,24 +37,25 @@ FGFDM::FGFDM()
 
 FGFDM::~FGFDM()
 {
-    for(int i=0; i<_axes.size(); i++) {
+    int i;
+    for(i=0; i<_axes.size(); i++) {
 	AxisRec* a = (AxisRec*)_axes.get(i);
 	delete[] a->name;
 	delete a;
     }
-    for(int i=0; i<_pistons.size(); i++) {
+    for(i=0; i<_pistons.size(); i++) {
 	EngRec* er = (EngRec*)_pistons.get(i);
 	delete[] er->prefix;
 	delete (PropEngine*)er->eng;
 	delete er;
     }
-    for(int i=0; i<_jets.size(); i++) {
+    for(i=0; i<_jets.size(); i++) {
 	EngRec* er = (EngRec*)_pistons.get(i);
 	delete[] er->prefix;
 	delete (Jet*)er->eng;
 	delete er;
     }
-    for(int i=0; i<_weights.size(); i++) {
+    for(i=0; i<_weights.size(); i++) {
 	WeightRec* wr = (WeightRec*)_weights.get(i);
 	delete[] wr->prop;
 	delete wr;
@@ -247,7 +248,8 @@ void FGFDM::getExternalInput(float dt)
     // The control axes
     ControlMap* cm = _airplane.getControlMap();
     cm->reset();
-    for(int i=0; i<_axes.size(); i++) {
+    int i;
+    for(i=0; i<_axes.size(); i++) {
 	AxisRec* a = (AxisRec*)_axes.get(i);
 	float val = fgGetFloat(a->name, 0);
 	cm->setInput(a->handle, val);
@@ -255,7 +257,7 @@ void FGFDM::getExternalInput(float dt)
     cm->applyControls();
 
     // Weights
-    for(int i=0; i<_weights.size(); i++) {
+    for(i=0; i<_weights.size(); i++) {
 	WeightRec* wr = (WeightRec*)_weights.get(i);
 	_airplane.setWeight(wr->handle, fgGetFloat(wr->prop));
     }
@@ -267,24 +269,25 @@ void FGFDM::getExternalInput(float dt)
 void FGFDM::setOutputProperties()
 {
     char buf[256];
-    for(int i=0; i<_airplane.numTanks(); i++) {
+    int i;
+    for(i=0; i<_airplane.numTanks(); i++) {
 	sprintf(buf, "/consumables/fuel/tank[%d]/level-gal_us", i);
 	fgSetFloat(buf,
 		   CM2GALS*_airplane.getFuel(i)/_airplane.getFuelDensity(i));
     }
 
-    for(int i=0; i<_pistons.size(); i++) {
+    for(i=0; i<_pistons.size(); i++) {
 	EngRec* er = (EngRec*)_pistons.get(i);
 	PropEngine* p = (PropEngine*)er->eng;
 
 	sprintf(buf, "%s/rpm", er->prefix);
-	fgSetFloat(buf, p->getOmega() * (30/3.15149265358979));
+	fgSetFloat(buf, p->getOmega() / RPM2RAD);
 
 	sprintf(buf, "%s/fuel-flow-gph", er->prefix);
 	fgSetFloat(buf, p->getFuelFlow() * (3600*2.2/5)); // FIXME, wrong
     }
 
-    for(int i=0; i<_jets.size(); i++) {
+    for(i=0; i<_jets.size(); i++) {
 	EngRec* er = (EngRec*)_jets.get(i);
 	Jet* j = (Jet*)er->eng;
 	
@@ -380,7 +383,8 @@ void FGFDM::parsePropeller(XMLAttributes* a)
 // yet.
 int FGFDM::parseAxis(const char* name)
 {
-    for(int i=0; i<_axes.size(); i++) {
+    int i;
+    for(i=0; i<_axes.size(); i++) {
 	AxisRec* a = (AxisRec*)_axes.get(i);
 	if(eq(a->name, name))
 	    return a->handle;
diff --git a/src/FDM/YASim/Gear.cpp b/src/FDM/YASim/Gear.cpp
index cd02dad1d..6c01885f0 100644
--- a/src/FDM/YASim/Gear.cpp
+++ b/src/FDM/YASim/Gear.cpp
@@ -6,7 +6,8 @@ namespace yasim {
 
 Gear::Gear()
 {
-    for(int i=0; i<3; i++)
+    int i;
+    for(i=0; i<3; i++)
 	_pos[i] = _cmpr[i] = 0;
     _spring = 1;
     _damp = 0;
@@ -19,12 +20,14 @@ Gear::Gear()
 
 void Gear::setPosition(float* position)
 {
-    for(int i=0; i<3; i++) _pos[i] = position[i];
+    int i;
+    for(i=0; i<3; i++) _pos[i] = position[i];
 }
 
 void Gear::setCompression(float* compression)
 {
-    for(int i=0; i<3; i++) _cmpr[i] = compression[i];
+    int i;
+    for(i=0; i<3; i++) _cmpr[i] = compression[i];
 }
 
 void Gear::setSpring(float spring)
@@ -64,12 +67,14 @@ void Gear::setExtension(float extension)
 
 void Gear::getPosition(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _pos[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _pos[i];
 }
 
 void Gear::getCompression(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _cmpr[i];    
+    int i;
+    for(i=0; i<3; i++) out[i] = _cmpr[i];    
 }
 
 float Gear::getSpring()
@@ -126,7 +131,8 @@ float Gear::getCompressFraction()
 void Gear::calcForce(RigidBody* body, float* v, float* rot, float* ground)
 {
     // Init the return values
-    for(int i=0; i<3; i++) _force[i] = _contact[i] = 0;
+    int i;
+    for(i=0; i<3; i++) _force[i] = _contact[i] = 0;
 
     // Don't bother if it's not down
     if(_extension < 1)
@@ -150,7 +156,7 @@ void Gear::calcForce(RigidBody* body, float* v, float* rot, float* ground)
     // Calculate the point of ground _contact.
     _frac = a/(a-b);
     if(b < 0) _frac = 1;
-    for(int i=0; i<3; i++)
+    for(i=0; i<3; i++)
 	_contact[i] = _pos[i] + _frac*_cmpr[i];
 
