From ea8bfba98adbdfea204b5b109077cb38a5b079a6 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Fri, 5 May 2017 16:25:16 +0200
Subject: [PATCH 01/29] YASim: add method to Wing and clarify member name.

---
 src/FDM/YASim/Wing.cpp | 18 +++++++++++++++---
 src/FDM/YASim/Wing.hpp |  7 +++++--
 2 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 81aa4e3e9..e8c77be07 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -11,7 +11,7 @@ Wing::Wing(Version *ver, bool mirror, float* base, float chord,
     _chord(chord),
     _length(length),
     _taper(taper),
-    _sweep(sweep),
+    _sweepAngleCenterLine(sweep),
     _dihedral(dihedral),
     _twist(twist)
 {
@@ -129,7 +129,7 @@ void Wing::calculateWingCoordinateSystem() {
   // (tail incidence is varied by the solver)
   // Generating a unit vector pointing out the left wing.
   float left[3];
-  left[0] = -Math::tan(_sweep);
+  left[0] = -Math::tan(_sweepAngleCenterLine);
   left[1] = Math::cos(_dihedral);
   left[2] = Math::sin(_dihedral);
   Math::unit3(left, left);
@@ -175,9 +175,21 @@ void Wing::calculateMAC()
     const float commonFactor = _chord*(0.5+_taper)/(3*_chord*(1+_taper));
     _mac = _chord-(2*_chord*(1-_taper)*commonFactor);
     _macRootDistance = _netSpan*commonFactor;
-    _macX = _base[0]-Math::tan(_sweep) * _macRootDistance + _mac/2;
+    _macX = _base[0]-Math::tan(_sweepAngleCenterLine) * _macRootDistance + _mac/2;
 }
 
+float Wing::calculateSweepAngleLeadingEdge()
+{
+    if (_length == 0) {
+      return 0;
+    }
+    return Math::atan(
+      (sin(_sweepAngleCenterLine)+(1-_taper)*_chord/(2*_length)) /
+      cos(_sweepAngleCenterLine)
+    );  
+}
+
+
 void Wing::compile()
 {
     // Have we already been compiled?
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index e7496c61d..ac206bd4e 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -31,7 +31,7 @@ public:
     // fraction of chord at wing tip, 0..1
     float getTaper() const { return _taper; };
     // radians
-    float getSweep() const { return _sweep; };
+    float getSweep() const { return _sweepAngleCenterLine; };
     // radians, positive is "up"
     void setDihedral(float dihedral) { _dihedral = dihedral; }
     float getDihedral() const { return _dihedral; };
@@ -96,6 +96,7 @@ private:
     void calculateTip();
     void calculateSpan();
     void calculateMAC();
+    float calculateSweepAngleLeadingEdge();
     void addSurface(Surface* s, float weight, float twist);
     
     struct SurfRec { Surface * surface; float weight; };
@@ -110,9 +111,11 @@ private:
     bool _mirror {false};
     float _base[3] {0,0,0};
     float _chord {0};
+    // length is distance from base to tip, not wing span
     float _length {0};
     float _taper {1};
-    float _sweep {0};
+    // sweep of center line, not leading edge!
+    float _sweepAngleCenterLine {0}; 
     float _dihedral {0};
     
     // calculated from above

From 3ac90ee866667671f49fabb0c34c9eabd4630558 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Tue, 13 Jun 2017 21:05:41 +0200
Subject: [PATCH 02/29] YASIM: minor corrections and safeguards.

---
 src/FDM/YASim/Atmosphere.cpp | 2 +-
 src/FDM/YASim/ControlMap.cpp | 9 +++++----
 src/FDM/YASim/Vector.hpp     | 5 +++++
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/FDM/YASim/Atmosphere.cpp b/src/FDM/YASim/Atmosphere.cpp
index 5e751dbce..dd1649993 100644
--- a/src/FDM/YASim/Atmosphere.cpp
+++ b/src/FDM/YASim/Atmosphere.cpp
@@ -211,7 +211,7 @@ bool Atmosphere::test() {
     fprintf(stderr, "Columns = %d\n", numColumns);
     fprintf(stderr, "Rows = %d\n", rows);
     
-    for (int alt = 0; alt < maxTableIndex(); alt++) {
+    for (int alt = 0; alt <= maxTableIndex(); alt++) {
       float density = calcStdDensity(data[alt][PRESSURE], data[alt][TEMPERATURE]);
       float delta = data[alt][DENSITY] - density;
       fprintf(stderr, "%d : %f \n", alt, delta);
diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index bf56615f9..9fb6d0985 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -132,11 +132,12 @@ void ControlMap::setInput(int input, float val)
 int ControlMap::getOutputHandle(void* obj, int type)
 {
     for(int i=0; i<_outputs.size(); i++) {
-	OutRec* o = (OutRec*)_outputs.get(i);
-	if(o->object == obj && o->type == type)
-	    return i;
+        OutRec* o = (OutRec*)_outputs.get(i);
+	    if(o->object == obj && o->type == type)
+	        return i;
     }
-    return 0;
+    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%d, type %d \n", obj, type);
+    return -1;
 }
 
 void ControlMap::setTransitionTime(int handle, float time)
diff --git a/src/FDM/YASim/Vector.hpp b/src/FDM/YASim/Vector.hpp
index 33079558b..e1a493c80 100644
--- a/src/FDM/YASim/Vector.hpp
+++ b/src/FDM/YASim/Vector.hpp
@@ -1,6 +1,8 @@
 #ifndef _VECTOR_HPP
 #define _VECTOR_HPP
 
+#include <stdio.h>
+#include <cassert>
 //
 // Excruciatingly simple vector-of-pointers class.  Easy & useful.
 // No support for addition of elements anywhere but at the end of the
@@ -46,11 +48,14 @@ inline int Vector::add(void* p)
 
 inline void* Vector::get(int i) const
 {
+    assert(i >= 0 and i < _sz);
     return _array[i];
+
 }
 
 inline void Vector::set(int i, void* p)
 {
+    assert(i >= 0 and i < _sz);
     _array[i] = p;
 }
 

From 95ee37c9b996e945f5bd81d55f2169ecd73b0ca1 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Tue, 13 Jun 2017 21:15:46 +0200
Subject: [PATCH 03/29] YASIM refactoring of Wing class

---
 src/FDM/YASim/FGFDM.cpp | 65 ++++++++++++++++++++++++-----------------
 src/FDM/YASim/Wing.cpp  | 59 ++++++++++++-------------------------
 src/FDM/YASim/Wing.hpp  | 42 +++++++++++++-------------
 3 files changed, 77 insertions(+), 89 deletions(-)

diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index 7fe64908b..bd689d9e2 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -308,7 +308,8 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
         #undef p2
         r->setInUse();
     } else if(eq(name, "wing")) {
-	_airplane.setWing(parseWing(a, name, &_airplane));
+        Wing *wing = parseWing(a, name, &_airplane);
+        _airplane.setWing(wing);
     } else if(eq(name, "hstab")) {
 	_airplane.setTail(parseWing(a, name, &_airplane));
     } else if(eq(name, "vstab") || eq(name, "mstab")) {
@@ -537,23 +538,30 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
 	w->setStall(attrf(a, "aoa") * DEG2RAD);
 	w->setStallWidth(attrf(a, "width", 2) * DEG2RAD);
 	w->setStallPeak(attrf(a, "peak", 1.5));
-    } else if(eq(name, "flap0")) {
-	((Wing*)_currObj)->setFlap0Params(attrf(a, "start"), attrf(a, "end"),
-				    attrf(a, "lift"), attrf(a, "drag"));
-    } else if(eq(name, "flap1")) {
-	((Wing*)_currObj)->setFlap1Params(attrf(a, "start"), attrf(a, "end"),
-				    attrf(a, "lift"), attrf(a, "drag"));
-    } else if(eq(name, "slat")) {
-	((Wing*)_currObj)->setSlatParams(attrf(a, "start"), attrf(a, "end"),
-				   attrf(a, "aoa"), attrf(a, "drag"));
-    } else if(eq(name, "spoiler")) {
-	((Wing*)_currObj)->setSpoilerParams(attrf(a, "start"), attrf(a, "end"),
-				      attrf(a, "lift"), attrf(a, "drag"));
-    /* } else if(eq(name, "collective")) {
-        ((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
-    } else if(eq(name, "cyclic")) {
-        ((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
-    */                               
+    } else if(eq(name, "flap0") || eq(name, "flap1") || eq(name, "spoiler") || eq(name, "slat")) {
+        FlapParams fp;
+        fp.start = attrf(a, "start");
+        fp.end = attrf(a, "end");
+        if (eq(name, "slat")) {
+            fp.aoa = attrf(a, "aoa");
+        } 
+        else {
+            fp.lift =  attrf(a, "lift");
+        }
+        fp.drag = attrf(a, "drag");
+        
+        if (eq(name, "flap0")) {
+            ((Wing*)_currObj)->setFlapParams(WING_FLAP0, fp);
+        }
+        if (eq(name, "flap1")) {
+            ((Wing*)_currObj)->setFlapParams(WING_FLAP1, fp);
+        }
+        if (eq(name, "spoiler")) {
+            ((Wing*)_currObj)->setFlapParams(WING_SPOILER, fp);
+        }
+        if (eq(name, "slat")) {
+            ((Wing*)_currObj)->setFlapParams(WING_SLAT, fp);
+        }
     } else if(eq(name, "actionpt")) {
  	v[0] = attrf(a, "x");
 	v[1] = attrf(a, "y");
@@ -807,14 +815,19 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type, Version * version)
       defDihed = 90;
       mirror = false;
     }
-
-    float base[3];
-    base[0] = attrf(a, "x");
-    base[1] = attrf(a, "y");
-    base[2] = attrf(a, "z");    
-
+    
+    float isSection = attrb(a, "section");
+    float base[3] {0,0,0};
+    float chord {0};
+    if (!isSection) {
+      base[0] = attrf(a, "x");
+      base[1] = attrf(a, "y");
+      base[2] = attrf(a, "z");
+      chord = attrf(a, "chord");
+    } 
     float length = attrf(a, "length");
-    float chord = attrf(a, "chord");
+
+    // optional attributes (with defaults)
     float sweep = attrf(a, "sweep", 0) * DEG2RAD;
     float taper = attrf(a, "taper", 1);
     float dihedral = attrf(a, "dihedral", defDihed) * DEG2RAD;
@@ -831,7 +844,7 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type, Version * version)
     }
     
     Wing* w = new Wing(version, mirror, base, chord, length, 
-                       taper, sweep, dihedral, twist);
+                      taper, sweep, dihedral, twist);
     w->setIncidence(incidence);
     w->setCamber(camber);
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index e8c77be07..e39bb4d85 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -39,36 +39,9 @@ void Wing::setIncidence(float incidence)
         ((SurfRec*)_surfs.get(i))->surface->setIncidence(incidence);
 }
 
-void Wing::setFlap0Params(float start, float end, float lift, float drag)
+void Wing::setFlapParams(WingFlaps i, FlapParams fp)
 {
-    _flap0Start = start;
-    _flap0End = end;
-    _flap0Lift = lift;
-    _flap0Drag = drag;
-}
-
-void Wing::setFlap1Params(float start, float end, float lift, float drag)
-{
-    _flap1Start = start;
-    _flap1End = end;
-    _flap1Lift = lift;
-    _flap1Drag = drag;
-}
-
-void Wing::setSlatParams(float start, float end, float aoa, float drag)
-{
-    _slatStart = start;
-    _slatEnd = end;
-    _slatAoA = aoa;
-    _slatDrag = drag;
-}
-
-void Wing::setSpoilerParams(float start, float end, float lift, float drag)
-{
-    _spoilerStart = start;
-    _spoilerEnd = end;
-    _spoilerLift = lift;
-    _spoilerDrag = drag;
+    _flapParams[i] = fp;
 }
 
 void Wing::setFlap0Pos(float lval, float rval)
@@ -201,10 +174,14 @@ void Wing::compile()
     // segments.
     const int NUM_BOUNDS {10};
     float bounds[NUM_BOUNDS];
-    bounds[0] = _flap0Start;   bounds[1] = _flap0End;
-    bounds[2] = _flap1Start;   bounds[3] = _flap1End;
-    bounds[4] = _spoilerStart; bounds[5] = _spoilerEnd;
-    bounds[6] = _slatStart;    bounds[7] = _slatEnd;
+    bounds[0] = _flapParams[WING_FLAP0].start;   
+    bounds[1] = _flapParams[WING_FLAP0].end;
+    bounds[2] = _flapParams[WING_FLAP1].start;   
+    bounds[3] = _flapParams[WING_FLAP1].end;
+    bounds[4] = _flapParams[WING_SPOILER].start; 
+    bounds[5] = _flapParams[WING_SPOILER].end;
+    bounds[6] = _flapParams[WING_SLAT].start;    
+    bounds[7] = _flapParams[WING_SLAT].end;
     //and don't forget the root and the tip of the wing itself
     bounds[8] = 0;             bounds[9] = 1;
 
@@ -243,10 +220,10 @@ void Wing::compile()
         float mid = (start+end)/2;
 
         bool hasFlap0=0, hasFlap1=0, hasSlat=0, hasSpoiler=0;
-        if(_flap0Start   < mid && mid < _flap0End)   hasFlap0 = 1;
-        if(_flap1Start   < mid && mid < _flap1End)   hasFlap1 = 1;
-        if(_slatStart    < mid && mid < _slatEnd)    hasSlat = 1;
-        if(_spoilerStart < mid && mid < _spoilerEnd) hasSpoiler = 1;
+        if(_flapParams[WING_FLAP0].start   < mid && mid < _flapParams[WING_FLAP0].end)   hasFlap0 = 1;
+        if(_flapParams[WING_FLAP1].start   < mid && mid < _flapParams[WING_FLAP1].end)   hasFlap1 = 1;
+        if(_flapParams[WING_SLAT].start    < mid && mid < _flapParams[WING_SLAT].end)    hasSlat = 1;
+        if(_flapParams[WING_SPOILER].start < mid && mid < _flapParams[WING_SPOILER].end) hasSpoiler = 1;
 
         // FIXME: Should probably detect an error here if both flap0
         // and flap1 are set.  Right now flap1 overrides.
@@ -353,10 +330,10 @@ Surface* Wing::newSurface(float* pos, float* orient, float chord,
         s->setStallWidth(i, 0.01);
     }
     
-    if(hasFlap0)   s->setFlapParams(_flap0Lift, _flap0Drag);
-    if(hasFlap1)   s->setFlapParams(_flap1Lift, _flap1Drag);
-    if(hasSlat)    s->setSlatParams(_slatAoA, _slatDrag);
-    if(hasSpoiler) s->setSpoilerParams(_spoilerLift, _spoilerDrag);    
+    if(hasFlap0)   s->setFlapParams(_flapParams[WING_FLAP0].lift, _flapParams[WING_FLAP0].drag);
+    if(hasFlap1)   s->setFlapParams(_flapParams[WING_FLAP1].lift, _flapParams[WING_FLAP1].drag);
+    if(hasSlat)    s->setSlatParams(_flapParams[WING_SLAT].aoa, _flapParams[WING_SLAT].drag);
+    if(hasSpoiler) s->setSpoilerParams(_flapParams[WING_SPOILER].lift, _flapParams[WING_SPOILER].drag);    
 
     if(hasFlap0)   _flap0Surfs.add(s);
     if(hasFlap1)   _flap1Surfs.add(s);
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index ac206bd4e..3e913d43b 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -9,8 +9,24 @@ namespace yasim {
 
 class Surface;
 
+struct FlapParams {
+    float start {0};
+    float end {0};
+    float lift {0}; 
+    float drag {0};
+    float aoa {0};
+};
+
+enum WingFlaps {
+    WING_FLAP0,
+    WING_FLAP1,
+    WING_SLAT,
+    WING_SPOILER
+};
+
 // FIXME: need to handle "inverted" controls for mirrored wings.
 class Wing {
+        
 public:
     Wing(Version *ver, bool mirror, float* base, float chord, float length, 
         float taper = 1, float sweep = 0, float dihedral = 0, float twist = 0);
@@ -47,10 +63,7 @@ public:
     void setInducedDrag(float drag) { _inducedDrag = drag; }
     
     
-    void setFlap0Params(float start, float end, float lift, float drag);
-    void setFlap1Params(float start, float end, float lift, float drag);
-    void setSpoilerParams(float start, float end, float lift, float drag);
-    void setSlatParams(float start, float end, float aoa, float drag);
+    void setFlapParams(WingFlaps i, FlapParams fp);
 
     // Set the control axes for the sub-surfaces
     void setFlap0Pos(float lval, float rval);
@@ -88,6 +101,7 @@ public:
     void setLiftRatio(float ratio);
     float getLiftRatio() const { return _liftRatio; }
 
+    
 private:
     void interp(const float* v1, const float* v2, const float frac, float* out);
     Surface* newSurface(float* pos, float* orient, float chord,
@@ -97,6 +111,7 @@ private:
     void calculateSpan();
     void calculateMAC();
     float calculateSweepAngleLeadingEdge();
+
     void addSurface(Surface* s, float weight, float twist);
     
     struct SurfRec { Surface * surface; float weight; };
@@ -141,25 +156,8 @@ private:
     float _dragScale {1};
     float _liftRatio {1};
 
-    float _flap0Start {0};
-    float _flap0End {0};
-    float _flap0Lift {0};
-    float _flap0Drag {0};
+    FlapParams _flapParams[sizeof(WingFlaps)];
 
-    float _flap1Start {0};
-    float _flap1End {0};
-    float _flap1Lift {0};
-    float _flap1Drag {0};
-
-    float _spoilerStart {0};
-    float _spoilerEnd {0};
-    float _spoilerLift {0};
-    float _spoilerDrag {0};
-
-    float _slatStart {0};
-    float _slatEnd {0};
-    float _slatAoA {0};
-    float _slatDrag {0};
 };
 
 }; // namespace yasim

From 77a9cca6d52da19c03277ac5a6ffb1d8fa21d29b Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sat, 11 Nov 2017 15:06:08 +0100
Subject: [PATCH 04/29] YASIM refactoring Wing class (flaps)