     // Turn _cmpr into a unit vector and a magnitude
diff --git a/src/FDM/YASim/Glue.cpp b/src/FDM/YASim/Glue.cpp
index 119a1b161..ac68e8e81 100644
--- a/src/FDM/YASim/Glue.cpp
+++ b/src/FDM/YASim/Glue.cpp
@@ -2,6 +2,15 @@
 #include "Glue.hpp"
 namespace yasim {
 
+// WGS84 numbers
+static const double EQURAD = 6378137;         // equatorial radius
+static const double STRETCH = 1.003352810665; // equ./polar radius
+
+// Derived from the above
+static const double SQUASH = 0.99665839311;      // 1/STRETCH
+static const double POLRAD = 6356823.77346;      // EQURAD*SQUASH
+static const double iPOLRAD = 1.57311266701e-07; // 1/POLRAD
+
 void Glue::calcAlphaBeta(State* s, float* alpha, float* beta)
 {
     // Convert the velocity to the aircraft frame.
@@ -145,8 +154,9 @@ void Glue::euler2orient(float roll, float pitch, float hdg, float* out)
     // rotation and are done out longhand below for efficiency.
 
     // Init to the identity matrix
-    for(int i=0; i<3; i++)
-        for(int j=0; j<3; j++)
+    int i, j;
+    for(i=0; i<3; i++)
+        for(j=0; j<3; j++)
             out[3*i+j] = (i==j) ? 1 : 0;
 
     // Negate Y and Z
@@ -154,7 +164,8 @@ void Glue::euler2orient(float roll, float pitch, float hdg, float* out)
     
     float s = Math::sin(roll);
     float c = Math::cos(roll);
-    for(int col=0; col<3; col++) {
+    int col;
+    for(col=0; col<3; col++) {
 	float y=out[col+3], z=out[col+6];
 	out[col+3] = c*y - s*z;
 	out[col+6] = s*y + c*z;
@@ -162,7 +173,7 @@ void Glue::euler2orient(float roll, float pitch, float hdg, float* out)
 
     s = Math::sin(pitch);
     c = Math::cos(pitch);
-    for(int col=0; col<3; col++) {
+    for(col=0; col<3; col++) {
 	float x=out[col], z=out[col+6];
 	out[col]   = c*x + s*z;
 	out[col+6] = c*z - s*x;
@@ -170,7 +181,7 @@ void Glue::euler2orient(float roll, float pitch, float hdg, float* out)
 
     s = Math::sin(hdg);
     c = Math::cos(hdg);
-    for(int col=0; col<3; col++) {
+    for(col=0; col<3; col++) {
 	float x=out[col], y=out[col+3];
 	out[col]   = c*x - s*y;
 	out[col+3] = s*x + c*y;
diff --git a/src/FDM/YASim/Glue.hpp b/src/FDM/YASim/Glue.hpp
index fe6dbf702..081bcf5a4 100644
--- a/src/FDM/YASim/Glue.hpp
+++ b/src/FDM/YASim/Glue.hpp
@@ -43,17 +43,6 @@ public:
     // Returns a geodetic (i.e. gravitational, "level", etc...) "up"
     // vector for the specified xyz position.
     static void geodUp(double* pos, float* out);
-
-private:
-
-    // WGS84 numbers
-    static const double EQURAD = 6378137;         // equatorial radius
-    static const double STRETCH = 1.003352810665; // equ./polar radius
-
-    // Derived from the above
-    static const double SQUASH = 0.99665839311;      // 1/STRETCH
-    static const double POLRAD = 6356823.77346;      // EQURAD*SQUASH
-    static const double iPOLRAD = 1.57311266701e-07; // 1/POLRAD
 };
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/Integrator.cpp b/src/FDM/YASim/Integrator.cpp
index 872f902c4..d3c220ef9 100644
--- a/src/FDM/YASim/Integrator.cpp
+++ b/src/FDM/YASim/Integrator.cpp
@@ -75,7 +75,8 @@ void Integrator::calcNewInterval()
     float dt = _dt / 4;
 
     orthonormalize(_s.orient);
-    for(int i=0; i<4; i++) {
+    int i;
+    for(i=0; i<4; i++) {
 	_body->reset();
 	_env->calcForces(&s);
 	
@@ -124,7 +125,8 @@ void Integrator::calcNewInterval()
     // First off, sanify the initial orientation
     orthonormalize(_s.orient);
 
-    for(int i=0; i<NITER; i++) {
+    int i;
+    for(i=0; i<NITER; i++) {
 	//
 	// extrapolate forward based on current values of the
 	// derivatives and the ORIGINAL values of the
@@ -139,7 +141,8 @@ void Integrator::calcNewInterval()
 	Math::mmul33(_s.orient, rotmat, ori[i]);
 
 	// add velocity to (original!) position
-	for(int j=0; j<3; j++) pos[i][j] = _s.pos[j];
+	int j;
+	for(j=0; j<3; j++) pos[i][j] = _s.pos[j];
         extrapolatePosition(pos[i], currVel, dt, _s.orient, ori[i]);
 
 	// add acceleration to (original!) velocity
@@ -163,12 +166,12 @@ void Integrator::calcNewInterval()
         // per-coordinate arrays should be changed into a single array
         // of State objects.  Ick.
         State stmp;
-        for(int j=0; j<3; j++) {
+        for(j=0; j<3; j++) {
             stmp.pos[j] = pos[i][j];
             stmp.v[j] = vel[i][j];
             stmp.rot[j] = rot[i][j];
         }
-        for(int j=0; j<9; j++)
+        for(j=0; j<9; j++)
             stmp.orient[j] = ori[i][j];
 	_env->calcForces(&stmp);
 