---
 src/FDM/YASim/ControlMap.cpp | 12 +++---
 src/FDM/YASim/Wing.cpp       | 77 ++++++++++++++----------------------
 src/FDM/YASim/Wing.hpp       | 21 ++++------
 3 files changed, 43 insertions(+), 67 deletions(-)

diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index 9fb6d0985..4beef0fe0 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -219,12 +219,12 @@ void ControlMap::applyControls(float dt)
 	case LEXTEND:  ((Launchbar*)obj)->setExtension(lval);      break;
     case LACCEL:   ((Launchbar*)obj)->setAcceleration(lval);   break;
 	case CASTERING:((Gear*)obj)->setCastering(lval != 0);      break;
-	case SLAT:     ((Wing*)obj)->setSlatPos(lval);                break;
-	case FLAP0:    ((Wing*)obj)->setFlap0Pos(lval, rval);         break;
-	case FLAP0EFFECTIVENESS: ((Wing*)obj)->setFlap0Effectiveness(lval); break;
-	case FLAP1:    ((Wing*)obj)->setFlap1Pos(lval, rval);         break;
-	case FLAP1EFFECTIVENESS: ((Wing*)obj)->setFlap1Effectiveness(lval); break;
-	case SPOILER:  ((Wing*)obj)->setSpoilerPos(lval, rval);       break;
+	case SLAT:     ((Wing*)obj)->setFlapPos(WING_SLAT,lval);                break;
+	case FLAP0:    ((Wing*)obj)->setFlapPos(WING_FLAP0, lval, rval);         break;
+	case FLAP0EFFECTIVENESS: ((Wing*)obj)->setFlapEffectiveness(WING_FLAP0,lval); break;
+	case FLAP1:    ((Wing*)obj)->setFlapPos(WING_FLAP1,lval, rval);         break;
+	case FLAP1EFFECTIVENESS: ((Wing*)obj)->setFlapEffectiveness(WING_FLAP1,lval); break;
+	case SPOILER:  ((Wing*)obj)->setFlapPos(WING_SPOILER, lval, rval);       break;
         case COLLECTIVE:   ((Rotor*)obj)->setCollective(lval);     break;
         case CYCLICAIL:    ((Rotor*)obj)->setCyclicail(lval,rval); break;
         case CYCLICELE:    ((Rotor*)obj)->setCyclicele(lval,rval); break;
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index e39bb4d85..f706c6d92 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -44,59 +44,40 @@ void Wing::setFlapParams(WingFlaps i, FlapParams fp)
     _flapParams[i] = fp;
 }
 
-void Wing::setFlap0Pos(float lval, float rval)
+void Wing::setFlapPos(WingFlaps f,float lval, float rval)
 {
-    lval = Math::clamp(lval, -1, 1);
-    rval = Math::clamp(rval, -1, 1);
-    for(int i=0; i<_flap0Surfs.size(); i++) {
-      ((Surface*)_flap0Surfs.get(i))->setFlapPos(lval);
-      if(_mirror) ((Surface*)_flap0Surfs.get(++i))->setFlapPos(rval);
+    float min {-1};
+    if (f == WING_SPOILER || f == WING_SLAT) {
+        min = 0;
+    }
+    lval = Math::clamp(lval, min, 1);
+    rval = Math::clamp(rval, min, 1);
+    for(int i=0; i<_flapSurfs[f].size(); i++) {
+        switch (f) {
+            case WING_FLAP0:
+            case WING_FLAP1:
+                ((Surface*)_flapSurfs[f].get(i))->setFlapPos(lval);
+                if(_mirror) ((Surface*)_flapSurfs[f].get(++i))->setFlapPos(rval);
+                break;
+            case WING_SLAT:
+                ((Surface*)_flapSurfs[f].get(i))->setSlatPos(lval);
+                break;
+            case WING_SPOILER:
+                ((Surface*)_flapSurfs[f].get(i))->setSpoilerPos(lval);
+                if(_mirror) ((Surface*)_flapSurfs[f].get(++i))->setSpoilerPos(rval);
+                break;
+        }
     }
 }
 
-void Wing::setFlap0Effectiveness(float lval)
+void Wing::setFlapEffectiveness(WingFlaps f, float lval)
 {
     lval = Math::clamp(lval, 1, 10);
-    for(int i=0; i<_flap0Surfs.size(); i++) {
-        ((Surface*)_flap0Surfs.get(i))->setFlapEffectiveness(lval);
+    for(int i=0; i<_flapSurfs[f].size(); i++) {
+        ((Surface*)_flapSurfs[f].get(i))->setFlapEffectiveness(lval);
     }
 }
 
-void Wing::setFlap1Pos(float lval, float rval)
-{
-    lval = Math::clamp(lval, -1, 1);
-    rval = Math::clamp(rval, -1, 1);
-    for(int i=0; i<_flap1Surfs.size(); i++) {
-      ((Surface*)_flap1Surfs.get(i))->setFlapPos(lval);
-      if(_mirror) ((Surface*)_flap1Surfs.get(++i))->setFlapPos(rval);
-    }
-}
-
-void Wing::setFlap1Effectiveness(float lval)
-{
-    lval = Math::clamp(lval, 1, 10);
-    for(int i=0; i<_flap1Surfs.size(); i++) {
-        ((Surface*)_flap1Surfs.get(i))->setFlapEffectiveness(lval);
-    }
-}
-
-void Wing::setSpoilerPos(float lval, float rval)
-{
-    lval = Math::clamp(lval, 0, 1);
-    rval = Math::clamp(rval, 0, 1);
-    for(int i=0; i<_spoilerSurfs.size(); i++) {
-      ((Surface*)_spoilerSurfs.get(i))->setSpoilerPos(lval);
-      if(_mirror) ((Surface*)_spoilerSurfs.get(++i))->setSpoilerPos(rval);
-    }
-}
-
-void Wing::setSlatPos(float val)
-{
-    val = Math::clamp(val, 0, 1);
-    for(int i=0; i<_slatSurfs.size(); i++)
-      ((Surface*)_slatSurfs.get(i))->setSlatPos(val);
-}
-
 void Wing::calculateWingCoordinateSystem() {
   // prepare wing coordinate system, ignoring incidence and twist for now
   // (tail incidence is varied by the solver)
@@ -335,10 +316,10 @@ Surface* Wing::newSurface(float* pos, float* orient, float chord,
     if(hasSlat)    s->setSlatParams(_flapParams[WING_SLAT].aoa, _flapParams[WING_SLAT].drag);
     if(hasSpoiler) s->setSpoilerParams(_flapParams[WING_SPOILER].lift, _flapParams[WING_SPOILER].drag);    
 
-    if(hasFlap0)   _flap0Surfs.add(s);
-    if(hasFlap1)   _flap1Surfs.add(s);
-    if(hasSlat)    _slatSurfs.add(s);
-    if(hasSpoiler) _spoilerSurfs.add(s);
+    if(hasFlap0)   _flapSurfs[WING_FLAP0].add(s);
+    if(hasFlap1)   _flapSurfs[WING_FLAP1].add(s);
+    if(hasSlat)    _flapSurfs[WING_SLAT].add(s);
+    if(hasSpoiler) _flapSurfs[WING_SPOILER].add(s);
 
     s->setInducedDrag(_inducedDrag);
 
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 3e913d43b..d31d752c3 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -20,8 +20,8 @@ struct FlapParams {
 enum WingFlaps {
     WING_FLAP0,
     WING_FLAP1,
+    WING_SPOILER,
     WING_SLAT,
-    WING_SPOILER
 };
 
 // FIXME: need to handle "inverted" controls for mirrored wings.
@@ -65,13 +65,9 @@ public:
     
     void setFlapParams(WingFlaps i, FlapParams fp);
 
-    // Set the control axes for the sub-surfaces
-    void setFlap0Pos(float lval, float rval);
-    void setFlap1Pos(float lval, float rval);
-    void setSpoilerPos(float lval, float rval);
-    void setSlatPos(float val);
-    void setFlap0Effectiveness(float lval);
-    void setFlap1Effectiveness(float lval);
+    // propergate the control axes value for the sub-surfaces
+    void setFlapPos(WingFlaps i, float lval, float rval = 0);
+    void setFlapEffectiveness(WingFlaps f, float lval);
 
     // Compile the thing into a bunch of Surface objects
     void compile();
@@ -116,11 +112,10 @@ private:
     
     struct SurfRec { Surface * surface; float weight; };
 
-    Vector _surfs;
-    Vector _flap0Surfs;
-    Vector _flap1Surfs;
-    Vector _slatSurfs;
-    Vector _spoilerSurfs;
+    // all surfaces of this wing
+    Vector _surfs;      
+    // surfaces having a certain type of flap (flap, slat, spoiler)
+    Vector _flapSurfs[sizeof(WingFlaps)]; 
 
     Version * _version;
     bool _mirror {false};

From 1f721fb6d8427f19806bd47157c7b693973a3c69 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sat, 11 Nov 2017 15:27:18 +0100
Subject: [PATCH 05/29] YASIM add new version tag for 2018.1

---
 src/FDM/YASim/Version.cpp | 2 ++
 src/FDM/YASim/Version.hpp | 3 ++-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/FDM/YASim/Version.cpp b/src/FDM/YASim/Version.cpp
index c449db034..c54f207df 100644
--- a/src/FDM/YASim/Version.cpp
+++ b/src/FDM/YASim/Version.cpp
@@ -18,6 +18,8 @@ void Version::setVersion( const char * version )
     _version = YASIM_VERSION_32;
   } else if( v == "2017.2" ) {
     _version = YASIM_VERSION_2017_2;
+  } else if( v == "2018.1" ) {
+    _version = YASIM_VERSION_2018_1;
   } else if( v == "YASIM_VERSION_CURRENT" ) {
     _version = YASIM_VERSION_CURRENT;
   } else {
diff --git a/src/FDM/YASim/Version.hpp b/src/FDM/YASim/Version.hpp
index 10e7e3e01..169379962 100644
--- a/src/FDM/YASim/Version.hpp
+++ b/src/FDM/YASim/Version.hpp
@@ -12,7 +12,8 @@ public:
     YASIM_VERSION_ORIGINAL = 0,
     YASIM_VERSION_32,
     YASIM_VERSION_2017_2,
-    YASIM_VERSION_CURRENT = YASIM_VERSION_2017_2
+    YASIM_VERSION_2018_1,
+    YASIM_VERSION_CURRENT = YASIM_VERSION_2018_1
   } YASIM_VERSION;
 
   void setVersion( const char * version );

From 1194b095250cb21ac97c8bb2289a410389b03e61 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sat, 18 Nov 2017 21:07:16 +0100
Subject: [PATCH 06/29] YASIM rename methods in class Surface

---
 src/FDM/YASim/Airplane.cpp | 16 ++++++++--------
 src/FDM/YASim/Surface.hpp  |  4 ++--
 src/FDM/YASim/Wing.cpp     |  4 ++--
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index a419090f1..22fc093a1 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -240,7 +240,7 @@ int Airplane::addWeight(float* pos, float size)
 
     wr->surf = new Surface(this);
     wr->surf->setPosition(pos);
-    wr->surf->setTotalDrag(size*size);
+    wr->surf->setDragCoefficient(size*size);
     _model.addSurface(wr->surf);
     _surfs.add(wr->surf);
 
@@ -329,7 +329,7 @@ float Airplane::compileWing(Wing* w)
     float dragSum = 0;
     for(int i=0; i<w->numSurfaces(); i++) {
         Surface* s = (Surface*)w->getSurface(i);
-        float td = s->getTotalDrag();
+        float td = s->getDragCoefficient();
         int sid = s->getID();
 
         _model.addSurface(s);
@@ -437,9 +437,9 @@ float Airplane::compileFuselage(Fuselage* f)
         s->setYDrag(sideDrag*f->_cy);
         s->setZDrag(sideDrag*f->_cz);
 	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-        	s->setTotalDrag(scale*segWgt);
+        	s->setDragCoefficient(scale*segWgt);
 	} else {
-		s->setTotalDrag(scale*segWgt*f->_cx);
+		s->setDragCoefficient(scale*segWgt*f->_cx);
 	}
         s->setInducedDrag(f->_idrag);
 
@@ -481,7 +481,7 @@ void Airplane::compileGear(GearRec* gr)
     Math::add3(pos, cmp, pos);
 
     s->setPosition(pos);
-    s->setTotalDrag(length*length);
+    s->setDragCoefficient(length*length);
 
     _model.addGear(g);
     _model.addSurface(s);
@@ -826,17 +826,17 @@ void Airplane::applyDragFactor(float factor)
 	    } else {
 		// Originally YASim applied the drag factor to all axes
 		// for Fuselage Surfaces.
-		s->setTotalDrag(s->getTotalDrag() * applied);
+		s->setDragCoefficient(s->getDragCoefficient() * applied);
 	    }
 	}
     }
     for(i=0; i<_weights.size(); i++) {
 	WeightRec* wr = (WeightRec*)_weights.get(i);
-	wr->surf->setTotalDrag(wr->surf->getTotalDrag() * applied);
+	wr->surf->setDragCoefficient(wr->surf->getDragCoefficient() * applied);
     }
     for(i=0; i<_gears.size(); i++) {
 	GearRec* gr = (GearRec*)_gears.get(i);
-	gr->surf->setTotalDrag(gr->surf->getTotalDrag() * applied);
+	gr->surf->setDragCoefficient(gr->surf->getDragCoefficient() * applied);
     }
 }
 
diff --git a/src/FDM/YASim/Surface.hpp b/src/FDM/YASim/Surface.hpp
index 278c05a83..4d5538ce1 100644
--- a/src/FDM/YASim/Surface.hpp
+++ b/src/FDM/YASim/Surface.hpp
@@ -59,8 +59,8 @@ public:
     // The offset from base incidence for this surface.
     void setTwist(float angle) { _twist = angle; }
 
-    void setTotalDrag(float c0) { _c0 = c0; }
-    float getTotalDrag() const { return _c0; }
+    void setDragCoefficient(float c0) { _c0 = c0; }
+    float getDragCoefficient() const { return _c0; }
     
     void setXDrag(float cx) { _cx = cx; }
     void setYDrag(float cy) { _cy = cy; }
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index f706c6d92..69eadb84f 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -247,7 +247,7 @@ void Wing::addSurface(Surface* s, float weight, float twist)
     SurfRec *sr = new SurfRec();
     sr->surface = s;
     sr->weight = weight;
-    s->setTotalDrag(sr->weight);
+    s->setDragCoefficient(sr->weight);
     s->setTwist(twist);
     _surfs.add(sr);
 }
@@ -257,7 +257,7 @@ void Wing::setDragScale(float scale)
     _dragScale = scale;
     for(int i=0; i<_surfs.size(); i++) {
         SurfRec* s = (SurfRec*)_surfs.get(i);
-        s->surface->setTotalDrag(scale * s->weight);
+        s->surface->setDragCoefficient(scale * s->weight);
     }
 }
 

From 030403db5f15793b1c0d04d3f7c7d3f675347868 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sat, 18 Nov 2017 21:16:46 +0100
Subject: [PATCH 07/29] YASIM member initialization in class Vector

---
 src/FDM/YASim/Vector.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/FDM/YASim/Vector.hpp b/src/FDM/YASim/Vector.hpp
index e1a493c80..f290f0ae0 100644
--- a/src/FDM/YASim/Vector.hpp
+++ b/src/FDM/YASim/Vector.hpp
@@ -21,9 +21,9 @@ public:
 private:
     void realloc();
 
-    int _nelem;
-    int _sz;
-    void** _array;
+    int _nelem {0};
+    int _sz {0};
+    void** _array {nullptr};
 };
 
 inline Vector::Vector()

From c3bfeb4ba0de9c73bc829ae121a40eb7254c85c3 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sat, 18 Nov 2017 21:22:55 +0100
Subject: [PATCH 08/29] YASIM only reformat for better readability

---
 src/FDM/YASim/ControlMap.hpp | 60 ++++++++++++++++++++++++++++--------
 1 file changed, 47 insertions(+), 13 deletions(-)

diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index dc7f75f79..41342f450 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -10,22 +10,56 @@ class ControlMap {
 public:
     ~ControlMap();
 
-    enum OutputType { THROTTLE, MIXTURE, CONDLEVER, STARTER, MAGNETOS,
-		      ADVANCE, REHEAT, PROP,
-        BRAKE, STEER, EXTEND, HEXTEND, LEXTEND, LACCEL,
-		      INCIDENCE, FLAP0, FLAP1, SLAT, SPOILER, VECTOR,
-              FLAP0EFFECTIVENESS, FLAP1EFFECTIVENESS,
-                      BOOST, CASTERING, PROPPITCH, PROPFEATHER,
-                      COLLECTIVE, CYCLICAIL, CYCLICELE, ROTORENGINEON,
-                      TILTYAW, TILTPITCH, TILTROLL,
-                      ROTORBRAKE, ROTORENGINEMAXRELTORQUE, ROTORRELTARGET,
-                      ROTORBALANCE, REVERSE_THRUST, WASTEGATE,
-              WINCHRELSPEED, HITCHOPEN, PLACEWINCH, FINDAITOW
-              };
+    enum OutputType { 
+        THROTTLE, 
+        MIXTURE, 
+        CONDLEVER, 
+        STARTER, 
+        MAGNETOS,
+        ADVANCE, 
+        REHEAT, 
+        PROP,
+        BRAKE,
+        STEER,
+        EXTEND,
+        HEXTEND,
+        LEXTEND,
+        LACCEL,
+        INCIDENCE,
+        FLAP0,
+        FLAP1,
+        SLAT,
+        SPOILER,
+        VECTOR,
+        FLAP0EFFECTIVENESS,
+        FLAP1EFFECTIVENESS,
+        BOOST,
+        CASTERING,
+        PROPPITCH,
+        PROPFEATHER,
+        COLLECTIVE, 
+        CYCLICAIL, 
+        CYCLICELE, 
+        ROTORENGINEON,
+        TILTYAW, 
+        TILTPITCH, 
+        TILTROLL,
+        ROTORBRAKE, 
+        ROTORENGINEMAXRELTORQUE, 
+        ROTORRELTARGET,
+        ROTORBALANCE,
+        REVERSE_THRUST,
+        WASTEGATE,
+        WINCHRELSPEED,
+        HITCHOPEN,
+        PLACEWINCH,
+        FINDAITOW
+    };
 
     enum { OPT_SPLIT  = 0x01,
            OPT_INVERT = 0x02,
-           OPT_SQUARE = 0x04 };
+           OPT_SQUARE = 0x04
+    };
 
     struct PropHandle { char* name; int handle; };
 

From 43af43508553e0f35deaba6ff0c2270c7d1003f1 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 19 Nov 2017 11:20:46 +0100
Subject: [PATCH 09/29] YASIM: rename method getMAC to getMACLength

---
 src/FDM/YASim/Airplane.cpp   | 8 ++++----
 src/FDM/YASim/Wing.hpp       | 2 +-
 src/FDM/YASim/yasim-test.cpp | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 22fc093a1..f25338830 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -320,7 +320,7 @@ float Airplane::compileWing(Wing* w)
       _wingsN->getNode("wing-area", true)->setFloatValue(w->getArea());
       _wingsN->getNode("aspect-ratio", true)->setFloatValue(w->getAspectRatio());
       _wingsN->getNode("standard-mean-chord", true)->setFloatValue(w->getSMC());
-      _wingsN->getNode("mac", true)->setFloatValue(w->getMAC());
+      _wingsN->getNode("mac", true)->setFloatValue(w->getMACLength());
       _wingsN->getNode("mac-x", true)->setFloatValue(w->getMACx());
       _wingsN->getNode("mac-y", true)->setFloatValue(w->getMACy());
     }
@@ -547,8 +547,8 @@ void Airplane::compile()
       aeroWgt += compileWing(_wing);
       
       // convert % to absolute x coordinates
-      _cgDesiredFront = _wing->getMACx() - _wing->getMAC()*_cgDesiredMin;
-      _cgDesiredAft = _wing->getMACx() - _wing->getMAC()*_cgDesiredMax;
+      _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
+      _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
       if (baseN != 0) {
         SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
         n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
@@ -1034,7 +1034,7 @@ float Airplane::getCGMAC()
     if (_wing) {
       float cg[3];
       _model.getBody()->getCG(cg);
-      return (_wing->getMACx() - cg[0]) / _wing->getMAC();
+      return (_wing->getMACx() - cg[0]) / _wing->getMACLength();
     }
     return 0;
 }
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index d31d752c3..4cb26b051 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -78,7 +78,7 @@ public:
     float getArea() const { return _wingspan*_meanChord; };
     float getAspectRatio() const { return _aspectRatio; };
     float getSMC() const { return _meanChord; };
-    float getMAC() const { return _mac; }; // get length of MAC
+    float getMACLength() const { return _mac; }; // get length of MAC
     float getMACx() const { return _macX; }; // get x-coord of MAC leading edge 
     float getMACy() const { return _base[1]+_macRootDistance; }; // get y-coord of MAC leading edge 
     
diff --git a/src/FDM/YASim/yasim-test.cpp b/src/FDM/YASim/yasim-test.cpp
index 8c4f69d63..d4f9f1518 100644
--- a/src/FDM/YASim/yasim-test.cpp
+++ b/src/FDM/YASim/yasim-test.cpp
@@ -248,7 +248,7 @@ int main(int argc, char** argv)
     float MAC = 0, MACx = 0, MACy = 0;
     Wing* wing = a->getWing();
     if (wing) {
-      MAC = a->getWing()->getMAC();
+      MAC = a->getWing()->getMACLength();
       MACx = a->getWing()->getMACx();
       MACy = a->getWing()->getMACy();
     }

From 0e6552cddf10c25835ba3d51d7c2c245614f7b38 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 19 Nov 2017 15:54:41 +0100
Subject: [PATCH 10/29] YASIM: move property export code into classes (Wing)

---
 src/FDM/YASim/Airplane.cpp | 37 ++++++++++++-------------------------
 src/FDM/YASim/Wing.cpp     | 33 +++++++++++++++++++++++++++++++++
 src/FDM/YASim/Wing.hpp     |  7 +++++--
 3 files changed, 50 insertions(+), 27 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index f25338830..c5adde2f5 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -308,25 +308,8 @@ float Airplane::compileWing(Wing* w)
         addContactPoint(tip);
         tip[1] *= -1; //undo mirror
     }
-    if (_wingsN != 0) {
-      _wingsN->getNode("tip-x", true)->setFloatValue(tip[0]);
-      _wingsN->getNode("tip-y", true)->setFloatValue(tip[1]);
-      _wingsN->getNode("tip-z", true)->setFloatValue(tip[2]);
-      w->getBase(tip);
-      _wingsN->getNode("base-x", true)->setFloatValue(tip[0]);
-      _wingsN->getNode("base-y", true)->setFloatValue(tip[1]);
-      _wingsN->getNode("base-z", true)->setFloatValue(tip[2]);
-      _wingsN->getNode("wing-span", true)->setFloatValue(w->getSpan());
-      _wingsN->getNode("wing-area", true)->setFloatValue(w->getArea());
-      _wingsN->getNode("aspect-ratio", true)->setFloatValue(w->getAspectRatio());
-      _wingsN->getNode("standard-mean-chord", true)->setFloatValue(w->getSMC());
-      _wingsN->getNode("mac", true)->setFloatValue(w->getMACLength());
-      _wingsN->getNode("mac-x", true)->setFloatValue(w->getMACx());
-      _wingsN->getNode("mac-y", true)->setFloatValue(w->getMACy());
-    }
 
     float wgt = 0;
-    float dragSum = 0;
     for(int i=0; i<w->numSurfaces(); i++) {
         Surface* s = (Surface*)w->getSurface(i);
         float td = s->getDragCoefficient();
@@ -345,11 +328,6 @@ float Airplane::compileWing(Wing* w)
           n->getNode("mass-id", true)->setIntValue(mid);
         }
         wgt += mass;
-        dragSum += td;
-    }
-    if (_wingsN != 0)  {
-      _wingsN->getNode("weight", true)->setFloatValue(wgt);	
-      _wingsN->getNode("drag", true)->setFloatValue(dragSum);	
     }
     return wgt;
 }
@@ -543,7 +521,10 @@ void Airplane::compile()
     // The Wing objects
     if (_wing)
     {
-      if (baseN != 0) _wingsN = baseN->getChild("wing", 0, true);
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("wing", 0, true);
+          _wing->setPropertyNode(_wingsN);
+      }
       aeroWgt += compileWing(_wing);
       
       // convert % to absolute x coordinates
@@ -557,13 +538,19 @@ void Airplane::compile()
     }
     if (_tail)
     {
-      if (baseN != 0) _wingsN = baseN->getChild("tail", 0, true);
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("tail", 0, true);
+          _tail->setPropertyNode(_wingsN);
+      }
       aeroWgt += compileWing(_tail);
     }
     int i;
     for(i=0; i<_vstabs.size(); i++)
     {
-      if (baseN != 0) _wingsN = baseN->getChild("stab", i, true);
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("stab", i, true);
+          ((Wing*)_vstabs.get(i))->setPropertyNode(_wingsN);
+      }
       aeroWgt += compileWing((Wing*)_vstabs.get(i));
     }
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 69eadb84f..00ef265cb 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -240,6 +240,7 @@ void Wing::compile()
     // Last of all, re-set the incidence in case setIncidence() was
     // called before we were compiled.
     setIncidence(_incidence);
+    writeInfoToProptree();
 }
 
 void Wing::addSurface(Surface* s, float weight, float twist)
@@ -333,4 +334,36 @@ void Wing::interp(const float* v1, const float* v2, const float frac, float* out
     out[2] = v1[2] + frac*(v2[2]-v1[2]);
 }
 
+void Wing::writeInfoToProptree()
+{
+    if (_wingN == nullptr) 
+        return;
+    _wingN->getNode("tip-x", true)->setFloatValue(_tip[0]);
+    _wingN->getNode("tip-y", true)->setFloatValue(_tip[1]);
+    _wingN->getNode("tip-z", true)->setFloatValue(_tip[2]);
+    _wingN->getNode("base-x", true)->setFloatValue(_base[0]);
+    _wingN->getNode("base-y", true)->setFloatValue(_base[1]);
+    _wingN->getNode("base-z", true)->setFloatValue(_base[2]);
+    _wingN->getNode("wing-span", true)->setFloatValue(_wingspan);
+    _wingN->getNode("wing-area", true)->setFloatValue(_wingspan*_meanChord);
+    _wingN->getNode("aspect-ratio", true)->setFloatValue(_aspectRatio);
+    _wingN->getNode("standard-mean-chord", true)->setFloatValue(_meanChord);
+    _wingN->getNode("mac", true)->setFloatValue(_mac);
+    _wingN->getNode("mac-x", true)->setFloatValue(_macX);
+    _wingN->getNode("mac-y", true)->setFloatValue(_base[1]+_macRootDistance);
+
+    float wgt = 0;
+    float dragSum = 0;
+    for(int surf=0; surf < numSurfaces(); surf++) {
+        Surface* s = (Surface*)getSurface(surf);
+        float td = s->getDragCoefficient();
+        dragSum += td;
+
+        float mass = getSurfaceWeight(surf);
+        mass = mass * Math::sqrt(mass);
+        wgt += mass;
+    }
+    _wingN->getNode("weight", true)->setFloatValue(wgt);
+    _wingN->getNode("drag", true)->setFloatValue(dragSum);
+}
 }; // namespace yasim
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 4cb26b051..09d3d8cff 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -4,6 +4,7 @@
 #include "Vector.hpp"
 #include "Version.hpp"
 #include "Math.hpp"
+#include <simgear/props/props.hxx>
 
 namespace yasim {
 
@@ -26,7 +27,7 @@ enum WingFlaps {
 
 // FIXME: need to handle "inverted" controls for mirrored wings.
 class Wing {
-        
+    SGPropertyNode_ptr _wingN {nullptr};
 public:
     Wing(Version *ver, bool mirror, float* base, float chord, float length, 
         float taper = 1, float sweep = 0, float dihedral = 0, float twist = 0);
@@ -97,6 +98,7 @@ public:
     void setLiftRatio(float ratio);
     float getLiftRatio() const { return _liftRatio; }
 
+    void setPropertyNode(SGPropertyNode_ptr n) { _wingN = n; };
     
 private:
     void interp(const float* v1, const float* v2, const float frac, float* out);
@@ -109,9 +111,10 @@ private:
     float calculateSweepAngleLeadingEdge();
 
     void addSurface(Surface* s, float weight, float twist);
+    void writeInfoToProptree();
+
     
     struct SurfRec { Surface * surface; float weight; };
-
     // all surfaces of this wing
     Vector _surfs;      
     // surfaces having a certain type of flap (flap, slat, spoiler)

From fb6f965db77c73b9b2f327218a0df575d32a085f Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 19 Nov 2017 16:11:57 +0100
Subject: [PATCH 11/29] YASIM: method name clarification (and indention)

---
 src/FDM/YASim/Airplane.cpp | 48 +++++++++++++++++++-------------------
 src/FDM/YASim/FGFDM.cpp    |  2 +-
 src/FDM/YASim/Wing.cpp     |  7 +++++-
 src/FDM/YASim/Wing.hpp     |  4 ++--
 4 files changed, 33 insertions(+), 28 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index c5adde2f5..8941ef145 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -787,35 +787,35 @@ void Airplane::applyDragFactor(float factor)
     float applied = Math::pow(factor, SOLVE_TWEAK);
     _dragFactor *= applied;
     if(_wing)
-      _wing->setDragScale(_wing->getDragScale() * applied);
+      _wing->multiplyDragCoefficient(applied);
     if(_tail)
-      _tail->setDragScale(_tail->getDragScale() * applied);
+      _tail->multiplyDragCoefficient(applied);
     int i;
     for(i=0; i<_vstabs.size(); i++) {
-	Wing* w = (Wing*)_vstabs.get(i);
-	w->setDragScale(w->getDragScale() * applied);
+        Wing* w = (Wing*)_vstabs.get(i);
+        w->multiplyDragCoefficient(applied);
     }
     for(i=0; i<_fuselages.size(); i++) {
-	Fuselage* f = (Fuselage*)_fuselages.get(i);
-	int j;
-	for(j=0; j<f->surfs.size(); j++) {
-	    Surface* s = (Surface*)f->surfs.get(j);
-	    if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-		// For new YASim, the solver drag factor is only applied to
-		// the X axis for Fuselage Surfaces.
-		// The solver is tuning the coefficient for longitudinal drag,
-		// along the direction of flight. A fuselage's lateral drag
-		// is completely independent and is normally much higher;
-		// it won't be affected by the streamlining done to reduce
-		// longitudinal drag. So the solver should only adjust the
-		// fuselage's longitudinal (X axis) drag coefficient.
-		s->setXDrag(s->getXDrag() * applied);
-	    } else {
-		// Originally YASim applied the drag factor to all axes
-		// for Fuselage Surfaces.
-		s->setDragCoefficient(s->getDragCoefficient() * applied);
-	    }
-	}
+        Fuselage* f = (Fuselage*)_fuselages.get(i);
+        int j;
+        for(j=0; j<f->surfs.size(); j++) {
+            Surface* s = (Surface*)f->surfs.get(j);
+            if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+            // For new YASim, the solver drag factor is only applied to
+            // the X axis for Fuselage Surfaces.
+            // The solver is tuning the coefficient for longitudinal drag,
+            // along the direction of flight. A fuselage's lateral drag
+            // is completely independent and is normally much higher;
+            // it won't be affected by the streamlining done to reduce
+            // longitudinal drag. So the solver should only adjust the
+            // fuselage's longitudinal (X axis) drag coefficient.
+            s->setXDrag(s->getXDrag() * applied);
+            } else {
+            // Originally YASim applied the drag factor to all axes
+            // for Fuselage Surfaces.
+            s->setDragCoefficient(s->getDragCoefficient() * applied);
+            }
+        }
     }
     for(i=0; i<_weights.size(); i++) {
 	WeightRec* wr = (WeightRec*)_weights.get(i);
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index bd689d9e2..5bad06e85 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -853,7 +853,7 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type, Version * version)
     w->setInducedDrag(0.7*attrf(a, "idrag", 1));
 
     float effect = attrf(a, "effectiveness", 1);
-    w->setDragScale(w->getDragScale()*effect);
+    w->multiplyDragCoefficient(effect);
 
     _currObj = w;
     return w;
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 00ef265cb..e4be7666e 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -253,7 +253,7 @@ void Wing::addSurface(Surface* s, float weight, float twist)
     _surfs.add(sr);
 }
 
-void Wing::setDragScale(float scale)
+void Wing::setDragCoefficient(float scale)
 {
     _dragScale = scale;
     for(int i=0; i<_surfs.size(); i++) {
@@ -262,6 +262,11 @@ void Wing::setDragScale(float scale)
     }
 }
 
+void Wing::multiplyDragCoefficient(float factor)
+{
+    setDragCoefficient(_dragScale * factor);
+}
+
 void Wing::setLiftRatio(float ratio)
 {
     _liftRatio = ratio;
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 09d3d8cff..2a0d45868 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -90,8 +90,8 @@ public:
 
     // The overall drag coefficient for the wing as a whole.  Units are
     // arbitrary.
-    void setDragScale(float scale);
-    float getDragScale() const { return _dragScale; }
+    void setDragCoefficient(float scale);
+    void multiplyDragCoefficient(float factor);
 
     // The ratio of force along the Z (lift) direction of each wing
     // segment to that along the X (drag) direction.

From 6b473fde68cdc5cd8433d5e631857423022f2b38 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 19 Nov 2017 23:30:35 +0100
Subject: [PATCH 12/29] YASIM: move updating of model from Airplane to Wing

---
 src/FDM/YASim/Airplane.cpp | 20 +-------------------
 src/FDM/YASim/Wing.cpp     | 29 +++++++++++++++++++++++++++--
 src/FDM/YASim/Wing.hpp     |  4 +++-
 3 files changed, 31 insertions(+), 22 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 8941ef145..bbc80f1f2 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -310,25 +310,7 @@ float Airplane::compileWing(Wing* w)
     }
 
     float wgt = 0;
-    for(int i=0; i<w->numSurfaces(); i++) {
-        Surface* s = (Surface*)w->getSurface(i);
-        float td = s->getDragCoefficient();
-        int sid = s->getID();
-
-        _model.addSurface(s);
-
-        float mass = w->getSurfaceWeight(i);
-        mass = mass * Math::sqrt(mass);
-        float pos[3];
-        s->getPosition(pos);
-        int mid = _model.getBody()->addMass(mass, pos, true);
-        if (_wingsN != 0) {
-          SGPropertyNode_ptr n = _wingsN->getNode("surfaces", true)->getChild("surface", sid, true);
-          n->getNode("drag", true)->setFloatValue(td);
-          n->getNode("mass-id", true)->setIntValue(mid);
-        }
-        wgt += mass;
-    }
+    wgt = w->updateModel(&_model);
     return wgt;
 }
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index e4be7666e..30bafe0bf 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -1,4 +1,5 @@
 #include "yasim-common.hpp"
+#include "Model.hpp"
 #include "Surface.hpp"
 #include "Wing.hpp"
 
@@ -361,8 +362,8 @@ void Wing::writeInfoToProptree()
     float dragSum = 0;
     for(int surf=0; surf < numSurfaces(); surf++) {
         Surface* s = (Surface*)getSurface(surf);
-        float td = s->getDragCoefficient();
-        dragSum += td;
+        float drag = s->getDragCoefficient();
+        dragSum += drag;
 
         float mass = getSurfaceWeight(surf);
         mass = mass * Math::sqrt(mass);
@@ -371,4 +372,28 @@ void Wing::writeInfoToProptree()
     _wingN->getNode("weight", true)->setFloatValue(wgt);
     _wingN->getNode("drag", true)->setFloatValue(dragSum);
 }
+
+float Wing::updateModel(Model* model) 
+{
+    float wgt = 0;
+    for(int surf=0; surf < numSurfaces(); surf++) {
+        Surface* s = (Surface*)getSurface(surf);
+        model->addSurface(s);
+
+        float mass = getSurfaceWeight(surf);
+        mass = mass * Math::sqrt(mass);
+        wgt += mass;
+
+        float pos[3];
+        s->getPosition(pos);
+        int mid = model->getBody()->addMass(mass, pos, true);
+        if (_wingN != nullptr) {
+            SGPropertyNode_ptr n = _wingN->getNode("surfaces", true)->getChild("surface", s->getID(), true);
+            n->getNode("drag", true)->setFloatValue(s->getDragCoefficient());
+            n->getNode("mass-id", true)->setIntValue(mid);
+        }
+    }
+    return wgt;    
+}
+
 }; // namespace yasim
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 2a0d45868..4e64500ca 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -9,6 +9,7 @@
 namespace yasim {
 
 class Surface;
+class Model;
 
 struct FlapParams {
     float start {0};
@@ -99,6 +100,7 @@ public:
     float getLiftRatio() const { return _liftRatio; }
 
     void setPropertyNode(SGPropertyNode_ptr n) { _wingN = n; };
+    float updateModel(Model* model);
     
 private:
     void interp(const float* v1, const float* v2, const float frac, float* out);
@@ -112,7 +114,7 @@ private:
 
     void addSurface(Surface* s, float weight, float twist);
     void writeInfoToProptree();
-
+    
     
     struct SurfRec { Surface * surface; float weight; };
     // all surfaces of this wing

From b288ca3d9db8bd4835afb74bcf366f27bb205d73 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 19 Nov 2017 23:33:07 +0100
Subject: [PATCH 13/29] YASIM: add struct Chord to Wing.hpp ; add static method
 calculateMAC to Wing