@@ -190,16 +193,17 @@ void Integrator::calcNewInterval()
     // But the space is "locally" cartesian.
     State derivs;
     float tot = 0;
-    for(int i=0; i<NITER; i++) {
+    for(i=0; i<NITER; i++) {
 	float wgt = WEIGHTS[i];
         tot += wgt;
-        for(int j=0; j<3; j++) {
+        int j;
+        for(j=0; j<3; j++) {
             derivs.v[j]   += wgt*vel[i][j];  derivs.rot[j]    += wgt*rot[i][j];
             derivs.acc[j] += wgt*acc[i][j];  derivs.racc[j] += wgt*rac[i][j];
         }
     }
     float itot = 1/tot;
-    for(int i=0; i<3; i++) {
+    for(i=0; i<3; i++) {
         derivs.v[i]   *= itot;  derivs.rot[i]    *= itot;
         derivs.acc[i] *= itot;  derivs.racc[i] *= itot;
     }
@@ -211,7 +215,7 @@ void Integrator::calcNewInterval()
 
     // save the starting orientation
     float orient0[9];
-    for(int i=0; i<9; i++) orient0[i] = _s.orient[i];
+    for(i=0; i<9; i++) orient0[i] = _s.orient[i];
 
     float rotmat[9];
     rotMatrix(derivs.rot, _dt, rotmat);
@@ -226,7 +230,7 @@ void Integrator::calcNewInterval()
     Math::mul3(_dt, derivs.racc, tmp);
     Math::add3(_s.rot, tmp, _s.rot);
     
-    for(int i=0; i<3; i++) {
+    for(i=0; i<3; i++) {
 	_s.acc[i] = derivs.acc[i];
 	_s.racc[i] = derivs.racc[i];
     }
diff --git a/src/FDM/YASim/Math.cpp b/src/FDM/YASim/Math.cpp
index 53a8aef74..000866373 100644
--- a/src/FDM/YASim/Math.cpp
+++ b/src/FDM/YASim/Math.cpp
@@ -159,7 +159,8 @@ void Math::mmul33(float* a, float* b, float* out)
     tmp[5] = a[3]*b[2] + a[4]*b[5] + a[5]*b[8];
     tmp[8] = a[6]*b[2] + a[7]*b[5] + a[8]*b[8];
 
-    for(int i=0; i<9; i++)
+    int i;
+    for(i=0; i<9; i++)
 	out[i] = tmp[i];
 }
 
diff --git a/src/FDM/YASim/Model.cpp b/src/FDM/YASim/Model.cpp
index ce5ea4c5a..ae7d6a655 100644
--- a/src/FDM/YASim/Model.cpp
+++ b/src/FDM/YASim/Model.cpp
@@ -25,7 +25,8 @@ void printState(State* s)
     printf("\nNEW STATE (LOCAL COORDS)\n");
     printf("pos: %10.2f %10.2f %10.2f\n", tmp.pos[0], tmp.pos[1], tmp.pos[2]);
     printf("o:   ");
-    for(int i=0; i<3; i++) {
+    int i;
+    for(i=0; i<3; i++) {
 	if(i != 0) printf("     ");
 	printf("%6.2f %6.2f %6.2f\n",
 	       tmp.orient[3*i+0], tmp.orient[3*i+1], tmp.orient[3*i+2]);
@@ -38,7 +39,8 @@ void printState(State* s)
 
 Model::Model()
 {
-    for(int i=0; i<3; i++) _wind[i] = 0;
+    int i;
+    for(i=0; i<3; i++) _wind[i] = 0;
 
     _integrator.setBody(&_body);
     _integrator.setEnvironment(this);
@@ -56,7 +58,8 @@ void Model::getThrust(float* out)
 {
     float tmp[3];
     out[0] = out[1] = out[2] = 0;
-    for(int i=0; i<_thrusters.size(); i++) {
+    int i;
+    for(i=0; i<_thrusters.size(); i++) {
 	Thruster* t = (Thruster*)_thrusters.get(i);
 	t->getThrust(tmp);
 	Math::add3(tmp, out, out);
@@ -66,9 +69,10 @@ void Model::getThrust(float* out)
 void Model::initIteration()
 {
     // Precompute torque and angular momentum for the thrusters
-    for(int i=0; i<3; i++)
+    int i;
+    for(i=0; i<3; i++)
 	_gyro[i] = _torque[i] = 0;
-    for(int i=0; i<_thrusters.size(); i++) {
+    for(i=0; i<_thrusters.size(); i++) {
 	Thruster* t = (Thruster*)_thrusters.get(i);
 	
         // Get the wind velocity at the thruster location
@@ -77,7 +81,7 @@ void Model::initIteration()
         localWind(pos, _s, v);
 
 	t->setWind(v);
-	t->setAir(_P, _T);
+	t->setAir(_pressure, _temp);
 	t->integrate(_integrator.getInterval());
 
 	t->getTorque(v);
@@ -164,14 +168,15 @@ void Model::setGroundEffect(float* pos, float span, float mul)
 // (v dot _ground)-_ground[3] gives the distance AGL.
 void Model::setGroundPlane(double* planeNormal, double fromOrigin)
 {
-    for(int i=0; i<3; i++) _ground[i] = planeNormal[i];
+    int i;
+    for(i=0; i<3; i++) _ground[i] = planeNormal[i];
     _ground[3] = fromOrigin;
 }
 
 void Model::setAir(float pressure, float temp)
 {
-    _P = pressure;
-    _T = temp;
+    _pressure = pressure;
+    _temp = temp;
     _rho = Atmosphere::calcDensity(pressure, temp);
 }
 
@@ -189,7 +194,8 @@ void Model::calcForces(State* s)
     // step.
     _body.setGyro(_gyro);
     _body.addTorque(_torque);
-    for(int i=0; i<_thrusters.size(); i++) {
+    int i;
+    for(i=0; i<_thrusters.size(); i++) {
 	Thruster* t = (Thruster*)_thrusters.get(i);
 	float thrust[3], pos[3];
 	t->getThrust(thrust);
@@ -208,7 +214,7 @@ void Model::calcForces(State* s)
     // point is different due to rotation.
     float faero[3];
     faero[0] = faero[1] = faero[2] = 0;
-    for(int i=0; i<_surfaces.size(); i++) {
+    for(i=0; i<_surfaces.size(); i++) {
 	Surface* sf = (Surface*)_surfaces.get(i);
 