---
 src/FDM/YASim/Wing.cpp | 34 +++++++++++++++++++++++-----------
 src/FDM/YASim/Wing.hpp | 24 +++++++++++++++---------
 2 files changed, 38 insertions(+), 20 deletions(-)

diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 30bafe0bf..f83c91c79 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -9,7 +9,7 @@ Wing::Wing(Version *ver, bool mirror, float* base, float chord,
         float length, float taper, float sweep, float dihedral, float twist) :
     _version(ver),
     _mirror(mirror),
-    _chord(chord),
+    _rootChordLength(chord),
     _length(length),
     _taper(taper),
     _sweepAngleCenterLine(sweep),
@@ -17,7 +17,7 @@ Wing::Wing(Version *ver, bool mirror, float* base, float chord,
     _twist(twist)
 {
     Math::set3(base, _base);
-    _meanChord = _chord*(_taper+1)*0.5f;
+    _meanChord = _rootChordLength*(_taper+1)*0.5f;
     calculateWingCoordinateSystem();
     calculateTip();
     calculateSpan();
@@ -127,10 +127,22 @@ void Wing::calculateSpan()
 void Wing::calculateMAC()
 {
     // http://www.nasascale.org/p2/wp-content/uploads/mac-calculator.htm
-    const float commonFactor = _chord*(0.5+_taper)/(3*_chord*(1+_taper));
-    _mac = _chord-(2*_chord*(1-_taper)*commonFactor);
-    _macRootDistance = _netSpan*commonFactor;
-    _macX = _base[0]-Math::tan(_sweepAngleCenterLine) * _macRootDistance + _mac/2;
+    const float commonFactor = _rootChordLength*(0.5+_taper)/(3*_rootChordLength*(1+_taper));
+    _mac.length = _rootChordLength-(2*_rootChordLength*(1-_taper)*commonFactor);
+    _mac.y = _netSpan*commonFactor;
+    _mac.x = _base[0]-Math::tan(_sweepAngleCenterLine) * _mac.y + _mac.length/2;
+}
+
+Chord Wing::calculateMAC(Chord root, Chord tip)
+{
+    assert(root.length > 0);
+    //const float taper = tip.length / root.length;
+    const float commonFactor = (root.length*0.5+tip.length)/(3*(root.length+tip.length));
+    Chord m;
+    m.length = root.length-(2*(root.length - tip.length)*commonFactor);
+    m.y = Math::abs(2*(tip.y - root.y))*commonFactor;
+    m.x = root.x - (root.x - tip.x)*(root.y - m.y)/(root.y - tip.y);
+    return m;
 }
 
 float Wing::calculateSweepAngleLeadingEdge()
@@ -139,7 +151,7 @@ float Wing::calculateSweepAngleLeadingEdge()
       return 0;
     }
     return Math::atan(
-      (sin(_sweepAngleCenterLine)+(1-_taper)*_chord/(2*_length)) /
+      (sin(_sweepAngleCenterLine)+(1-_taper)*_rootChordLength/(2*_length)) /
       cos(_sweepAngleCenterLine)
     );  
 }
@@ -221,7 +233,7 @@ void Wing::compile()
             float pos[3];
             interp(_base, _tip, frac, pos);
 
-            float chord = _chord * (1 - (1-_taper)*frac);
+            float chord = _rootChordLength * (1 - (1-_taper)*frac);
             float weight = chord * segWid;
             float twist = _twist * frac;
 
@@ -354,9 +366,9 @@ void Wing::writeInfoToProptree()
     _wingN->getNode("wing-area", true)->setFloatValue(_wingspan*_meanChord);
     _wingN->getNode("aspect-ratio", true)->setFloatValue(_aspectRatio);
     _wingN->getNode("standard-mean-chord", true)->setFloatValue(_meanChord);
-    _wingN->getNode("mac", true)->setFloatValue(_mac);
-    _wingN->getNode("mac-x", true)->setFloatValue(_macX);
-    _wingN->getNode("mac-y", true)->setFloatValue(_base[1]+_macRootDistance);
+    _wingN->getNode("mac", true)->setFloatValue(_mac.length);
+    _wingN->getNode("mac-x", true)->setFloatValue(_mac.x);
+    _wingN->getNode("mac-y", true)->setFloatValue(_base[1]+_mac.y);
 
     float wgt = 0;
     float dragSum = 0;
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 4e64500ca..8b7f10f64 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -19,6 +19,13 @@ struct FlapParams {
     float aoa {0};
 };
 
+// position and length of a chord line
+struct Chord {
+    float x {0};
+    float y {0};
+    float length {0};
+};
+
 enum WingFlaps {
     WING_FLAP0,
     WING_FLAP1,
@@ -45,7 +52,7 @@ public:
     // dist. ALONG wing (not span!)     
     float getLength() const { return _length; };
     // at base, measured along X axis
-    float getChord() const { return _chord; };
+    float getChord() const { return _rootChordLength; };
     // fraction of chord at wing tip, 0..1
     float getTaper() const { return _taper; };
     // radians
@@ -80,9 +87,10 @@ public:
     float getArea() const { return _wingspan*_meanChord; };
     float getAspectRatio() const { return _aspectRatio; };
     float getSMC() const { return _meanChord; };
-    float getMACLength() const { return _mac; }; // get length of MAC
-    float getMACx() const { return _macX; }; // get x-coord of MAC leading edge 
-    float getMACy() const { return _base[1]+_macRootDistance; }; // get y-coord of MAC leading edge 
+    Chord getMAC() const { return _mac; };
+    float getMACLength() const { return _mac.length; }; // get length of MAC
+    float getMACx() const { return _mac.x; }; // get x-coord of MAC 
+    float getMACy() const { return _base[1]+_mac.y; }; // get y-coord of MAC  
     
     
     int numSurfaces() const { return _surfs.size(); }
@@ -110,12 +118,12 @@ private:
     void calculateTip();
     void calculateSpan();
     void calculateMAC();
+    static Chord calculateMAC(Chord root, Chord tip);
     float calculateSweepAngleLeadingEdge();
 
     void addSurface(Surface* s, float weight, float twist);
     void writeInfoToProptree();
     
-    
     struct SurfRec { Surface * surface; float weight; };
     // all surfaces of this wing
     Vector _surfs;      
@@ -125,7 +133,7 @@ private:
     Version * _version;
     bool _mirror {false};
     float _base[3] {0,0,0};
-    float _chord {0};
+    float _rootChordLength {0};
     // length is distance from base to tip, not wing span
     float _length {0};
     float _taper {1};
@@ -138,9 +146,7 @@ private:
     float _rightOrient[9];
     float _tip[3] {0,0,0};
     float _meanChord {0}; // std. mean chord
-    float _mac {0}; // mean aerodynamic chord length
-    float _macRootDistance {0}; // y-distance of mac from root
-    float _macX {0}; // x-coordinate of mac (leading edge)
+    Chord _mac; // mean aerodynamic chord (x,y) leading edge
     float _netSpan {0};
     float _wingspan {0};
     float _aspectRatio {1};

From 6feca9206034cc3c786958502e0a67ae0c21c56a Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Wed, 22 Nov 2017 09:25:23 +0100
Subject: [PATCH 14/29] YASIM add struct StallParams to Wing

---
 src/FDM/YASim/FGFDM.cpp | 10 ++++++----
 src/FDM/YASim/Wing.cpp  | 14 +++++++-------
 src/FDM/YASim/Wing.hpp  | 15 +++++++++------
 3 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index 5bad06e85..3e5df51d2 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -534,10 +534,12 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
     } else if(eq(name, "weight")) {
 	parseWeight(a);
     } else if(eq(name, "stall")) {
-	Wing* w = (Wing*)_currObj;
-	w->setStall(attrf(a, "aoa") * DEG2RAD);
-	w->setStallWidth(attrf(a, "width", 2) * DEG2RAD);
-	w->setStallPeak(attrf(a, "peak", 1.5));
+        Wing* w = (Wing*)_currObj;
+        StallParams sp;
+        sp.aoa = attrf(a, "aoa") * DEG2RAD;
+        sp.width = attrf(a, "width", 2) * DEG2RAD;
+        sp.peak = attrf(a, "peak", 1.5);
+        w->setStallParams(sp);
     } else if(eq(name, "flap0") || eq(name, "flap1") || eq(name, "spoiler") || eq(name, "slat")) {
         FlapParams fp;
         fp.start = attrf(a, "start");
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index f83c91c79..dc87a4aed 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -297,27 +297,27 @@ Surface* Wing::newSurface(float* pos, float* orient, float chord,
     s->setChord(chord);
 
     // Camber is expressed as a fraction of stall peak, so convert.
-    s->setBaseZDrag(_camber*_stallPeak);
+    s->setBaseZDrag(_camber*_stallParams.peak);
 
     // The "main" (i.e. normal) stall angle
-    float stallAoA = _stall - _stallWidth/4;
+    float stallAoA = _stallParams.aoa - _stallParams.width/4;
     s->setStall(0, stallAoA);
-    s->setStallWidth(0, _stallWidth);
-    s->setStallPeak(0, _stallPeak);
+    s->setStallWidth(0, _stallParams.width);
+    s->setStallPeak(0, _stallParams.peak);
 
     // The negative AoA stall is the same if we're using an symmetric
     // airfoil, otherwise a "little worse".
     if(_camber > 0) {
         s->setStall(1, stallAoA * 0.8f);
-        s->setStallWidth(1, _stallWidth * 0.5f);
+        s->setStallWidth(1, _stallParams.width * 0.5f);
     } else {
       s->setStall(1, stallAoA);
       if( _version->isVersionOrNewer( Version::YASIM_VERSION_2017_2 )) {
         // what was presumably meant
-        s->setStallWidth(1, _stallWidth);
+        s->setStallWidth(1, _stallParams.width);
       } else {
         // old code; presumably a copy&paste error
-        s->setStall(1, _stallWidth);
+        s->setStall(1, _stallParams.width);
       }
     }
 
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 8b7f10f64..447878627 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -19,6 +19,12 @@ struct FlapParams {
     float aoa {0};
 };
 
+struct StallParams {
+    float aoa {0};
+    float width {0};
+    float peak {0};
+};
+
 // position and length of a chord line
 struct Chord {
     float x {0};
@@ -65,9 +71,7 @@ public:
     
     
     // parameters for stall curve
-    void setStall(float aoa) { _stall = aoa; }
-    void setStallWidth(float angle) { _stallWidth = angle; }
-    void setStallPeak(float fraction) { _stallPeak = fraction; }
+    void setStallParams(StallParams sp) { _stallParams = sp; }
     void setCamber(float camber) { _camber = camber; }
     void setInducedDrag(float drag) { _inducedDrag = drag; }
     
@@ -151,9 +155,8 @@ private:
     float _wingspan {0};
     float _aspectRatio {1};
 
-    float _stall {0};
-    float _stallWidth {0};
-    float _stallPeak {0};
+    StallParams _stallParams;
+    
     float _twist {0};
     float _camber {0};
     float _incidence {0};

From 3809137f7da19631e519286fe36799ed0501ad96 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 26 Nov 2017 22:28:30 +0100
Subject: [PATCH 15/29] YASIM add method multiplyLiftRatio to class Wing

---
 src/FDM/YASim/Airplane.cpp | 6 +++---
 src/FDM/YASim/Wing.cpp     | 5 +++++
 src/FDM/YASim/Wing.hpp     | 2 +-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index bbc80f1f2..2d6d2fe4a 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -815,13 +815,13 @@ void Airplane::applyLiftRatio(float factor)
     float applied = Math::pow(factor, SOLVE_TWEAK);
     _liftRatio *= applied;
     if(_wing)
-      _wing->setLiftRatio(_wing->getLiftRatio() * applied);
+      _wing->multiplyLiftRatio(applied);
     if(_tail)
-      _tail->setLiftRatio(_tail->getLiftRatio() * applied);
+      _tail->multiplyLiftRatio(applied);
     int i;
     for(i=0; i<_vstabs.size(); i++) {
         Wing* w = (Wing*)_vstabs.get(i);
-        w->setLiftRatio(w->getLiftRatio() * applied);
+        w->multiplyLiftRatio(applied);
     }
 }
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index dc87a4aed..3c3c3dc21 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -256,6 +256,11 @@ void Wing::compile()
     writeInfoToProptree();
 }
 
+void Wing::multiplyLiftRatio(float factor)
+{
+    setLiftRatio(_liftRatio * factor);
+}
+
 void Wing::addSurface(Surface* s, float weight, float twist)
 {
     SurfRec *sr = new SurfRec();
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index 447878627..b4142612a 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -109,7 +109,7 @@ public:
     // The ratio of force along the Z (lift) direction of each wing
     // segment to that along the X (drag) direction.
     void setLiftRatio(float ratio);
-    float getLiftRatio() const { return _liftRatio; }
+    void multiplyLiftRatio(float factor);
 
     void setPropertyNode(SGPropertyNode_ptr n) { _wingN = n; };
     float updateModel(Model* model);

From 09c60ee40e92d7a2dc4bd36e3937a60903e02b9b Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Sun, 26 Nov 2017 23:05:42 +0100
Subject: [PATCH 16/29] YASIM add variable initialization

---
 src/FDM/YASim/FGFDM.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index 3e5df51d2..e93ed0354 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -221,9 +221,9 @@ void FGFDM::init()
 void FGFDM::startElement(const char* name, const XMLAttributes &atts)
 {
     XMLAttributes* a = (XMLAttributes*)&atts;
-    float v[3];
+    float v[3] {0,0,0};
     char buf[64];
-    float f = 0;
+    float f {0};
     
     if(eq(name, "airplane")) {
       if(a->hasAttribute("mass")) { f = attrf(a, "mass") * LBS2KG; } 

From 5aead123fc7f9caabb2e02dfecabfd5e3b6b9c30 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Wed, 29 Nov 2017 09:17:51 +0100
Subject: [PATCH 17/29] YASIM refactoring of ControlMap

---
 src/FDM/YASim/ControlMap.cpp | 134 ++++++++++++++++++++++++-----------
 src/FDM/YASim/ControlMap.hpp |  53 +++++++++-----
 src/FDM/YASim/FGFDM.cpp      |  74 +++----------------
 src/FDM/YASim/FGFDM.hpp      |  10 ++-
 4 files changed, 146 insertions(+), 125 deletions(-)

diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index 4beef0fe0..e2560193a 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -44,10 +44,10 @@ ControlMap::~ControlMap()
 	input : index to _inputs
 	type: identifier (see enum OutputType)
 */
-void ControlMap::addMapping(int input, int type, void* object, int options,
+void ControlMap::addMapping(int input, Control control, void* object, int options,
 			    float src0, float src1, float dst0, float dst1)
 {
-    addMapping(input, type, object, options);
+    addMapping(input, control, object, options);
 
     // The one we just added is last in the list (ugly, awful hack!)
     Vector* maps = (Vector*)_inputs.get(input);
@@ -63,26 +63,25 @@ void ControlMap::addMapping(int input, int type, void* object, int options,
 	input : index to _inputs
 	type: identifier (see enum OutputType)
 */
-void ControlMap::addMapping(int input, int type, void* object, int options)
+void ControlMap::addMapping(int input, Control control, void* object, int options)
 {
     // See if the output object already exists
     OutRec* out = 0;
     int i;
     for(i=0; i<_outputs.size(); i++) {
-	OutRec* o = (OutRec*)_outputs.get(i);
-	if(o->object == object && o->type == type) {
-	    out = o;
-	    break;
-	}
+        OutRec* o = (OutRec*)_outputs.get(i);
+        if(o->object == object && o->control == control) {
+            out = o;
+            break;
+        }
     }
 
     // Create one if it doesn't
     if(out == 0) {
-	out = new OutRec();
-	out->type = type;
-	out->object = object;
-        out->oldL = out->oldR = out->time = 0;
-	_outputs.add(out);
+        out = new OutRec();
+        out->control = control;
+        out->object = object;
+        _outputs.add(out);
     }
     
     // Make a new input record
@@ -92,8 +91,8 @@ void ControlMap::addMapping(int input, int type, void* object, int options)
     map->idx = out->maps.add(map);
 
     // The default ranges differ depending on type!
-    map->src1 = map->dst1 = rangeMax(type);
-    map->src0 = map->dst0 = rangeMin(type);
+    map->src1 = map->dst1 = rangeMax(control);
+    map->src0 = map->dst0 = rangeMin(control);
 
     // And add it to the approproate vectors.
     Vector* maps = (Vector*)_inputs.get(input);
@@ -129,14 +128,14 @@ void ControlMap::setInput(int input, float val)
     }
 }
 
-int ControlMap::getOutputHandle(void* obj, int type)
+int ControlMap::getOutputHandle(void* obj, Control control)
 {
     for(int i=0; i<_outputs.size(); i++) {
         OutRec* o = (OutRec*)_outputs.get(i);
-	    if(o->object == obj && o->type == type)
+	    if(o->object == obj && o->control == control)
 	        return i;
     }
-    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%d, type %d \n", obj, type);
+    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%d, control %d \n", obj, control);
     return -1;
 }
 
@@ -188,7 +187,7 @@ void ControlMap::applyControls(float dt)
             float adl = Math::abs(dl);
             float adr = Math::abs(dr);
         
-            float max = (dt/o->time) * (rangeMax(o->type) - rangeMin(o->type));
+            float max = (dt/o->time) * (rangeMax(o->control) - rangeMin(o->control));
             if(adl > max) dl = dl*max/adl;
             if(adr > max) dr = dr*max/adr;
 
@@ -200,7 +199,7 @@ void ControlMap::applyControls(float dt)
         o->oldR = rval;
 
 	void* obj = o->object;
-	switch(o->type) {
+	switch(o->control) {
 	case THROTTLE: ((Thruster*)obj)->setThrottle(lval);        break;
 	case MIXTURE:  ((Thruster*)obj)->setMixture(lval);         break;
     case CONDLEVER: ((TurbineEngine*)((PropEngine*)
@@ -255,35 +254,35 @@ void ControlMap::applyControls(float dt)
     }
 }
 
-float ControlMap::rangeMin(int type)
+float ControlMap::rangeMin(Control control)
 {
     // The minimum of the range for each type of control
-    switch(type) {
-    case FLAP0:    return -1;  // [-1:1]
-    case FLAP1:    return -1;
-    case STEER:    return -1;
-    case CYCLICELE: return -1;
-    case CYCLICAIL: return -1;
-    case COLLECTIVE: return -1;
-    case WINCHRELSPEED: return -1;
-    case MAGNETOS: return 0;   // [0:3]
-    case FLAP0EFFECTIVENESS: return 1;  // [0:10]
-    case FLAP1EFFECTIVENESS: return 1;  // [0:10]
-    default:       return 0;   // [0:1]
+    switch(control) {
+        case FLAP0:    return -1;  // [-1:1]
+        case FLAP1:    return -1;
+        case STEER:    return -1;
+        case CYCLICELE: return -1;
+        case CYCLICAIL: return -1;
+        case COLLECTIVE: return -1;
+        case WINCHRELSPEED: return -1;
+        case MAGNETOS: return 0;   // [0:3]
+        case FLAP0EFFECTIVENESS: return 1;  // [0:10]
+        case FLAP1EFFECTIVENESS: return 1;  // [0:10]
+        default:       return 0;   // [0:1]
     }
 }
 