 	// Vsurf = wind - velocity + (rot cross (cg - pos))
@@ -247,7 +253,7 @@ void Model::calcForces(State* s)
     Math::vmul33(s->orient, s->v, lv);
 
     // The landing gear
-    for(int i=0; i<_gears.size(); i++) {
+    for(i=0; i<_gears.size(); i++) {
 	float force[3], contact[3];
 	Gear* g = (Gear*)_gears.get(i);
 	g->calcForce(&_body, lv, lrot, ground);
@@ -265,7 +271,8 @@ void Model::newState(State* s)
     // Some simple collision detection
     float ground[4], pos[3], cmpr[3];
     ground[3] = localGround(s, ground);
-    for(int i=0; i<_gears.size(); i++) {
+    int i;
+    for(i=0; i<_gears.size(); i++) {
 	Gear* g = (Gear*)_gears.get(i);
 	g->getPosition(pos);
 	g->getCompression(cmpr);
diff --git a/src/FDM/YASim/Model.hpp b/src/FDM/YASim/Model.hpp
index 6c1682a96..42f9d2a72 100644
--- a/src/FDM/YASim/Model.hpp
+++ b/src/FDM/YASim/Model.hpp
@@ -71,8 +71,8 @@ private:
     float _wingCenter[3];
 
     double _ground[4];
-    float _P;
-    float _T;
+    float _pressure;
+    float _temp;
     float _rho;
     float _wind[3];
 
diff --git a/src/FDM/YASim/PistonEngine.cpp b/src/FDM/YASim/PistonEngine.cpp
index 5a6cff14c..710af2bcd 100644
--- a/src/FDM/YASim/PistonEngine.cpp
+++ b/src/FDM/YASim/PistonEngine.cpp
@@ -9,7 +9,7 @@ PistonEngine::PistonEngine(float power, float speed)
     // (2.2 lb/kg, 745.7 W/hp, 3600 sec/hour) 3.69e-07 kg/Ws.
     _f0 = power * 3.69e-07;
 
-    _P0 = power;
+    _power0 = power;
     _omega0 = speed;
 
     // We must be at sea level under standard conditions
@@ -40,7 +40,7 @@ void PistonEngine::setTurboParams(float turbo, float maxMP)
 
 float PistonEngine::getPower()
 {
-    return _P0;
+    return _power0;
 }
 
 void PistonEngine::setThrottle(float t)
@@ -89,7 +89,7 @@ void PistonEngine::calc(float P, float T, float speed,
 
     // And finally the power is just the reference power scaled by the
     // amount of fuel burned.
-    float power = _P0 * burned/_f0;
+    float power = _power0 * burned/_f0;
 
     *torqueOut = power/speed;
     *fuelFlowOut = fuel;
diff --git a/src/FDM/YASim/PistonEngine.hpp b/src/FDM/YASim/PistonEngine.hpp
index acfc01baa..5a7e09e2b 100644
--- a/src/FDM/YASim/PistonEngine.hpp
+++ b/src/FDM/YASim/PistonEngine.hpp
@@ -23,7 +23,7 @@ public:
 	      float* powerOut, float* fuelFlowOut);
 
 private:
-    float _P0;       // reference power setting
+    float _power0;   // reference power setting
     float _omega0;   //   "       engine speed
     float _rho0;     //   "       manifold air density
     float _f0;       // "ideal" fuel flow at P0/omega0
diff --git a/src/FDM/YASim/PropEngine.cpp b/src/FDM/YASim/PropEngine.cpp
index 73cca9a10..838f4825e 100644
--- a/src/FDM/YASim/PropEngine.cpp
+++ b/src/FDM/YASim/PropEngine.cpp
@@ -42,17 +42,20 @@ float PropEngine::getOmega()
 
 void PropEngine::getThrust(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _thrust[i];    
+    int i;
+    for(i=0; i<3; i++) out[i] = _thrust[i];    
 }
 
 void PropEngine::getTorque(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _torque[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _torque[i];
 }
 
 void PropEngine::getGyro(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _gyro[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _gyro[i];
 }
 
 float PropEngine::getFuelFlow()
@@ -78,7 +81,7 @@ void PropEngine::stabilize()
     while(true) {
 	float etau, ptau, dummy;
 	_prop->calc(_rho, speed, _omega, &dummy, &ptau);
-	_eng->calc(_P, _T, _omega, &etau, &dummy);
+	_eng->calc(_pressure, _temp, _omega, &etau, &dummy);
 	float tdiff = etau - ptau;
 
 	if(Math::abs(tdiff/_moment) < 0.1)
@@ -109,7 +112,7 @@ void PropEngine::integrate(float dt)
     
     _prop->calc(_rho, speed, _omega,
 		&thrust, &propTorque);
-    _eng->calc(_P, _T, _omega, &engTorque, &_fuelFlow);
+    _eng->calc(_pressure, _temp, _omega, &engTorque, &_fuelFlow);
 
     // Turn the thrust into a vector and save it
     Math::mul3(thrust, _dir, _thrust);
diff --git a/src/FDM/YASim/Propeller.cpp b/src/FDM/YASim/Propeller.cpp
index 9e6245120..64cbb531d 100644
--- a/src/FDM/YASim/Propeller.cpp
+++ b/src/FDM/YASim/Propeller.cpp
@@ -15,11 +15,11 @@ Propeller::Propeller(float radius, float v, float omega,
     _r = radius;
     _etaC = 0.85; // make this settable?
 
-    _J0 = v/(omega*_lambdaPeak);
-    _baseJ0 = _J0;
+    _j0 = v/(omega*_lambdaPeak);
+    _baseJ0 = _j0;
 
     float V2 = v*v + (_r*omega)*(_r*omega);
-    _F0 = 2*_etaC*power/(rho*v*V2);
+    _f0 = 2*_etaC*power/(rho*v*V2);
 
     _matchTakeoff = false;
 }
@@ -29,17 +29,17 @@ void Propeller::setTakeoff(float omega0, float power0)
     // Takeoff thrust coefficient at lambda==0
     _matchTakeoff = true;
     float V2 = _r*omega0 * _r*omega0;
-    float gamma = _etaC * _beta / _J0;
+    float gamma = _etaC * _beta / _j0;
     float torque = power0 / omega0;
     float density = Atmosphere::getStdDensity(0);
-    _tc0 = (torque * gamma) / (0.5 * density * V2 * _F0);
+    _tc0 = (torque * gamma) / (0.5 * density * V2 * _f0);
 }
     
 void Propeller::modPitch(float mod)
 {
-    _J0 *= mod;
-    if(_J0 < 0.25*_baseJ0) _J0 = 0.25*_baseJ0;
-    if(_J0 > 4*_baseJ0)    _J0 = 4*_baseJ0;
+    _j0 *= mod;
+    if(_j0 < 0.25*_baseJ0) _j0 = 0.25*_baseJ0;
+    if(_j0 > 4*_baseJ0)    _j0 = 4*_baseJ0;
 }
 
 
@@ -54,12 +54,12 @@ void Propeller::calc(float density, float v, float omega,
     if(v < 0) v = 0;
 
     float J = v/omega;
-    float lambda = J/_J0;
+    float lambda = J/_j0;
 
     float torque = 0;
     if(lambda > 1) {
 	lambda = 1.0/lambda;
-	torque = (density*V2*_F0*_J0)/(4*_etaC*_beta*(1-_lambdaPeak));
+	torque = (density*V2*_f0*_j0)/(4*_etaC*_beta*(1-_lambdaPeak));
     }
 
     // There's an undefined point at 1.  Just offset by a tiny bit to
@@ -72,14 +72,14 @@ void Propeller::calc(float density, float v, float omega,
     float l4 = lambda*lambda; l4 = l4*l4;
 
     // thrust/torque ratio
-    float gamma = (_etaC*_beta/_J0)*(1-l4);
+    float gamma = (_etaC*_beta/_j0)*(1-l4);
 
     // Compute a thrust, clamp to takeoff thrust to prevend huge
     // numbers at slow speeds.
     float tc = (1 - lambda) / (1 - _lambdaPeak);
     if(_matchTakeoff && tc > _tc0) tc = _tc0;
 
-    float thrust = 0.5 * density * V2 * _F0 * tc;
+    float thrust = 0.5 * density * V2 * _f0 * tc;
 
     if(torque > 0) {
 	torque -= thrust/gamma;
diff --git a/src/FDM/YASim/Propeller.hpp b/src/FDM/YASim/Propeller.hpp
index 2e4d3f565..beb197a7e 100644
--- a/src/FDM/YASim/Propeller.hpp
+++ b/src/FDM/YASim/Propeller.hpp
@@ -25,9 +25,9 @@ public:
 
 private:
     float _r;           // characteristic radius
-    float _J0;          // zero-thrust advance ratio
+    float _j0;          // zero-thrust advance ratio
     float _baseJ0;      //  ... uncorrected for prop advance
-    float _F0;          // thrust coefficient
+    float _f0;          // thrust coefficient
     float _etaC;        // Peak efficiency
     float _lambdaPeak;  // constant, ~0.759835;
     float _beta;        // constant, ~1.48058;
diff --git a/src/FDM/YASim/RigidBody.cpp b/src/FDM/YASim/RigidBody.cpp
index 5ddded7c2..145cfc105 100644
--- a/src/FDM/YASim/RigidBody.cpp
+++ b/src/FDM/YASim/RigidBody.cpp
@@ -24,7 +24,8 @@ int RigidBody::addMass(float mass, float* pos)
     if(_nMasses == _massesAlloced) {
         _massesAlloced *= 2;
         Mass *m2 = new Mass[_massesAlloced];
-        for(int i=0; i<_nMasses; i++)
+        int i;
+        for(i=0; i<_nMasses; i++)
             m2[i] = _masses[i];
         delete[] _masses;
         _masses = m2;
@@ -86,7 +87,8 @@ void RigidBody::recalc()
     // Calculate the c.g and total mass:
     _totalMass = 0;
     _cg[0] = _cg[1] = _cg[2] = 0;
-    for(int i=0; i<_nMasses; i++) {
+    int i;
+    for(i=0; i<_nMasses; i++) {
         float m = _masses[i].m;
         _totalMass += m;
         _cg[0] += m * _masses[i].p[0];
@@ -96,10 +98,10 @@ void RigidBody::recalc()
     Math::mul3(1/_totalMass, _cg, _cg);
 
     // Now the inertia tensor:
-    for(int i=0; i<9; i++)
-	_I[i] = 0;
+    for(i=0; i<9; i++)
+	_tI[i] = 0;
 
-    for(int i=0; i<_nMasses; i++) {
+    for(i=0; i<_nMasses; i++) {
 	float m = _masses[i].m;
 
 	float x = _masses[i].p[0] - _cg[0];
@@ -109,13 +111,13 @@ void RigidBody::recalc()
 	float xy = m*x*y; float yz = m*y*z; float zx = m*z*x;
 	float x2 = m*x*x; float y2 = m*y*y; float z2 = m*z*z;
 
-	_I[0] += y2+z2;  _I[1] -=    xy;  _I[2] -=    zx;
-	_I[3] -=    xy;  _I[4] += x2+z2;  _I[5] -=    yz;
-	_I[6] -=    zx;	 _I[7] -=    yz;  _I[8] += x2+y2;
+	_tI[0] += y2+z2;  _tI[1] -=    xy;  _tI[2] -=    zx;
+	_tI[3] -=    xy;  _tI[4] += x2+z2;  _tI[5] -=    yz;
+	_tI[6] -=    zx;   _tI[7] -=   yz;  _tI[8] += x2+y2;
     }
 