-float ControlMap::rangeMax(int type)
+float ControlMap::rangeMax(Control control)
 {
     // The maximum of the range for each type of control
-    switch(type) {
-    case FLAP0:    return 1; // [-1:1]
-    case FLAP1:    return 1;
-    case STEER:    return 1;
-    case MAGNETOS: return 3; // [0:3]
-    case FLAP0EFFECTIVENESS: return 10;//  [0:10]
-    case FLAP1EFFECTIVENESS: return 10;//  [0:10]
-    default:       return 1; // [0:1]
+    switch(control) {
+        case FLAP0:    return 1; // [-1:1]
+        case FLAP1:    return 1;
+        case STEER:    return 1;
+        case MAGNETOS: return 3; // [0:3]
+        case FLAP0EFFECTIVENESS: return 10;//  [0:10]
+        case FLAP1EFFECTIVENESS: return 10;//  [0:10]
+        default:       return 1; // [0:1]
     }
 }
 
@@ -328,4 +327,55 @@ int ControlMap::propertyHandle(const char* name)
 	return p->handle;
 }
 
+
+ControlMap::Control ControlMap::parseControl(const char* name)
+{
+    if(eq(name, "THROTTLE"))  return THROTTLE;
+    if(eq(name, "MIXTURE"))   return MIXTURE;
+    if(eq(name, "CONDLEVER")) return CONDLEVER;
+    if(eq(name, "STARTER"))   return STARTER;
+    if(eq(name, "MAGNETOS"))  return MAGNETOS;
+    if(eq(name, "ADVANCE"))   return ADVANCE;
+    if(eq(name, "REHEAT"))    return REHEAT;
+    if(eq(name, "BOOST"))     return BOOST;
+    if(eq(name, "VECTOR"))    return VECTOR;
+    if(eq(name, "PROP"))      return PROP;
+    if(eq(name, "BRAKE"))     return BRAKE;
+    if(eq(name, "STEER"))     return STEER;
+    if(eq(name, "EXTEND"))    return EXTEND;
+    if(eq(name, "HEXTEND"))   return HEXTEND;
+    if(eq(name, "LEXTEND"))   return LEXTEND;
+    if(eq(name, "LACCEL"))    return LACCEL;
+    if(eq(name, "INCIDENCE")) return INCIDENCE;
+    if(eq(name, "FLAP0"))     return FLAP0;
+    if(eq(name, "FLAP0EFFECTIVENESS"))   return FLAP0EFFECTIVENESS;
+    if(eq(name, "FLAP1"))     return FLAP1;
+    if(eq(name, "FLAP1EFFECTIVENESS"))   return FLAP1EFFECTIVENESS;
+    if(eq(name, "SLAT"))      return SLAT;
+    if(eq(name, "SPOILER"))   return SPOILER;
+    if(eq(name, "CASTERING")) return CASTERING;
+    if(eq(name, "PROPPITCH")) return PROPPITCH;
+    if(eq(name, "PROPFEATHER")) return PROPFEATHER;
+    if(eq(name, "COLLECTIVE")) return COLLECTIVE;
+    if(eq(name, "CYCLICAIL")) return CYCLICAIL;
+    if(eq(name, "CYCLICELE")) return CYCLICELE;
+    if(eq(name, "TILTROLL")) return TILTROLL;
+    if(eq(name, "TILTPITCH")) return TILTPITCH;
+    if(eq(name, "TILTYAW")) return TILTYAW;
+    if(eq(name, "ROTORGEARENGINEON")) return ROTORENGINEON;
+    if(eq(name, "ROTORBRAKE")) return ROTORBRAKE;
+    if(eq(name, "ROTORENGINEMAXRELTORQUE")) return ROTORENGINEMAXRELTORQUE;
+    if(eq(name, "ROTORRELTARGET")) return ROTORRELTARGET;
+    if(eq(name, "ROTORBALANCE")) return ROTORBALANCE;
+    if(eq(name, "REVERSE_THRUST")) return REVERSE_THRUST;
+    if(eq(name, "WASTEGATE")) return WASTEGATE;
+    if(eq(name, "WINCHRELSPEED")) return WINCHRELSPEED;
+    if(eq(name, "HITCHOPEN")) return HITCHOPEN;
+    if(eq(name, "PLACEWINCH")) return PLACEWINCH;
+    if(eq(name, "FINDAITOW")) return FINDAITOW;
+    SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '" << name 
+        << "' in YASim aircraft description.");
+    exit(1);
+}
+
 } // namespace yasim
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index 41342f450..3c135fa6d 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -10,7 +10,7 @@ class ControlMap {
 public:
     ~ControlMap();
 
-    enum OutputType { 
+    enum Control { 
         THROTTLE, 
         MIXTURE, 
         CONDLEVER, 
@@ -56,22 +56,25 @@ public:
         FINDAITOW
     };
 
-    enum { OPT_SPLIT  = 0x01,
-           OPT_INVERT = 0x02,
-           OPT_SQUARE = 0x04
+    enum { 
+        OPT_SPLIT  = 0x01,
+        OPT_INVERT = 0x02,
+        OPT_SQUARE = 0x04
     };
 
     struct PropHandle { char* name; int handle; };
-
+    
+    // map control name to int (enum)
+    Control parseControl(const char* name);
     // Adds a mapping to between input handle and a particular setting
     // on an output object.  The value of output MUST match the type
     // of object!
-    void addMapping(int input, int output, void* object, int options=0);
+    void addMapping(int input, Control control, void* object, int options=0);
 
     // An additional form to specify a mapping range.  Input values
     // outside of [src0:src1] are clamped, and are then mapped to
     // [dst0:dst1] before being set on the object.
-    void addMapping(int input, int output, void* object, int options,
+    void addMapping(int input, Control control, void* object, int options,
 		    float src0, float src1, float dst0, float dst1);
 
     // Resets our accumulated input values.  Call before any
@@ -89,12 +92,12 @@ public:
     // Returns the input/output range appropriate for the given
     // control.  Ailerons go from -1 to 1, while throttles are never
     // lower than zero, etc...
-    static float rangeMin(int type);
-    static float rangeMax(int type);
+    static float rangeMin(Control control);
+    static float rangeMax(Control control);
 
     // Each output record is identified by both an object/type tuple
     // and a numeric handle.
-    int getOutputHandle(void* obj, int type);
+    int getOutputHandle(void* obj, Control control);
 
     // Sets the transition time for the control output to swing
     // through its full range.
@@ -111,15 +114,25 @@ public:
     int numProperties() { return _properties.size(); }
     PropHandle* getProperty(const int i) { return ((PropHandle*)_properties.get(i)); }
 
-    // helper
-    char* dup(const char* s);
-    bool eq(const char* a, const char* b);
-
 private:
-    struct OutRec { int type; void* object; Vector maps;
-                    float oldL, oldR, time; };
-    struct MapRec  { OutRec* out; int idx; int opt; float val;
-                     float src0; float src1; float dst0; float dst1; };
+    struct OutRec { 
+        Control control; 
+        void* object; 
+        Vector maps;
+        float oldL {0};
+        float oldR {0};
+        float time {0};
+    };
+    struct MapRec  { 
+        OutRec* out; 
+        int idx {0};
+        int opt {0};
+        float val {0};
+        float src0 {0}; 
+        float src1 {0}; 
+        float dst0 {0}; 
+        float dst1 {0};
+    };
 
     // A list of (sub)Vectors containing a bunch of MapRec objects for
     // each input handle.
@@ -129,6 +142,10 @@ private:
     Vector _outputs;
     // control properties
     Vector _properties;
+
+    // helper
+    char* dup(const char* s);
+    bool eq(const char* a, const char* b);
 };
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index e93ed0354..ee13427a4 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -587,7 +587,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
     ControlMap* cm = _airplane.getControlMap();
     // A mapping of input property to a control
     int axis = cm->propertyHandle(a->getValue("axis"));
-    int control = parseOutput(a->getValue("control"));
+    ControlMap::Control control = cm->parseControl(a->getValue("control"));
     int opt = 0;
     opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
     opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
@@ -602,23 +602,24 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
   } else if(eq(name, "control-output")) {
         // A property output for a control on the current object
         ControlMap* cm = _airplane.getControlMap();
-        int type = parseOutput(a->getValue("control"));
-        int handle = cm->getOutputHandle(_currObj, type);
+        ControlMap::Control control = cm->parseControl(a->getValue("control"));
+        
+        int handle = cm->getOutputHandle(_currObj, control);
 
 	PropOut* p = new PropOut();
 	p->prop = fgGetNode(a->getValue("prop"), true);
 	p->handle = handle;
-	p->type = type;
+	p->control = control;
 	p->left = !(a->hasAttribute("side") &&
                         eq("right", a->getValue("side")));
-	p->min = attrf(a, "min", cm->rangeMin(type));
-	p->max = attrf(a, "max", cm->rangeMax(type));
+	p->min = attrf(a, "min", cm->rangeMin(control));
+	p->max = attrf(a, "max", cm->rangeMax(control));
 	_controlProps.add(p);
 
     } else if(eq(name, "control-speed")) {
         ControlMap* cm = _airplane.getControlMap();
-        int type = parseOutput(a->getValue("control"));
-        int handle = cm->getOutputHandle(_currObj, type);
+        ControlMap::Control control = cm->parseControl(a->getValue("control"));
+        int handle = cm->getOutputHandle(_currObj, control);
         float time = attrf(a, "transition-time", 0);
         
         cm->setTransitionTime(handle, time);
@@ -715,8 +716,8 @@ void FGFDM::setOutputProperties(float dt)
         float val = (p->left
                      ? cm->getOutput(p->handle)
                      : cm->getOutputR(p->handle));
-        float rmin = cm->rangeMin(p->type);
-        float rmax = cm->rangeMax(p->type);
+        float rmin = cm->rangeMin(p->control);
+        float rmax = cm->rangeMax(p->control);
         float frac = (val - rmin) / (rmax - rmin);
         val = frac*(p->max - p->min) + p->min;
         p->prop->setFloatValue(val);
@@ -1104,59 +1105,6 @@ void FGFDM::parsePropeller(XMLAttributes* a)
     _currObj = thruster;
 }
 
-/// map identifier (string) to int (enum in ControlMap)
-int FGFDM::parseOutput(const char* name)
-{
-    if(eq(name, "THROTTLE"))  return ControlMap::THROTTLE;
-    if(eq(name, "MIXTURE"))   return ControlMap::MIXTURE;
-    if(eq(name, "CONDLEVER")) return ControlMap::CONDLEVER;
-    if(eq(name, "STARTER"))   return ControlMap::STARTER;
-    if(eq(name, "MAGNETOS"))  return ControlMap::MAGNETOS;
-    if(eq(name, "ADVANCE"))   return ControlMap::ADVANCE;
-    if(eq(name, "REHEAT"))    return ControlMap::REHEAT;
-    if(eq(name, "BOOST"))     return ControlMap::BOOST;
-    if(eq(name, "VECTOR"))    return ControlMap::VECTOR;
-    if(eq(name, "PROP"))      return ControlMap::PROP;
-    if(eq(name, "BRAKE"))     return ControlMap::BRAKE;
-    if(eq(name, "STEER"))     return ControlMap::STEER;
-    if(eq(name, "EXTEND"))    return ControlMap::EXTEND;
-    if(eq(name, "HEXTEND"))   return ControlMap::HEXTEND;
-    if(eq(name, "LEXTEND"))   return ControlMap::LEXTEND;
-        if(eq(name, "LACCEL"))    return ControlMap::LACCEL;
-    if(eq(name, "INCIDENCE")) return ControlMap::INCIDENCE;
-    if(eq(name, "FLAP0"))     return ControlMap::FLAP0;
-    if(eq(name, "FLAP0EFFECTIVENESS"))   return ControlMap::FLAP0EFFECTIVENESS;
-    if(eq(name, "FLAP1"))     return ControlMap::FLAP1;
-    if(eq(name, "FLAP1EFFECTIVENESS"))   return ControlMap::FLAP1EFFECTIVENESS;
-    if(eq(name, "SLAT"))      return ControlMap::SLAT;
-    if(eq(name, "SPOILER"))   return ControlMap::SPOILER;
-    if(eq(name, "CASTERING")) return ControlMap::CASTERING;
-    if(eq(name, "PROPPITCH")) return ControlMap::PROPPITCH;
-    if(eq(name, "PROPFEATHER")) return ControlMap::PROPFEATHER;
-    if(eq(name, "COLLECTIVE")) return ControlMap::COLLECTIVE;
-    if(eq(name, "CYCLICAIL")) return ControlMap::CYCLICAIL;
-    if(eq(name, "CYCLICELE")) return ControlMap::CYCLICELE;
-    if(eq(name, "TILTROLL")) return ControlMap::TILTROLL;
-    if(eq(name, "TILTPITCH")) return ControlMap::TILTPITCH;
-    if(eq(name, "TILTYAW")) return ControlMap::TILTYAW;
-    if(eq(name, "ROTORGEARENGINEON")) return ControlMap::ROTORENGINEON;
-    if(eq(name, "ROTORBRAKE")) return ControlMap::ROTORBRAKE;
-    if(eq(name, "ROTORENGINEMAXRELTORQUE")) 
-        return ControlMap::ROTORENGINEMAXRELTORQUE;
-    if(eq(name, "ROTORRELTARGET")) return ControlMap::ROTORRELTARGET;
-    if(eq(name, "ROTORBALANCE")) return ControlMap::ROTORBALANCE;
-    if(eq(name, "REVERSE_THRUST")) return ControlMap::REVERSE_THRUST;
-    if(eq(name, "WASTEGATE")) return ControlMap::WASTEGATE;
-    if(eq(name, "WINCHRELSPEED")) return ControlMap::WINCHRELSPEED;
-    if(eq(name, "HITCHOPEN")) return ControlMap::HITCHOPEN;
-    if(eq(name, "PLACEWINCH")) return ControlMap::PLACEWINCH;
-    if(eq(name, "FINDAITOW")) return ControlMap::FINDAITOW;
-
-    SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '"
-           << name << "' in YASim aircraft description.");
-    exit(1);
-
-}
 
 void FGFDM::parseWeight(XMLAttributes* a)
 {
diff --git a/src/FDM/YASim/FGFDM.hpp b/src/FDM/YASim/FGFDM.hpp
index 28eabba21..2d57090ac 100644
--- a/src/FDM/YASim/FGFDM.hpp
+++ b/src/FDM/YASim/FGFDM.hpp
@@ -34,8 +34,14 @@ public:
 private:
     struct EngRec { char* prefix; Thruster* eng; };
     struct WeightRec { char* prop; float size; int handle; };
-    struct PropOut { SGPropertyNode* prop; int handle, type; bool left;
-                     float min, max; };
+    struct PropOut { 
+        SGPropertyNode* prop; 
+        int handle {0};
+        ControlMap::Control control; 
+        bool left {false};
+        float min {0};
+        float max {0}; 
+    };
 
     void setOutputProperties(float dt);
 

From b2000e1cca78b78f1d240deb7750d6daae50ce3e Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Wed, 29 Nov 2017 17:59:01 +0100
Subject: [PATCH 18/29] YASIM add a local var

---
 src/FDM/YASim/Airplane.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 2d6d2fe4a..3aee54f0f 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -529,11 +529,12 @@ void Airplane::compile()
     int i;
     for(i=0; i<_vstabs.size(); i++)
     {
+      Wing* vs = (Wing*)_vstabs.get(i);
       if (baseN != 0) {
           _wingsN = baseN->getChild("stab", i, true);
-          ((Wing*)_vstabs.get(i))->setPropertyNode(_wingsN);
+          vs->setPropertyNode(_wingsN);
       }
-      aeroWgt += compileWing((Wing*)_vstabs.get(i));
+      aeroWgt += compileWing(vs);
     }
 
     // The fuselage(s)

From c63ded1c44a2d211237738a92fd8b8e3f3e86dcb Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Fri, 1 Dec 2017 13:03:36 +0100
Subject: [PATCH 19/29] YASIM add initialization use Math::clamp in ControlMap

---
 src/FDM/YASim/ControlMap.cpp | 37 ++++++++++-----------
 src/FDM/YASim/ControlMap.hpp |  6 ++--
 src/FDM/YASim/FGFDM.cpp      | 62 ++++++++++++++++--------------------
 src/FDM/YASim/FGFDM.hpp      | 25 +++++++++------
 4 files changed, 62 insertions(+), 68 deletions(-)

diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index e2560193a..5e6de0478 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -66,9 +66,8 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
 void ControlMap::addMapping(int input, Control control, void* object, int options)
 {
     // See if the output object already exists
-    OutRec* out = 0;
-    int i;
-    for(i=0; i<_outputs.size(); i++) {
+    OutRec* out {nullptr};
+    for(int i = 0; i < _outputs.size(); i++) {
         OutRec* o = (OutRec*)_outputs.get(i);
         if(o->object == object && o->control == control) {
             out = o;
@@ -77,7 +76,7 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
     }
 
     // Create one if it doesn't
-    if(out == 0) {
+    if(out == nullptr) {
         out = new OutRec();
         out->control = control;
         out->object = object;
@@ -102,29 +101,25 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
 void ControlMap::reset()
 {
     // Set all the values to zero
-    for(int i=0; i<_outputs.size(); i++) {
-	OutRec* o = (OutRec*)_outputs.get(i);
-	for(int j=0; j<o->maps.size(); j++)
-	    ((MapRec*)(o->maps.get(j)))->val = 0;
+    for(int i = 0; i < _outputs.size(); i++) {
+        OutRec* o = (OutRec*)_outputs.get(i);
+        for(int j = 0; j < o->maps.size(); j++) {
+            ((MapRec*)(o->maps.get(j)))->val = 0;
+        }
     }
 }
 
 void ControlMap::setInput(int input, float val)
 {
     Vector* maps = (Vector*)_inputs.get(input);
-    for(int i=0; i<maps->size(); i++) {
-	MapRec* m = (MapRec*)maps->get(i);
-
-	float val2 = val;
-
-	// Do the scaling operation.  Clamp to [src0:src1], rescale to
-	// [0:1] within that range, then map to [dst0:dst1].
-	if(val2 < m->src0) val2 = m->src0;
-	if(val2 > m->src1) val2 = m->src1;
-	val2 = (val2 - m->src0) / (m->src1 - m->src0);
-	val2 = m->dst0 + val2 * (m->dst1 - m->dst0);
-
-	m->val = val2;
+    for(int i = 0; i < maps->size(); i++) {
+        MapRec* m = (MapRec*)maps->get(i);
+        float val2 = val;
+        // Do the scaling operation.  Clamp to [src0:src1], rescale to
+        // [0:1] within that range, then map to [dst0:dst1].
+        val2 = Math::clamp(val2, m->src0, m->src1);
+        val2 = (val2 - m->src0) / (m->src1 - m->src0);
+        m->val = m->dst0 + val2 * (m->dst1 - m->dst0);
     }
 }
 
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index 3c135fa6d..464676ac9 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -116,15 +116,15 @@ public:
 
 private:
     struct OutRec { 
-        Control control; 
-        void* object; 
+        Control control;
+        void* object {nullptr}; 
         Vector maps;
         float oldL {0};
         float oldR {0};
         float time {0};
     };
     struct MapRec  { 
-        OutRec* out; 
+        OutRec* out {nullptr}; 
         int idx {0};
         int opt {0};
         float val {0};
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index ee13427a4..dba161335 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -35,10 +35,6 @@ namespace yasim {
 
 FGFDM::FGFDM()
 {
-    _vehicle_radius = 0.0f;
-
-    _nextEngine = 0;
-
     // Map /controls/flight/elevator to the approach elevator control.  This
     // should probably be settable, but there are very few aircraft
     // who trim their approaches using things other than elevator.
@@ -534,7 +530,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
     } else if(eq(name, "weight")) {
 	parseWeight(a);
     } else if(eq(name, "stall")) {
-        Wing* w = (Wing*)_currObj;
+	Wing* w = (Wing*)_currObj;
         StallParams sp;
         sp.aoa = attrf(a, "aoa") * DEG2RAD;
         sp.width = attrf(a, "width", 2) * DEG2RAD;
@@ -583,38 +579,34 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
         _airplane.addCruiseControl(cm->propertyHandle(axis), value);
     else
 	    _airplane.addApproachControl(cm->propertyHandle(axis), value);
-  } else if(eq(name, "control-input")) {
-    ControlMap* cm = _airplane.getControlMap();
-    // A mapping of input property to a control
-    int axis = cm->propertyHandle(a->getValue("axis"));
-    ControlMap::Control control = cm->parseControl(a->getValue("control"));
-    int opt = 0;
-    opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
-    opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
-    opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
-    if(a->hasAttribute("src0")) {
-       cm->addMapping(axis, control, _currObj, opt,
-			   attrf(a, "src0"), attrf(a, "src1"), 
-			   attrf(a, "dst0"), attrf(a, "dst1"));
-    } else {
-      cm->addMapping(axis, control, _currObj, opt);
-    }
-  } else if(eq(name, "control-output")) {
+    } else if(eq(name, "control-input")) {
+        ControlMap* cm = _airplane.getControlMap();
+        // A mapping of input property to a control
+        int propHandle = cm->propertyHandle(a->getValue("axis"));
+        ControlMap::Control control = cm->parseControl(a->getValue("control"));
+        int opt = 0;
+        opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
+        opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
+        opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
+        if(a->hasAttribute("src0")) {
+            cm->addMapping(propHandle, control, _currObj, opt, attrf(a, "src0"), attrf(a, "src1"), attrf(a, "dst0"), attrf(a, "dst1"));
+        } else {
+            cm->addMapping(propHandle, control, _currObj, opt);
+        }
+    } else if(eq(name, "control-output")) {
         // A property output for a control on the current object
         ControlMap* cm = _airplane.getControlMap();
         ControlMap::Control control = cm->parseControl(a->getValue("control"));
-        
-        int handle = cm->getOutputHandle(_currObj, control);
 
-	PropOut* p = new PropOut();
-	p->prop = fgGetNode(a->getValue("prop"), true);
-	p->handle = handle;
-	p->control = control;
-	p->left = !(a->hasAttribute("side") &&
-                        eq("right", a->getValue("side")));
-	p->min = attrf(a, "min", cm->rangeMin(control));
-	p->max = attrf(a, "max", cm->rangeMax(control));
-	_controlProps.add(p);
+        PropOut* p = new PropOut();
+        p->prop = fgGetNode(a->getValue("prop"), true);
+        p->handle = cm->getOutputHandle(_currObj, control);
+        p->control = control;
+        p->left = !(a->hasAttribute("side") &&
+                            eq("right", a->getValue("side")));
+        p->min = attrf(a, "min", cm->rangeMin(control));
+        p->max = attrf(a, "max", cm->rangeMax(control));
+        _controlProps.add(p);
 
     } else if(eq(name, "control-speed")) {
         ControlMap* cm = _airplane.getControlMap();
@@ -854,10 +846,10 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type, Version * version)
     // The 70% is a magic number that sorta kinda seems to match known
     // throttle settings to approach speed.
     w->setInducedDrag(0.7*attrf(a, "idrag", 1));
-
+   
     float effect = attrf(a, "effectiveness", 1);
     w->multiplyDragCoefficient(effect);
-
+    
     _currObj = w;
     return w;
 }
diff --git a/src/FDM/YASim/FGFDM.hpp b/src/FDM/YASim/FGFDM.hpp
index 2d57090ac..333d0c1a2 100644
--- a/src/FDM/YASim/FGFDM.hpp
+++ b/src/FDM/YASim/FGFDM.hpp
@@ -32,12 +32,19 @@ public:
     float getVehicleRadius(void) const { return _vehicle_radius; }
 
 private:
-    struct EngRec { char* prefix; Thruster* eng; };
-    struct WeightRec { char* prop; float size; int handle; };
-    struct PropOut { 
-        SGPropertyNode* prop; 
+    struct EngRec { 
+        char* prefix {nullptr}; 
+        Thruster* eng {nullptr}; 
+    };
+    struct WeightRec { 
+        char* prop {nullptr};
+        float size {0};
         int handle {0};
-        ControlMap::Control control; 
+    };
+    struct PropOut { 
+        SGPropertyNode* prop {nullptr};
+        int handle {0};
+        ControlMap::Control control;
         bool left {false};
         float min {0};
         float max {0}; 
@@ -79,12 +86,12 @@ private:
     Vector _controlProps;
 
     // Radius of the vehicle, for intersection testing.
-    float _vehicle_radius;
+    float _vehicle_radius {0};
 
     // Parsing temporaries
-    void* _currObj;
-    bool _cruiseCurr;
-    int _nextEngine;
+    void* _currObj {nullptr};
+    bool _cruiseCurr {false};
+    int _nextEngine {0};
 
     class FuelProps
     {

From 78f7950fa66bbda7f086aebe24d1a88df536caf4 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Fri, 1 Dec 2017 22:59:07 +0100
Subject: [PATCH 20/29] YASim: move common helper functions to new
 yasim-common.cpp

---
 src/FDM/YASim/CMakeLists.txt   |  1 +
 src/FDM/YASim/ControlMap.cpp   | 21 +------------
 src/FDM/YASim/ControlMap.hpp   |  4 ---
 src/FDM/YASim/FGFDM.cpp        | 18 ------------
 src/FDM/YASim/FGFDM.hpp        |  3 --
 src/FDM/YASim/Vector.hpp       |  4 ++-
 src/FDM/YASim/yasim-common.cpp | 23 +++++++++++++++
 src/FDM/YASim/yasim-common.hpp | 54 +++++++++++++++++++---------------
 8 files changed, 58 insertions(+), 70 deletions(-)
 create mode 100644 src/FDM/YASim/yasim-common.cpp

diff --git a/src/FDM/YASim/CMakeLists.txt b/src/FDM/YASim/CMakeLists.txt
index 0d7efa881..3065af68a 100644
--- a/src/FDM/YASim/CMakeLists.txt
+++ b/src/FDM/YASim/CMakeLists.txt
@@ -26,6 +26,7 @@ set(COMMON
 	Turbulence.cpp
 	Wing.cpp
 	Version.cpp
+	yasim-common.cpp
 	)
 
 set(SOURCES
diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index 5e6de0478..27dddc72c 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -2,6 +2,7 @@
 #  include "config.h"
 #endif
 
+#include "yasim-common.hpp"
 #include "Jet.hpp"
 #include "Thruster.hpp"
 #include "PropEngine.hpp"
@@ -281,26 +282,6 @@ float ControlMap::rangeMax(Control control)
     }
 }
 
-/// duplicate null-terminated string
-char* ControlMap::dup(const char* s)
-{
-    int len=0;
-    while(s[len++]);
-    char* s2 = new char[len+1];
-    char* p = s2;
-    while((*p++ = *s++));
-    s2[len] = 0;
-    return s2;
-}
-
-/// compare null-terminated strings
-bool ControlMap::eq(const char* a, const char* b)
-{
-	while(*a && *b && *a == *b) { a++; b++; }
-	// equal if both a and b points to null chars
-	return !(*a || *b);
-}
-
 /// register property name, return ID (int)
 int ControlMap::propertyHandle(const char* name)
 {
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index 464676ac9..b385187bb 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -142,10 +142,6 @@ private:
     Vector _outputs;
     // control properties
     Vector _properties;
-
-    // helper
-    char* dup(const char* s);
-    bool eq(const char* a, const char* b);
 };
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index dba161335..f5545fc7e 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -1114,24 +1114,6 @@ void FGFDM::parseWeight(XMLAttributes* a)
     _weights.add(wr);
 }
 
-bool FGFDM::eq(const char* a, const char* b)
-{
-    // Figure it out for yourself. :)
-    while(*a && *b && *a == *b) { a++; b++; }
-    return !(*a || *b);
-}
-
-char* FGFDM::dup(const char* s)
-{
-    int len=0;
-    while(s[len++]);
-    char* s2 = new char[len+1];
-    char* p = s2;
-    while((*p++ = *s++));
-    s2[len] = 0;
-    return s2;
-}
-
 int FGFDM::attri(XMLAttributes* atts, const char* attr)
 {
     if(!atts->hasAttribute(attr)) {
diff --git a/src/FDM/YASim/FGFDM.hpp b/src/FDM/YASim/FGFDM.hpp
index 333d0c1a2..49644163f 100644
--- a/src/FDM/YASim/FGFDM.hpp
+++ b/src/FDM/YASim/FGFDM.hpp
@@ -59,9 +59,6 @@ private:
     void parseTurbineEngine(XMLAttributes* a);
     void parsePistonEngine(XMLAttributes* a);
     void parsePropeller(XMLAttributes* a);
-    bool eq(const char* a, const char* b);
-    bool caseeq(const char* a, const char* b);
-    char* dup(const char* s);
     int attri(XMLAttributes* atts, const char* attr);
     int attri(XMLAttributes* atts, const char* attr, int def); 
     float attrf(XMLAttributes* atts, const char* attr);
diff --git a/src/FDM/YASim/Vector.hpp b/src/FDM/YASim/Vector.hpp
index f290f0ae0..5dbf8b42f 100644
--- a/src/FDM/YASim/Vector.hpp
+++ b/src/FDM/YASim/Vector.hpp
@@ -3,6 +3,8 @@
 
 #include <stdio.h>
 #include <cassert>
+
+namespace yasim {
 //
 // Excruciatingly simple vector-of-pointers class.  Easy & useful.
 // No support for addition of elements anywhere but at the end of the
@@ -78,5 +80,5 @@ inline void Vector::realloc()
     delete[] _array;
     _array = array;
 }
-
+}; //namespace yasim
 #endif // _VECTOR_HPP
diff --git a/src/FDM/YASim/yasim-common.cpp b/src/FDM/YASim/yasim-common.cpp
new file mode 100644
index 000000000..23bbf7f6a
--- /dev/null
+++ b/src/FDM/YASim/yasim-common.cpp
@@ -0,0 +1,23 @@
+#include "yasim-common.hpp"
+
+namespace yasim {
+    /// duplicate null-terminated string
+    char* dup(const char* s)
+    {
+        int len=0;
+        while(s[len++]);
+        char* s2 = new char[len+1];
+        char* p = s2;
+        while((*p++ = *s++));
+        s2[len] = 0;
+        return s2;
+    }
+
+    /// compare null-terminated strings
+    bool eq(const char* a, const char* b)
+    {
+        while(*a && *b && *a == *b) { a++; b++; }
+        // equal if both a and b points to null chars
+        return !(*a || *b);
+    }
+}; //namespace yasim
diff --git a/src/FDM/YASim/yasim-common.hpp b/src/FDM/YASim/yasim-common.hpp
index ed1c4f018..32097af7e 100644
--- a/src/FDM/YASim/yasim-common.hpp
+++ b/src/FDM/YASim/yasim-common.hpp
@@ -1,34 +1,40 @@
 #ifndef _YASIM_COMMON_HPP
 #define _YASIM_COMMON_HPP
 
+/*
+ common file for YASim wide constants and static helper functions
+ */
 namespace yasim {
-  static const float YASIM_PI = 3.14159265358979323846f;
-  static const float PI2 = YASIM_PI*2;
-  static const float RAD2DEG = 180/YASIM_PI;
-  static const float DEG2RAD = YASIM_PI/180;
-  static const float RPM2RAD = YASIM_PI/30;
+    static const float YASIM_PI = 3.14159265358979323846f;
+    static const float PI2 = YASIM_PI*2;
+    static const float RAD2DEG = 180/YASIM_PI;
+    static const float DEG2RAD = YASIM_PI/180;
+    static const float RPM2RAD = YASIM_PI/30;
 
-  static const float KTS2MPS = 1852.0f/3600.0f;
-  static const float MPS2KTS = 3600.0f/1852.0f;
-  static const float KMH2MPS = 1/3.6f;
+    static const float KTS2MPS = 1852.0f/3600.0f;
+    static const float MPS2KTS = 3600.0f/1852.0f;
+    static const float KMH2MPS = 1/3.6f;
 
-  static const float FT2M = 0.3048f;
-  static const float M2FT = 1/FT2M;
+    static const float FT2M = 0.3048f;
+    static const float M2FT = 1/FT2M;
 
-  static const float LBS2N = 4.44822f;
-  static const float N2LB = 1/LBS2N;
-  static const float LBS2KG = 0.45359237f;
-  static const float KG2LBS = 1/LBS2KG;
-  static const float CM2GALS = 264.172037284f;
-  static const float HP2W = 745.700f;
-  static const float INHG2PA = 3386.389f;
-  static const float K2DEGF = 1.8f;
-  static const float K2DEGFOFFSET = -459.4f;
-  static const float CIN2CM = 1.6387064e-5f;
-  
-  static const float NM2FTLB = (1/(LBS2N*FT2M));
-  static const float SLUG2KG = 14.59390f;
+    static const float LBS2N = 4.44822f;
+    static const float N2LB = 1/LBS2N;
+    static const float LBS2KG = 0.45359237f;
+    static const float KG2LBS = 1/LBS2KG;
+    static const float CM2GALS = 264.172037284f;
+    static const float HP2W = 745.700f;
+    static const float INHG2PA = 3386.389f;
+    static const float K2DEGF = 1.8f;
+    static const float K2DEGFOFFSET = -459.4f;
+    static const float CIN2CM = 1.6387064e-5f;
     
-};
+    static const float NM2FTLB = (1/(LBS2N*FT2M));
+    static const float SLUG2KG = 14.59390f;
+
+    char* dup(const char* s);
+    bool eq(const char* a, const char* b);
+    
+}; //namespace yasim
 
 #endif // ifndef _YASIM_COMMON_HPP

From abb451256dc4bfd8ce1552c03ef06c7d42863c08 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Fri, 1 Dec 2017 12:54:43 +0100
Subject: [PATCH 21/29] YASim CLI tool: add more CG outputs remove
 non-significant digits from inertia printf()

---
 src/FDM/YASim/yasim-test.cpp | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/FDM/YASim/yasim-test.cpp b/src/FDM/YASim/yasim-test.cpp
index d4f9f1518..685164756 100644
--- a/src/FDM/YASim/yasim-test.cpp
+++ b/src/FDM/YASim/yasim-test.cpp
@@ -260,16 +260,18 @@ int main(int argc, char** argv)
     printf("Approach Elevator: %.3f\n\n", a->getApproachElevator());
     printf("               CG: x:%.3f, y:%.3f, z:%.3f\n", cg[0], cg[1], cg[2]);
     if (wing) {
-      printf("    Wing MAC (*1): x:%.2f, y:%.2f, length:%.1f \n", MACx, MACy, MAC);
-      printf("    CG-x rel. MAC: %.3f\n", a->getCGMAC());
-      printf("    CG-x  desired: %.3f < %.3f < %.3f \n", a->getCGSoftLimitXMin(), cg[0], a->getCGSoftLimitXMax());
+      printf("         Wing MAC: (x:%.2f, y:%.2f), length:%.1f \n", MACx, MACy, MAC);
+      printf("  hard limit CG-x: %.3f \n", a->getCGHardLimitXMax());
+      printf("  soft limit CG-x: %.3f \n", a->getCGSoftLimitXMax());
+      printf("             CG-x: %.3f \n", cg[0]);
+      printf("    CG-x rel. MAC: %3.0f%%\n", a->getCGMAC()*100);
+      printf("  soft limit CG-x: %.3f \n", a->getCGSoftLimitXMin());
+      printf("  hard limit CG-x: %.3f \n", a->getCGHardLimitXMin());
     }
-    
     printf("\nInertia tensor [kg*m^2], origo at CG:\n\n");
-    printf("  %7.3f, %7.3f, %7.3f\n", SI_inertia[0], SI_inertia[1], SI_inertia[2]);
-    printf("  %7.3f, %7.3f, %7.3f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]);
-    printf("  %7.3f, %7.3f, %7.3f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]);
-    printf("\n(*1) MAC calculation works on <wing> only! Numbers will be wrong for segmented wings, e.g. <wing>+<mstab>.\n");
+    printf("  %7.0f, %7.0f, %7.0f\n", SI_inertia[0], SI_inertia[1], SI_inertia[2]);
+    printf("  %7.0f, %7.0f, %7.0f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]);
+    printf("  %7.0f, %7.0f, %7.0f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]);
   }
     delete fdm;
     return 0;

From a199ca817cc99eabea9e3268be55e34175486ea2 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Mon, 11 Dec 2017 19:27:59 +0100
Subject: [PATCH 22/29] YASim: user Math functions in RigidBody

---
 src/FDM/YASim/Math.hpp      |   2 +
 src/FDM/YASim/RigidBody.cpp | 150 +++++++++++++++++-------------------
 2 files changed, 74 insertions(+), 78 deletions(-)

diff --git a/src/FDM/YASim/Math.hpp b/src/FDM/YASim/Math.hpp
index 1aca16478..d8610bd8b 100644
--- a/src/FDM/YASim/Math.hpp
+++ b/src/FDM/YASim/Math.hpp
@@ -50,6 +50,8 @@ public:
         out[2] = v[2];
     }
 
+    static void  zero3(float* out) { out[0] = out[1] = out[2] = 0; }
+    
     static inline float dot3(const float* a, const float* b) {
         return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
     }
diff --git a/src/FDM/YASim/RigidBody.cpp b/src/FDM/YASim/RigidBody.cpp
index 2824b5e9e..bf635ab16 100644
--- a/src/FDM/YASim/RigidBody.cpp
+++ b/src/FDM/YASim/RigidBody.cpp
@@ -69,9 +69,7 @@ void RigidBody::setMass(int handle, float mass, const float* pos, bool isStatic)
 
 void RigidBody::getMassPosition(int handle, float* out) const
 {
-    out[0] = _masses[handle].p[0];
-    out[1] = _masses[handle].p[1];
-    out[2] = _masses[handle].p[2];
+    Math::set3(_masses[handle].p, out);
 }
 