     // And its inverse
-    Math::invert33(_I, _invI);
+    Math::invert33(_tI, _invI);
 }
 
 void RigidBody::reset()
@@ -195,7 +197,7 @@ void RigidBody::getAngularAccel(float* accelOut)
     // Now work the equation of motion.  Use "v" as a notational
     // shorthand, as the value isn't an acceleration until the end.
     float *v = accelOut;
-    Math::vmul33(_I, _spin, v);  // v = I*omega
+    Math::vmul33(_tI, _spin, v);  // v = I*omega
     Math::cross3(_spin, v, v);   // v = omega X I*omega
     Math::add3(tau, v, v);       // v = tau + (omega X I*omega)
     Math::vmul33(_invI, v, v);   // v = invI*(tau + (omega X I*omega))
diff --git a/src/FDM/YASim/RigidBody.hpp b/src/FDM/YASim/RigidBody.hpp
index 08e07ef88..b34b5a482 100644
--- a/src/FDM/YASim/RigidBody.hpp
+++ b/src/FDM/YASim/RigidBody.hpp
@@ -110,7 +110,7 @@ private:
     float _gyro[3];
 
     // Inertia tensor, and its inverse.  Computed from the above.
-    float _I[9];
+    float _tI[9];
     float _invI[9];
 
     // Externally determined quantities
diff --git a/src/FDM/YASim/Surface.cpp b/src/FDM/YASim/Surface.cpp
index 172920820..baae993b8 100644
--- a/src/FDM/YASim/Surface.cpp
+++ b/src/FDM/YASim/Surface.cpp
@@ -9,7 +9,8 @@ Surface::Surface()
     _cx = _cy = _cz = 1;
     _cz0 = 0;
     _peaks[0] = _peaks[1] = 1;
-    for(int i=0; i<4; i++)
+    int i;
+    for(i=0; i<4; i++)
 	_stalls[i] = _widths[i] = 0;
     _orient[0] = 1; _orient[1] = 0; _orient[2] = 0;
     _orient[3] = 0; _orient[4] = 1; _orient[5] = 0;
@@ -25,12 +26,14 @@ Surface::Surface()
 
 void Surface::setPosition(float* p)
 {
-    for(int i=0; i<3; i++) _pos[i] = p[i];
+    int i;
+    for(i=0; i<3; i++) _pos[i] = p[i];
 }
 
 void Surface::getPosition(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _pos[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _pos[i];
 }
 
 void Surface::setChord(float chord)
@@ -85,7 +88,8 @@ void Surface::setStallWidth(int i, float width)
 
 void Surface::setOrientation(float* o)
 {
-    for(int i=0; i<9; i++)
+    int i;
+    for(i=0; i<9; i++)
         _orient[i] = o[i];
 }
 
@@ -138,7 +142,8 @@ void Surface::calcForce(float* v, float rho, float* out, float* torque)
     // Handle the blowup condition.  Zero velocity means zero force by
     // definition.
     if(vel == 0) {
-	for(int i=0; i<3; i++) out[i] = torque[i] = 0;
+	int i;
+	for(i=0; i<3; i++) out[i] = torque[i] = 0;
 	return;
     }
 
diff --git a/src/FDM/YASim/Thruster.cpp b/src/FDM/YASim/Thruster.cpp
index 6dab8aa3c..0eb047182 100644
--- a/src/FDM/YASim/Thruster.cpp
+++ b/src/FDM/YASim/Thruster.cpp
@@ -5,10 +5,11 @@ namespace yasim {
 Thruster::Thruster()
 {
     _dir[0] = 1; _dir[1] = 0; _dir[2] = 0;
-    for(int i=0; i<3; i++) _pos[i] = _wind[i] = 0;
+    int i;
+    for(i=0; i<3; i++) _pos[i] = _wind[i] = 0;
     _throttle = 0;
     _mixture = 0;
-    _P = _T = _rho = 0;
+    _pressure = _temp = _rho = 0;
 }
 
 Thruster::~Thruster()
@@ -17,17 +18,20 @@ Thruster::~Thruster()
 
 void Thruster::getPosition(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _pos[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _pos[i];
 }
 
 void Thruster::setPosition(float* pos)
 {
-    for(int i=0; i<3; i++) _pos[i] = pos[i];
+    int i;
+    for(i=0; i<3; i++) _pos[i] = pos[i];
 }
 
 void Thruster::getDirection(float* out)
 {
-    for(int i=0; i<3; i++) out[i] = _dir[i];
+    int i;
+    for(i=0; i<3; i++) out[i] = _dir[i];
 }
 
 void Thruster::setDirection(float* dir)
@@ -47,14 +51,15 @@ void Thruster::setMixture(float mixture)
 
 void Thruster::setWind(float* wind)
 {
-    for(int i=0; i<3; i++) _wind[i] = wind[i];
+    int i;
+    for(i=0; i<3; i++) _wind[i] = wind[i];
 }
 
 void Thruster::setAir(float pressure, float temp)
 {
-    _P = pressure;
-    _T = temp;
-    _rho = _P / (287.1 * _T);
+    _pressure = pressure;
+    _temp = temp;
+    _rho = _pressure / (287.1 * _temp);
 }
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/Thruster.hpp b/src/FDM/YASim/Thruster.hpp
index cfb70eb7b..b99c854a8 100644
--- a/src/FDM/YASim/Thruster.hpp
+++ b/src/FDM/YASim/Thruster.hpp
@@ -50,8 +50,8 @@ protected:
     float _mixture;
 
     float _wind[3];
-    float _P;
-    float _T;
+    float _pressure;
+    float _temp;
     float _rho;
 };
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 858e3b4cd..22cc84a66 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -39,7 +39,8 @@ Wing::Wing()
 