 // Calcualtes the rotational velocity of a particular point.  All
@@ -84,56 +82,54 @@ void RigidBody::pointVelocity(const float* pos, const float* rot, float* out)
 
 void RigidBody::_recalcStatic()
 {
-	// aggregate all masses that do not change (e.g. fuselage, wings) into one point mass
-	_staticMass.m = 0;
-	_staticMass.p[0] = 0;
-	_staticMass.p[1] = 0;
-	_staticMass.p[2] = 0;
-	int i;
-	int s = 0;
-	for(i=0; i<_nMasses; i++) {
-		if (_masses[i].isStatic) {
-			s++;
-			float m = _masses[i].m;
-			_staticMass.m += m;
-			_staticMass.p[0] += m * _masses[i].p[0];
-			_staticMass.p[1] += m * _masses[i].p[1];
-			_staticMass.p[2] += m * _masses[i].p[2];
-		}
-	}
-	Math::mul3(1/_staticMass.m, _staticMass.p, _staticMass.p);
-  if (_bodyN != 0) {
-    _bodyN->getNode("aggregated-mass", true)->setFloatValue(_staticMass.m);
-    _bodyN->getNode("aggregated-count", true)->setIntValue(s);
-    _bodyN->getNode("aggregated-pos-x", true)->setFloatValue(_staticMass.p[0]);
-    _bodyN->getNode("aggregated-pos-y", true)->setFloatValue(_staticMass.p[1]);
-    _bodyN->getNode("aggregated-pos-z", true)->setFloatValue(_staticMass.p[2]);	
-  }
-	// Now the inertia tensor:
-	for(i=0; i<9; i++)
-		_tI_static[i] = 0;
+    // aggregate all masses that do not change (e.g. fuselage, wings) into one point mass
+    _staticMass.m = 0;
+    Math::zero3(_staticMass.p);
+    int i;
+    int s = 0;
+    for(i=0; i<_nMasses; i++) {
+        if (_masses[i].isStatic) {
+            s++;
+            float mass = _masses[i].m;
+            _staticMass.m += mass;
+            float momentum[3];
+            Math::mul3(mass, _masses[i].p, momentum);
+            Math::add3(momentum, _staticMass.p, _staticMass.p);
+        }
+    }
+    Math::mul3(1/_staticMass.m, _staticMass.p, _staticMass.p);
+    if (_bodyN != 0) {
+        _bodyN->getNode("aggregated-mass", true)->setFloatValue(_staticMass.m);
+        _bodyN->getNode("aggregated-count", true)->setIntValue(s);
+        _bodyN->getNode("aggregated-pos-x", true)->setFloatValue(_staticMass.p[0]);
+        _bodyN->getNode("aggregated-pos-y", true)->setFloatValue(_staticMass.p[1]);
+        _bodyN->getNode("aggregated-pos-z", true)->setFloatValue(_staticMass.p[2]);	
+    }
+    // Now the inertia tensor:
+    for(i=0; i<9; i++)
+        _tI_static[i] = 0;
 
-	for(i=0; i<_nMasses; i++) {
-		if (_masses[i].isStatic) {
-			float m = _masses[i].m;
+    for(i=0; i<_nMasses; i++) {
+        if (_masses[i].isStatic) {
+            float m = _masses[i].m;
 
-			float x = _masses[i].p[0] - _staticMass.p[0];
-			float y = _masses[i].p[1] - _staticMass.p[1];
-			float z = _masses[i].p[2] - _staticMass.p[2];
+            float x = _masses[i].p[0] - _staticMass.p[0];
+            float y = _masses[i].p[1] - _staticMass.p[1];
+            float z = _masses[i].p[2] - _staticMass.p[2];
 
-			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;
+            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;
 
-			// tensor is symmetric, so we can save some calculations in the loop
-			_tI_static[0] += y2+z2;  _tI_static[1] -=    xy;  _tI_static[2] -=    zx;
-			                         _tI_static[4] += x2+z2;  _tI_static[5] -=    yz;
-			                                                  _tI_static[8] += x2+y2;
-		}
-	}
-	// copy symmetric elements
-	_tI_static[3] = _tI_static[1];
-	_tI_static[6] = _tI_static[2];
-	_tI_static[7] = _tI_static[5];
+            // tensor is symmetric, so we can save some calculations in the loop
+            _tI_static[0] += y2+z2;  _tI_static[1] -=    xy;  _tI_static[2] -=    zx;
+                                     _tI_static[4] += x2+z2;  _tI_static[5] -=    yz;
+                                                              _tI_static[8] += x2+y2;
+        }
+    }
+    // copy symmetric elements
+    _tI_static[3] = _tI_static[1];
+    _tI_static[6] = _tI_static[2];
+    _tI_static[7] = _tI_static[5];
 }
 
 /// calculate the total mass, centre of gravity and inertia tensor
@@ -151,44 +147,42 @@ void RigidBody::recalc()
     // Calculate the c.g and total mass
     // init with pre-calculated static mass
     _totalMass = _staticMass.m;
-    _cg[0] = _staticMass.m * _staticMass.p[0];
-    _cg[1] = _staticMass.m * _staticMass.p[1];
-    _cg[2] = _staticMass.m * _staticMass.p[2];
+    Math::mul3(_staticMass.m, _staticMass.p, _cg);
     int i;
     for(i=0; i<_nMasses; i++) {
-      // only masses we did not aggregate
-      if (!_masses[i].isStatic) { 
-        float m = _masses[i].m;
-        _totalMass += m;
-        _cg[0] += m * _masses[i].p[0];
-        _cg[1] += m * _masses[i].p[1];
-        _cg[2] += m * _masses[i].p[2];
-      }
+        // only masses we did not aggregate
+        if (!_masses[i].isStatic) { 
+            float mass = _masses[i].m;
+            _totalMass += mass;
+            float momentum[3];
+            Math::mul3(mass, _masses[i].p, momentum);
+            Math::add3(momentum, _cg, _cg);
+        }
     }
     Math::mul3(1/_totalMass, _cg, _cg);
 
     // Now the inertia tensor:
     for(i=0; i<9; i++)
-      _tI[i] = _tI_static[i];
+        _tI[i] = _tI_static[i];
 
     for(i=0; i<_nMasses; i++) {
-      if (!_masses[i].isStatic) {
-        float m = _masses[i].m;
+        if (!_masses[i].isStatic) {
+            float m = _masses[i].m;
 
-        float x = _masses[i].p[0] - _cg[0];
-        float y = _masses[i].p[1] - _cg[1];
-        float z = _masses[i].p[2] - _cg[2];
-        float mx = m*x;
-        float my = m*y;
-        float mz = m*z;
-        
-        float xy = mx*y; float yz = my*z; float zx = mz*x;
-        float x2 = mx*x; float y2 = my*y; float z2 = mz*z;
+            float x = _masses[i].p[0] - _cg[0];
+            float y = _masses[i].p[1] - _cg[1];
+            float z = _masses[i].p[2] - _cg[2];
+            float mx = m*x;
+            float my = m*y;
+            float mz = m*z;
+            
+            float xy = mx*y; float yz = my*z; float zx = mz*x;
+            float x2 = mx*x; float y2 = my*y; float z2 = mz*z;
 
-        _tI[0] += y2+z2;  _tI[1] -=    xy;  _tI[2] -=    zx;
-                          _tI[4] += x2+z2;  _tI[5] -=    yz;
-                                            _tI[8] += x2+y2;
-      }
+            _tI[0] += y2+z2;  _tI[1] -=    xy;  _tI[2] -=    zx;
+                              _tI[4] += x2+z2;  _tI[5] -=    yz;
+                                                _tI[8] += x2+y2;
+        }
     }
     // copy symmetric elements 
     _tI[3] = _tI[1];
@@ -201,8 +195,8 @@ void RigidBody::recalc()
 
 void RigidBody::reset()
 {
-    _torque[0] = _torque[1] = _torque[2] = 0;
-    _force[0] = _force[1] = _force[2] = 0;
+    Math::zero3(_torque);
+    Math::zero3(_force);
 }
 
 void RigidBody::addForce(const float* pos, const float* force)

From 13e00b275b40bbb010a6515175aca55949989061 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Mon, 11 Dec 2017 19:02:00 +0100
Subject: [PATCH 23/29] YASim: export more forces to prop tree for in flight
 debugging

---
 src/FDM/YASim/Model.cpp | 31 +++++++++++++++++++++----------
 src/FDM/YASim/Model.hpp |  6 ++++++
 2 files changed, 27 insertions(+), 10 deletions(-)

diff --git a/src/FDM/YASim/Model.cpp b/src/FDM/YASim/Model.cpp
index a5d442fe4..5c4e50f9f 100644
--- a/src/FDM/YASim/Model.cpp
+++ b/src/FDM/YASim/Model.cpp
@@ -61,6 +61,12 @@ Model::Model()
     _fAeroXN = _modelN->getNode("f-x-drag", true);
     _fAeroYN = _modelN->getNode("f-y-side", true);
     _fAeroZN = _modelN->getNode("f-z-lift", true);
+    _fGravXN = _modelN->getNode("gravity-x", true);
+    _fGravYN = _modelN->getNode("gravity-y", true);
+    _fGravZN = _modelN->getNode("gravity-z", true);
+    _fSumXN = _modelN->getNode("f-sum-x", true);
+    _fSumYN = _modelN->getNode("f-sum-y", true);
+    _fSumZN = _modelN->getNode("f-sum-z", true);
     
     _gefxN = fgGetNode("/fdm/yasim/debug/ground-effect/ge-f-x", true);
     _gefyN = fgGetNode("/fdm/yasim/debug/ground-effect/ge-f-y", true);
@@ -293,8 +299,7 @@ void Model::calcForces(State* s)
 
     // Do each surface, remembering that the local velocity at each
     // point is different due to rotation.
-    float faero[3];
-    faero[0] = faero[1] = faero[2] = 0;
+    float faero[3] {0,0,0};    
     for(i=0; i<_surfaces.size(); i++) {
       Surface* sf = (Surface*)_surfaces.get(i);
 
@@ -374,6 +379,12 @@ void Model::calcForces(State* s)
       _fAeroXN->setFloatValue(faero[0]);
       _fAeroYN->setFloatValue(faero[1]);
       _fAeroZN->setFloatValue(faero[2]);
+      _fGravXN->setFloatValue(grav[0]);
+      _fGravYN->setFloatValue(grav[1]);
+      _fGravZN->setFloatValue(grav[2]);
+      _fSumXN->setFloatValue(faero[0]+grav[0]);
+      _fSumYN->setFloatValue(faero[1]+grav[1]);
+      _fSumZN->setFloatValue(faero[2]+grav[2]);
     }
     // Convert the velocity and rotation vectors to local coordinates
     float lrot[3], lv[3];
@@ -382,18 +393,18 @@ void Model::calcForces(State* s)
 
     // The landing gear
     for(i=0; i<_gears.size(); i++) {
-	float force[3], contact[3];
-	Gear* g = (Gear*)_gears.get(i);
+        float force[3], contact[3];
+        Gear* g = (Gear*)_gears.get(i);
 
-	g->calcForce(&_body, s, lv, lrot);
-	g->getForce(force, contact);
-	_body.addForce(contact, force);
+        g->calcForce(&_body, s, lv, lrot);
+        g->getForce(force, contact);
+        _body.addForce(contact, force);
     }
 
     // The arrester hook
     if(_hook) {
         _hook->calcForce(_ground_cb, &_body, s, lv, lrot);
-	float force[3], contact[3];
+        float force[3], contact[3];
         _hook->getForce(force, contact);
         _body.addForce(contact, force);
     }
@@ -401,13 +412,13 @@ void Model::calcForces(State* s)
     // The launchbar/holdback
     if(_launchbar) {
         _launchbar->calcForce(_ground_cb, &_body, s, lv, lrot);
-	float forcelb[3], contactlb[3], forcehb[3], contacthb[3];
+        float forcelb[3], contactlb[3], forcehb[3], contacthb[3];
         _launchbar->getForce(forcelb, contactlb, forcehb, contacthb);
         _body.addForce(contactlb, forcelb);
         _body.addForce(contacthb, forcehb);
     }
 
-// The hitches
+    // The hitches
     for(i=0; i<_hitches.size(); i++) {
         float force[3], contact[3];
         Hitch* h = (Hitch*)_hitches.get(i);
diff --git a/src/FDM/YASim/Model.hpp b/src/FDM/YASim/Model.hpp
index 75e2de16e..a455b9133 100644
--- a/src/FDM/YASim/Model.hpp
+++ b/src/FDM/YASim/Model.hpp
@@ -118,6 +118,12 @@ private:
     SGPropertyNode_ptr _fAeroXN;
     SGPropertyNode_ptr _fAeroYN;
     SGPropertyNode_ptr _fAeroZN;
+    SGPropertyNode_ptr _fSumXN;
+    SGPropertyNode_ptr _fSumYN;
+    SGPropertyNode_ptr _fSumZN;
+    SGPropertyNode_ptr _fGravXN;
+    SGPropertyNode_ptr _fGravYN;
+    SGPropertyNode_ptr _fGravZN;
     SGPropertyNode_ptr _gefxN;
     SGPropertyNode_ptr _gefyN;
     SGPropertyNode_ptr _gefzN;

From e913e44aa051e1feb8480d95e24589cf98078fba Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Wed, 13 Dec 2017 19:15:49 +0100
Subject: [PATCH 24/29] YASIM type name clarification

---
 src/FDM/YASim/Airplane.cpp | 266 ++++++++++++++++++-------------------
 src/FDM/YASim/Airplane.hpp |   4 +-
 2 files changed, 135 insertions(+), 135 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 3aee54f0f..762fed9fa 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -60,9 +60,9 @@ Airplane::~Airplane()
     for(i=0; i<_solveWeights.size(); i++)
         delete (SolveWeight*)_solveWeights.get(i);
     for(i=0; i<_cruiseConfig.controls.size(); i++)
-        delete (Control*)_cruiseConfig.controls.get(i);
+        delete (ControlSetting*)_cruiseConfig.controls.get(i);
     for(i=0; i<_approachConfig.controls.size(); i++) {
-        Control* c = (Control*)_approachConfig.controls.get(i);
+        ControlSetting* c = (ControlSetting*)_approachConfig.controls.get(i);
         if(c != &_approachElevator)
             delete c;
     }
@@ -152,19 +152,19 @@ void Airplane::setElevatorControl(int control)
 
 void Airplane::addApproachControl(int control, float val)
 {
-    Control* c = new Control();
+    ControlSetting* c = new ControlSetting();
     c->control = control;
     c->val = val;
-    _approachConfig.controls.add(c);
+            _approachConfig.controls.add(c);
 }
 
 void Airplane::addCruiseControl(int control, float val)
 {
-    Control* c = new Control();
+    ControlSetting* c = new ControlSetting();
     c->control = control;
     c->val = val;
-    _cruiseConfig.controls.add(c);
-}
+            _cruiseConfig.controls.add(c);
+    }
 
 void Airplane::addSolutionWeight(bool approach, int idx, float wgt)
 {
@@ -258,11 +258,11 @@ void Airplane::setWeight(int handle, float mass)
     // how we simulate droppable stores.
     if(mass == 0) {
 	wr->surf->setXDrag(0);
-	wr->surf->setYDrag(0);
+        wr->surf->setYDrag(0);
 	wr->surf->setZDrag(0);
     } else {
 	wr->surf->setXDrag(1);
-	wr->surf->setYDrag(1);
+        wr->surf->setYDrag(1);
 	wr->surf->setZDrag(1);
     }
 }
@@ -331,7 +331,7 @@ float Airplane::compileFuselage(Fuselage* f)
     float len = Math::mag3(fwd);
     if (len == 0) {
         _failureMsg = "Zero length fuselage";
-	return 0;
+    return 0;
     }
     float wid = f->width;
     int segs = (int)Math::ceil(len/wid);
@@ -344,14 +344,14 @@ float Airplane::compileFuselage(Fuselage* f)
         if(frac < f->mid)
             scale = f->taper+(1-f->taper) * (frac / f->mid);
         else {
-	    if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-		// Correct calculation of width for fuselage taper.
-		scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
-	    } else {
-		// Original, incorrect calculation of width for fuselage taper.
-		scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
-	    }
-	}
+            if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+                // Correct calculation of width for fuselage taper.
+                scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
+            } else {
+                // Original, incorrect calculation of width for fuselage taper.
+                scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
+            }
+        }
 
         // Where are we?
         float pos[3];
@@ -367,40 +367,40 @@ float Airplane::compileFuselage(Fuselage* f)
         Surface* s = new Surface(this);
         s->setPosition(pos);
 
-	// The following is the original YASim value for sideDrag.
-	// Originally YASim calculated the fuselage's lateral drag
-	// coefficient as (solver drag factor) * (len/wid).
-	// However, this greatly underestimates a fuselage's lateral drag.
-	float sideDrag = len/wid;
+        // The following is the original YASim value for sideDrag.
+        // Originally YASim calculated the fuselage's lateral drag
+        // coefficient as (solver drag factor) * (len/wid).
+        // However, this greatly underestimates a fuselage's lateral drag.
+        float sideDrag = len/wid;
 
-	if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-	    // New YASim assumes a fixed lateral drag coefficient of 0.5.
-	    // This will not be multiplied by the solver drag factor, because
-	    // that factor is tuned to match the drag in the direction of
-	    // flight, which is completely independent of lateral drag.
-	    // The value of 0.5 is only a ballpark estimate, roughly matching
-	    // the side-on drag for a long cylinder at the higher Reynolds
-	    // numbers typical for an aircraft's lateral drag.
-	    // This fits if the fuselage is long and has a round cross section.
-	    // For flat-sided fuselages, the value should be increased, up to
-	    // a limit of around 2 for a long rectangular prism.
-	    // For very short fuselages, in which the end effects are strong,
-	    // the value should be reduced.
-	    // Such adjustments can be made using the fuselage's "cy" and "cz"
-	    // XML parameters: "cy" for the sides, "cz" for top and bottom.
-	    sideDrag = 0.5;
-	}
+        if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+            // New YASim assumes a fixed lateral drag coefficient of 0.5.
+            // This will not be multiplied by the solver drag factor, because
+            // that factor is tuned to match the drag in the direction of
+            // flight, which is completely independent of lateral drag.
+            // The value of 0.5 is only a ballpark estimate, roughly matching
+            // the side-on drag for a long cylinder at the higher Reynolds
+            // numbers typical for an aircraft's lateral drag.
+            // This fits if the fuselage is long and has a round cross section.
+            // For flat-sided fuselages, the value should be increased, up to
+            // a limit of around 2 for a long rectangular prism.
+            // For very short fuselages, in which the end effects are strong,
+            // the value should be reduced.
+            // Such adjustments can be made using the fuselage's "cy" and "cz"
+            // XML parameters: "cy" for the sides, "cz" for top and bottom.
+            sideDrag = 0.5;
+        }
 
-	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
         	s->setXDrag(f->_cx);
-	}
+        }
         s->setYDrag(sideDrag*f->_cy);
         s->setZDrag(sideDrag*f->_cz);
-	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
         	s->setDragCoefficient(scale*segWgt);
 	} else {
 		s->setDragCoefficient(scale*segWgt*f->_cx);
-	}
+        }
         s->setInducedDrag(f->_idrag);
 