 Wing::~Wing()
 {
-    for(int i=0; i<_surfs.size(); i++) {
+    int i;
+    for(i=0; i<_surfs.size(); i++) {
         SurfRec* s = (SurfRec*)_surfs.get(i);
         delete s->surface;
         delete s;
@@ -68,7 +69,8 @@ void Wing::setMirror(bool mirror)
 
 void Wing::setBase(float* base)
 {
-    for(int i=0; i<3; i++) _base[i] = base[i];
+    int i;
+    for(i=0; i<3; i++) _base[i] = base[i];
 }
 
 void Wing::setLength(float length)
@@ -119,7 +121,8 @@ void Wing::setCamber(float camber)
 void Wing::setIncidence(float incidence)
 {
     _incidence = incidence;
-    for(int i=0; i<_surfs.size(); i++)
+    int i;
+    for(i=0; i<_surfs.size(); i++)
         ((SurfRec*)_surfs.get(i))->surface->setIncidence(incidence);
 }
 
@@ -159,7 +162,8 @@ void Wing::setFlap0(float lval, float rval)
 {
     lval = Math::clamp(lval, -1, 1);
     rval = Math::clamp(rval, -1, 1);
-    for(int i=0; i<_flap0Surfs.size(); i++) {
+    int i;
+    for(i=0; i<_flap0Surfs.size(); i++) {
 	((Surface*)_flap0Surfs.get(i))->setFlap(lval);
 	if(_mirror) ((Surface*)_flap0Surfs.get(++i))->setFlap(rval);
     }
@@ -169,7 +173,8 @@ void Wing::setFlap1(float lval, float rval)
 {
     lval = Math::clamp(lval, -1, 1);
     rval = Math::clamp(rval, -1, 1);
-    for(int i=0; i<_flap1Surfs.size(); i++) {
+    int i;
+    for(i=0; i<_flap1Surfs.size(); i++) {
 	((Surface*)_flap1Surfs.get(i))->setFlap(lval);
 	if(_mirror) ((Surface*)_flap1Surfs.get(++i))->setFlap(rval);
     }
@@ -179,7 +184,8 @@ void Wing::setSpoiler(float lval, float rval)
 {
     lval = Math::clamp(lval, 0, 1);
     rval = Math::clamp(rval, 0, 1);
-    for(int i=0; i<_spoilerSurfs.size(); i++) {
+    int i;
+    for(i=0; i<_spoilerSurfs.size(); i++) {
 	((Surface*)_spoilerSurfs.get(i))->setSpoiler(lval);
 	if(_mirror) ((Surface*)_spoilerSurfs.get(++i))->setSpoiler(rval);
     }
@@ -188,13 +194,15 @@ void Wing::setSpoiler(float lval, float rval)
 void Wing::setSlat(float val)
 {
     val = Math::clamp(val, 0, 1);
-    for(int i=0; i<_slatSurfs.size(); i++)
+    int i;
+    for(i=0; i<_slatSurfs.size(); i++)
 	((Surface*)_slatSurfs.get(i))->setSlat(val);
 }
 
 float Wing::getGroundEffect(float* posOut)
 {
-    for(int i=0; i<3; i++) posOut[i] = _base[i];
+    int i;
+    for(i=0; i<3; i++) posOut[i] = _base[i];
     float span = _length * Math::cos(_sweep) * Math::cos(_dihedral);
     span = 2*(span + Math::abs(_base[2]));
     return span;
@@ -215,10 +223,12 @@ void Wing::compile()
     bounds[6] = _slatStart;    bounds[7] = _slatEnd;
 
     // Sort in increasing order
-    for(int i=0; i<8; i++) {
+    int i;
+    for(i=0; i<8; i++) {
         int minIdx = i;
 	float minVal = bounds[i];
-        for(int j=i+1; j<8; j++) {
+        int j;
+        for(j=i+1; j<8; j++) {
             if(bounds[j] < minVal) {
                 minIdx = j;
 		minVal = bounds[j];
@@ -231,7 +241,7 @@ void Wing::compile()
     // Uniqify
     float last = bounds[0];
     int nbounds = 1;
-    for(int i=1; i<8; i++) {
+    for(i=1; i<8; i++) {
         if(bounds[i] != last)
             bounds[nbounds++] = bounds[i];
         last = bounds[i];
@@ -270,19 +280,20 @@ void Wing::compile()
 
     if(_mirror) {
 	// Derive the right side orientation matrix from this one.
-        for(int i=0; i<9; i++)  rightOrient[i] = orient[i];
+        int i;
+        for(i=0; i<9; i++)  rightOrient[i] = orient[i];
 
 	// Negate all Y coordinates, this gets us a valid basis, but
 	// it's left handed!  So...
-        for(int i=1; i<9; i+=3) rightOrient[i] = -rightOrient[i];
+        for(i=1; i<9; i+=3) rightOrient[i] = -rightOrient[i];
 
 	// Change the direction of the Y axis to get back to a
 	// right-handed system.
-	for(int i=3; i<6; i++)  rightOrient[i] = -rightOrient[i];
+	for(i=3; i<6; i++)  rightOrient[i] = -rightOrient[i];
     }
 
     // Now go through each boundary and make segments
-    for(int i=0; i<(nbounds-1); i++) {
+    for(i=0; i<(nbounds-1); i++) {
         float start = bounds[i];
         float end = bounds[i+1];
         float mid = (start+end)/2;
@@ -299,7 +310,8 @@ void Wing::compile()
         int nSegs = (int)Math::ceil((end-start)/segLen);
         float segWid = _length * (end - start)/nSegs;
 
-        for(int j=0; j<nSegs; j++) {
+        int j;
+        for(j=0; j<nSegs; j++) {
             float frac = start + (j+0.5) * (end-start)/nSegs;
             float pos[3];
             interp(root, tip, frac, pos);
@@ -337,7 +349,8 @@ float Wing::getDragScale()
 void Wing::setDragScale(float scale)
 {
     _dragScale = scale;
-    for(int i=0; i<_surfs.size(); i++) {
+    int i;
+    for(i=0; i<_surfs.size(); i++) {
         SurfRec* s = (SurfRec*)_surfs.get(i);
         s->surface->setTotalDrag(scale * s->weight);
     }
@@ -346,7 +359,8 @@ void Wing::setDragScale(float scale)
 void Wing::setLiftRatio(float ratio)
 {
     _liftRatio = ratio;
-    for(int i=0; i<_surfs.size(); i++)
+    int i;
+    for(i=0; i<_surfs.size(); i++)
         ((SurfRec*)_surfs.get(i))->surface->setZDrag(ratio);
 }
 
@@ -386,7 +400,8 @@ Surface* Wing::newSurface(float* pos, float* orient, float chord,
     // The "reverse" stalls are unmeasurable junk.  Just use 13deg and
     // "sharp".
     s->setStallPeak(1, 1);
-    for(int i=2; i<4; i++) {
+    int i;
+    for(i=2; i<4; i++) {
         s->setStall(i, 0.2267);
         s->setStallWidth(i, 1);
     }
diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx
index 3774618c7..2f4c9a111 100644
--- a/src/FDM/YASim/YASim.cxx
+++ b/src/FDM/YASim/YASim.cxx
@@ -16,16 +16,20 @@
 #include "Glue.hpp"
 #include "Gear.hpp"
 #include "PropEngine.hpp"
+#include "PistonEngine.hpp"
 
 #include "YASim.hxx"
 
 using namespace yasim;
 
 static const float RAD2DEG = 180/3.14159265358979323846;
+static const float RAD2RPM = 9.54929658551;
 static const float M2FT = 3.2808399;
 static const float FT2M = 0.3048;
 static const float MPS2KTS = 3600.0/1852.0;
 static const float CM2GALS = 264.172037284; // gallons/cubic meter
+static const float KG2LBS = 2.20462262185;
+static const float W2HP = 1.3416e-3;
 
 void YASim::printDEBUG()
 {
@@ -114,9 +118,32 @@ void YASim::init()
 
     _fdm->init();
 
+    // Create some FG{Eng|Gear}Interface objects
+    int i;
+    for(i=0; i<a->numGear(); i++) {
+        Gear* g = a->getGear(i);
+        FGGearInterface fgg;
+        float pos[3];
+        g->getPosition(pos);
+        fgg.SetX(pos[0]); fgg.SetY(-pos[1]); fgg.SetZ(-pos[2]);
+        add_gear_unit(fgg);
+    }
+    for(i=0; i<m->numThrusters(); i++) {
+        FGEngInterface fge;
+        add_engine(fge);
+
+	// Sanify the initial input conditions
+	char buf[64];
+ 	sprintf(buf, "/controls/throttle[%d]", i);        fgSetFloat(buf, 0);
+	sprintf(buf, "/controls/mixture[%d]", i);         fgSetFloat(buf, 1);
+	sprintf(buf, "/controls/propeller-pitch[%d]", i); fgSetFloat(buf, 1);
+	sprintf(buf, "/controls/afterburner[%d]", i);     fgSetFloat(buf, 0);
+    }
+    
+
     // Lift the plane up so the gear clear the ground
     float minGearZ = 1e18;
-    for(int i=0; i<a->numGear(); i++) {
+    for(i=0; i<a->numGear(); i++) {
 	Gear* g = a->getGear(i);
 	float pos[3];
 	g->getPosition(pos);
@@ -142,7 +169,8 @@ void YASim::init()
 
 bool YASim::update(int iterations)
 {
-    for(int i=0; i<iterations; i++) {
+    int i;
+    for(i=0; i<iterations; i++) {
         // Remember, update only every 4th call
         _updateCount++;
         if(_updateCount >= 4) {
@@ -214,7 +242,8 @@ void YASim::copyToYASim(bool copyState)
     double xyz[3], gplane[3]; float up[3];
     Glue::geod2xyz(lat, lon, ground, xyz);
     Glue::geodUp(xyz, up); // FIXME, needless reverse computation...
-    for(int i=0; i<3; i++) gplane[i] = up[i];
+    int i;
+    for(i=0; i<3; i++) gplane[i] = up[i];
     double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2];
     model->setGroundPlane(gplane, rad);
 
@@ -269,7 +298,8 @@ void YASim::copyToYASim(bool copyState)
 // _set_Static_temperature
 void YASim::copyFromYASim()
 {
-    Model* model = _fdm->getAirplane()->getModel();
+    Airplane* airplane = _fdm->getAirplane();
+    Model* model = airplane->getModel();
     State* s = model->getState();
 
     // position
@@ -350,4 +380,43 @@ void YASim::copyFromYASim()
 
     Glue::calcEulerRates(s, &roll, &pitch, &hdg);
     _set_Euler_Rates(roll, pitch, hdg);
+
+    // Fill out our engine and gear objects
+    int i;
+    for(i=0; i<get_num_gear(); i++) {
+        FGGearInterface* fgg = get_gear_unit(i);
+        Gear* g = airplane->getGear(i);
+        if(g->getBrake() != 0)
+            fgg->SetBrake(true);
+        if(g->getCompressFraction() != 0)
+            fgg->SetWoW(true);
+        fgg->SetPosition(g->getExtension());
+    }
+
+    for(i=0; i<get_num_engines(); i++) {
+        FGEngInterface* fge = get_engine(i);
+        Thruster* t = model->getThruster(i);
+
+        fge->set_Running_Flag(true);
+
+        // Note: assumes all tanks have the same fuel density!
+        fge->set_Fuel_Flow(CM2GALS * t->getFuelFlow()
+                           / airplane->getFuelDensity(0));
+
+        float tmp[3];
+        t->getThrust(tmp);
+        fge->set_prop_thrust(Math::mag3(tmp) * KG2LBS / 9.8);
+
+        PropEngine* pe = t->getPropEngine();
+        if(pe) {
+            fge->set_RPM(pe->getOmega() * RAD2RPM);
+
+            pe->getTorque(tmp);
+            float power = Math::mag3(tmp) * pe->getOmega();
+            float maxPower = pe->getPistonEngine()->getPower();
+
+            fge->set_MaxHP(maxPower * W2HP);
+            fge->set_Percentage_Power(100 * power/maxPower);
+        }
+    }
 }