         // FIXME: fails for fuselages aligned along the Y axis
@@ -409,8 +409,8 @@ float Airplane::compileFuselage(Fuselage* f)
         Math::unit3(fwd, x);
         y[0] = 0; y[1] = 1; y[2] = 0;
         Math::cross3(x, y, z);
-	Math::unit3(z, z);
-	Math::cross3(z, x, y);
+        Math::unit3(z, z);
+        Math::cross3(z, x, y);
         s->setOrientation(o);
 
         _model.addSurface(s);
@@ -503,38 +503,38 @@ void Airplane::compile()
     // The Wing objects
     if (_wing)
     {
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("wing", 0, true);
-          _wing->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(_wing);
-      
-      // convert % to absolute x coordinates
-      _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
-      _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
-      if (baseN != 0) {
-        SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
-        n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
-        n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
-      }
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("wing", 0, true);
+            _wing->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(_wing);
+        
+        // convert % to absolute x coordinates
+        _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
+        _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
+        if (baseN != 0) {
+            SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
+            n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
+            n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
+        }
     }
     if (_tail)
     {
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("tail", 0, true);
-          _tail->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(_tail);
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("tail", 0, true);
+            _tail->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(_tail);
     }
     int i;
     for(i=0; i<_vstabs.size(); i++)
     {
-      Wing* vs = (Wing*)_vstabs.get(i);
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("stab", i, true);
-          vs->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(vs);
+        Wing* vs = (Wing*)_vstabs.get(i);
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("stab", i, true);
+            vs->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(vs);
     }
 
     // The fuselage(s)
@@ -718,12 +718,12 @@ void Airplane::setupWeights(bool isApproach)
 /// load values for controls as defined in cruise configuration
 void Airplane::loadControls(const Vector& controls)
 {
-  _controls.reset();
-  for(int i=0; i < controls.size(); i++) {
-    Control* c = (Control*)controls.get(i);
+    _controls.reset();
+    for(int i=0; i < controls.size(); i++) {
+        ControlSetting* c = (ControlSetting*)controls.get(i);
     _controls.setInput(c->control, c->val);
-  }
-  _controls.applyControls(); 
+    }
+    _controls.applyControls(); 
 }
 
 /// Helper for solve()
@@ -801,11 +801,11 @@ void Airplane::applyDragFactor(float factor)
         }
     }
     for(i=0; i<_weights.size(); i++) {
-	WeightRec* wr = (WeightRec*)_weights.get(i);
+        WeightRec* wr = (WeightRec*)_weights.get(i);
 	wr->surf->setDragCoefficient(wr->surf->getDragCoefficient() * applied);
     }
     for(i=0; i<_gears.size(); i++) {
-	GearRec* gr = (GearRec*)_gears.get(i);
+        GearRec* gr = (GearRec*)_gears.get(i);
 	gr->surf->setDragCoefficient(gr->surf->getDragCoefficient() * applied);
     }
 }
@@ -848,57 +848,57 @@ void Airplane::solve()
             return;
         }
 
-	// Run an iteration at cruise, and extract the needed numbers:
-	runConfig(_cruiseConfig);
+        // Run an iteration at cruise, and extract the needed numbers:
+        runConfig(_cruiseConfig);
 
-	_model.getThrust(tmp);
+        _model.getThrust(tmp);
         float thrust = tmp[0] + _cruiseConfig.weight * Math::sin(_cruiseConfig.glideAngle) * 9.81;
 
-	_model.getBody()->getAccel(tmp);
+        _model.getBody()->getAccel(tmp);
         _cruiseConfig.state.localToGlobal(tmp, tmp);
-	float xforce = _cruiseConfig.weight * tmp[0];
-	float clift0 = _cruiseConfig.weight * tmp[2];
+        float xforce = _cruiseConfig.weight * tmp[0];
+        float clift0 = _cruiseConfig.weight * tmp[2];
 
-	_model.getBody()->getAngularAccel(tmp);
+        _model.getBody()->getAngularAccel(tmp);
         _cruiseConfig.state.localToGlobal(tmp, tmp);
-	float pitch0 = tmp[1];
+        float pitch0 = tmp[1];
 
-	// Run an approach iteration, and do likewise
+        // Run an approach iteration, and do likewise
         runConfig(_approachConfig);
 
-	_model.getBody()->getAngularAccel(tmp);
+        _model.getBody()->getAngularAccel(tmp);
         _approachConfig.state.localToGlobal(tmp, tmp);
-	double apitch0 = tmp[1];
+        double apitch0 = tmp[1];
 
-	_model.getBody()->getAccel(tmp);
+        _model.getBody()->getAccel(tmp);
         _approachConfig.state.localToGlobal(tmp, tmp);
-	float alift = _approachConfig.weight * tmp[2];
+        float alift = _approachConfig.weight * tmp[2];
 
-	// Modify the cruise AoA a bit to get a derivative
-	_cruiseConfig.aoa += ARCMIN;
+        // Modify the cruise AoA a bit to get a derivative
+        _cruiseConfig.aoa += ARCMIN;
         runConfig(_cruiseConfig);
         _cruiseConfig.aoa -= ARCMIN;
-        
-	_model.getBody()->getAccel(tmp);
+            
+        _model.getBody()->getAccel(tmp);
         _cruiseConfig.state.localToGlobal(tmp, tmp);
-	float clift1 = _cruiseConfig.weight * tmp[2];
+        float clift1 = _cruiseConfig.weight * tmp[2];
 
-	// Do the same with the tail incidence
-	_tail->setIncidence(_tailIncidence + ARCMIN);
+        // Do the same with the tail incidence
+        _tail->setIncidence(_tailIncidence + ARCMIN);
         runConfig(_cruiseConfig);
         _tail->setIncidence(_tailIncidence);
 
-	_model.getBody()->getAngularAccel(tmp);
+        _model.getBody()->getAngularAccel(tmp);
         _cruiseConfig.state.localToGlobal(tmp, tmp);
-	float pitch1 = tmp[1];
+        float pitch1 = tmp[1];
 
-	// Now calculate:
-	float awgt = 9.8f * _approachConfig.weight;
+        // Now calculate:
+        float awgt = 9.8f * _approachConfig.weight;
 
-	float dragFactor = thrust / (thrust-xforce);
-	float liftFactor = awgt / (awgt+alift);
-	float aoaDelta = -clift0 * (ARCMIN/(clift1-clift0));
-	float tailDelta = -pitch0 * (ARCMIN/(pitch1-pitch0));
+        float dragFactor = thrust / (thrust-xforce);
+        float liftFactor = awgt / (awgt+alift);
+        float aoaDelta = -clift0 * (ARCMIN/(clift1-clift0));
+        float tailDelta = -pitch0 * (ARCMIN/(pitch1-pitch0));
 
         // Sanity:
         if(dragFactor <= 0 || liftFactor <= 0)
@@ -913,36 +913,36 @@ void Airplane::solve()
         runConfig(_approachConfig);
         _approachElevator.val -= ELEVDIDDLE;
 
-	_model.getBody()->getAngularAccel(tmp);
+        _model.getBody()->getAngularAccel(tmp);
         _approachConfig.state.localToGlobal(tmp, tmp);
-	double apitch1 = tmp[1];
+        double apitch1 = tmp[1];
         float elevDelta = -apitch0 * (ELEVDIDDLE/(apitch1-apitch0));
 
         // Now apply the values we just computed.  Note that the
         // "minor" variables are deferred until we get the lift/drag
         // numbers in the right ballpark.
 
-	applyDragFactor(dragFactor);
-	applyLiftRatio(liftFactor);
+        applyDragFactor(dragFactor);
+        applyLiftRatio(liftFactor);
 
-	// DON'T do the following until the above are sane
-	if(normFactor(dragFactor) > STHRESH*1.0001
-	   || normFactor(liftFactor) > STHRESH*1.0001)
-	{
-	    continue;
-	}
+        // DON'T do the following until the above are sane
+        if(normFactor(dragFactor) > STHRESH*1.0001
+        || normFactor(liftFactor) > STHRESH*1.0001)
+        {
+            continue;
+        }
 
-	// OK, now we can adjust the minor variables:
-	_cruiseConfig.aoa += SOLVE_TWEAK*aoaDelta;
-	_tailIncidence += SOLVE_TWEAK*tailDelta;
-	
-	_cruiseConfig.aoa = Math::clamp(_cruiseConfig.aoa, -0.175f, 0.175f);
-	_tailIncidence = Math::clamp(_tailIncidence, -0.175f, 0.175f);
+        // OK, now we can adjust the minor variables:
+        _cruiseConfig.aoa += SOLVE_TWEAK*aoaDelta;
+        _tailIncidence += SOLVE_TWEAK*tailDelta;
+        
+        _cruiseConfig.aoa = Math::clamp(_cruiseConfig.aoa, -0.175f, 0.175f);
+        _tailIncidence = Math::clamp(_tailIncidence, -0.175f, 0.175f);
 
         if(abs(xforce/_cruiseConfig.weight) < STHRESH*0.0001 &&
-           abs(alift/_approachConfig.weight) < STHRESH*0.0001 &&
-           abs(aoaDelta) < STHRESH*.000017 &&
-           abs(tailDelta) < STHRESH*.000017)
+        abs(alift/_approachConfig.weight) < STHRESH*0.0001 &&
+        abs(aoaDelta) < STHRESH*.000017 &&
+        abs(tailDelta) < STHRESH*.000017)
         {
             // If this finaly value is OK, then we're all done
             if(abs(elevDelta) < STHRESH*0.0001)
@@ -958,17 +958,17 @@ void Airplane::solve()
     }
 
     if(_dragFactor < 1e-06 || _dragFactor > 1e6) {
-	_failureMsg = "Drag factor beyond reasonable bounds.";
-	return;
+        _failureMsg = "Drag factor beyond reasonable bounds.";
+        return;
     } else if(_liftRatio < 1e-04 || _liftRatio > 1e4) {
-	_failureMsg = "Lift ratio beyond reasonable bounds.";
-	return;
+        _failureMsg = "Lift ratio beyond reasonable bounds.";
+        return;
     } else if(Math::abs(_cruiseConfig.aoa) >= .17453293) {
-	_failureMsg = "Cruise AoA > 10 degrees";
-	return;
+        _failureMsg = "Cruise AoA > 10 degrees";
+        return;
     } else if(Math::abs(_tailIncidence) >= .17453293) {
-	_failureMsg = "Tail incidence > 10 degrees";
-	return;
+        _failureMsg = "Tail incidence > 10 degrees";
+        return;
     }
 }
 
diff --git a/src/FDM/YASim/Airplane.hpp b/src/FDM/YASim/Airplane.hpp
index d985d6734..1a033357e 100644
--- a/src/FDM/YASim/Airplane.hpp
+++ b/src/FDM/YASim/Airplane.hpp
@@ -134,7 +134,7 @@ private:
       float cg[3];
       float mass;
     };
-    struct Control { 
+    struct ControlSetting { 
       int control;
       float val;
     };
@@ -210,7 +210,7 @@ private:
     float _dragFactor {1};
     float _liftRatio {1};
     float _tailIncidence {0};
-    Control _approachElevator;
+    ControlSetting _approachElevator;
     const char* _failureMsg {0};
     
     float _cgMax {-1e6};         // hard limits for cg from gear position

From 408e645bb223c9e6e21fdec592f1431d6872c630 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Tue, 13 Jun 2017 21:15:46 +0200
Subject: [PATCH 25/29] YASIM add wing section support refactoring of FGFDM
 parser replace old helpers with lib functions from <cstring> remove typecast
 that kills 'const' add some comments and clarify variable names

---
 src/FDM/YASim/Airplane.cpp     |  178 +++---
 src/FDM/YASim/Airplane.hpp     |   14 +-
 src/FDM/YASim/ControlMap.cpp   |  366 +++++++-----
 src/FDM/YASim/ControlMap.hpp   |   34 +-
 src/FDM/YASim/FGFDM.cpp        | 1002 +++++++++++++++++---------------
 src/FDM/YASim/FGFDM.hpp        |   55 +-
 src/FDM/YASim/Surface.cpp      |   10 +-
 src/FDM/YASim/Wing.cpp         |  526 ++++++++++-------
 src/FDM/YASim/Wing.hpp         |  222 +++----
 src/FDM/YASim/proptest.cpp     |    1 +
 src/FDM/YASim/yasim-common.cpp |   18 -
 src/FDM/YASim/yasim-common.hpp |    4 -
 src/FDM/YASim/yasim-test.cpp   |   11 +-
 13 files changed, 1389 insertions(+), 1052 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 762fed9fa..8a3fb9afd 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -111,6 +111,22 @@ void Airplane::getPilotAccel(float* out)
     // FIXME: rotational & centripetal acceleration needed
 }
 
+Wing* Airplane::getWing()
+{
+    if (_wing == nullptr) {
+        _wing = new Wing((Version*)this, true);
+    }
+    return _wing;
+}
+
+Wing* Airplane::getTail()
+{
+    if (_tail == nullptr) {
+        _tail = new Wing((Version*)this, true);
+    }
+    return _tail;
+}
+
 void Airplane::updateGearState()
 {
     for(int i=0; i<_gears.size(); i++) {
@@ -143,28 +159,28 @@ void Airplane::setCruise(float speed, float altitude, float fuel, float gla)
     _cruiseConfig.glideAngle = gla;
 }
 
-void Airplane::setElevatorControl(int control)
+void Airplane::setElevatorControl(const char* prop)
 {
-    _approachElevator.control = control;
+    _approachElevator.propHandle = getControlMap()->getPropertyHandle(prop);
     _approachElevator.val = 0;
     _approachConfig.controls.add(&_approachElevator);
 }
 
-void Airplane::addApproachControl(int control, float val)
+void Airplane::addApproachControl(const char* prop, float val)
 {
     ControlSetting* c = new ControlSetting();
-    c->control = control;
+    c->propHandle = getControlMap()->getPropertyHandle(prop);
     c->val = val;
-            _approachConfig.controls.add(c);
+    _approachConfig.controls.add(c);
 }
 
-void Airplane::addCruiseControl(int control, float val)
+void Airplane::addCruiseControl(const char* prop, float val)
 {
     ControlSetting* c = new ControlSetting();
-    c->control = control;
+    c->propHandle = getControlMap()->getPropertyHandle(prop);
     c->val = val;
-            _cruiseConfig.controls.add(c);
-    }
+    _cruiseConfig.controls.add(c);
+}
 
 void Airplane::addSolutionWeight(bool approach, int idx, float wgt)
 {
@@ -258,11 +274,11 @@ void Airplane::setWeight(int handle, float mass)
     // how we simulate droppable stores.
     if(mass == 0) {
 	wr->surf->setXDrag(0);
-        wr->surf->setYDrag(0);
+	wr->surf->setYDrag(0);
 	wr->surf->setZDrag(0);
     } else {
 	wr->surf->setXDrag(1);
-        wr->surf->setYDrag(1);
+	wr->surf->setYDrag(1);
 	wr->surf->setZDrag(1);
     }
 }
@@ -331,7 +347,7 @@ float Airplane::compileFuselage(Fuselage* f)
     float len = Math::mag3(fwd);
     if (len == 0) {
         _failureMsg = "Zero length fuselage";
-    return 0;
+	return 0;
     }
     float wid = f->width;
     int segs = (int)Math::ceil(len/wid);
@@ -344,14 +360,14 @@ float Airplane::compileFuselage(Fuselage* f)
         if(frac < f->mid)
             scale = f->taper+(1-f->taper) * (frac / f->mid);
         else {
-            if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-                // Correct calculation of width for fuselage taper.
-                scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
-            } else {
-                // Original, incorrect calculation of width for fuselage taper.
-                scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
-            }
-        }
+	    if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+		// Correct calculation of width for fuselage taper.
+		scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
+	    } else {
+		// Original, incorrect calculation of width for fuselage taper.
+		scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
+	    }
+	}
 
         // Where are we?
         float pos[3];
@@ -367,40 +383,40 @@ float Airplane::compileFuselage(Fuselage* f)
         Surface* s = new Surface(this);
         s->setPosition(pos);
 
-        // The following is the original YASim value for sideDrag.
-        // Originally YASim calculated the fuselage's lateral drag
-        // coefficient as (solver drag factor) * (len/wid).
-        // However, this greatly underestimates a fuselage's lateral drag.
-        float sideDrag = len/wid;
+	// The following is the original YASim value for sideDrag.
+	// Originally YASim calculated the fuselage's lateral drag
+	// coefficient as (solver drag factor) * (len/wid).
+	// However, this greatly underestimates a fuselage's lateral drag.
+	float sideDrag = len/wid;
 
-        if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-            // New YASim assumes a fixed lateral drag coefficient of 0.5.
-            // This will not be multiplied by the solver drag factor, because
-            // that factor is tuned to match the drag in the direction of
-            // flight, which is completely independent of lateral drag.
-            // The value of 0.5 is only a ballpark estimate, roughly matching
-            // the side-on drag for a long cylinder at the higher Reynolds
-            // numbers typical for an aircraft's lateral drag.
-            // This fits if the fuselage is long and has a round cross section.
-            // For flat-sided fuselages, the value should be increased, up to
-            // a limit of around 2 for a long rectangular prism.
-            // For very short fuselages, in which the end effects are strong,
-            // the value should be reduced.
-            // Such adjustments can be made using the fuselage's "cy" and "cz"
-            // XML parameters: "cy" for the sides, "cz" for top and bottom.
-            sideDrag = 0.5;
-        }
+	if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+	    // New YASim assumes a fixed lateral drag coefficient of 0.5.
+	    // This will not be multiplied by the solver drag factor, because
+	    // that factor is tuned to match the drag in the direction of
+	    // flight, which is completely independent of lateral drag.
+	    // The value of 0.5 is only a ballpark estimate, roughly matching
+	    // the side-on drag for a long cylinder at the higher Reynolds
+	    // numbers typical for an aircraft's lateral drag.
+	    // This fits if the fuselage is long and has a round cross section.
+	    // For flat-sided fuselages, the value should be increased, up to
+	    // a limit of around 2 for a long rectangular prism.
+	    // For very short fuselages, in which the end effects are strong,
+	    // the value should be reduced.
+	    // Such adjustments can be made using the fuselage's "cy" and "cz"
+	    // XML parameters: "cy" for the sides, "cz" for top and bottom.
+	    sideDrag = 0.5;
+	}
 
-        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
         	s->setXDrag(f->_cx);
-        }
+	}
         s->setYDrag(sideDrag*f->_cy);
         s->setZDrag(sideDrag*f->_cz);
-        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
         	s->setDragCoefficient(scale*segWgt);
 	} else {
 		s->setDragCoefficient(scale*segWgt*f->_cx);
-        }
+	}
         s->setInducedDrag(f->_idrag);
 
         // FIXME: fails for fuselages aligned along the Y axis
@@ -409,8 +425,8 @@ float Airplane::compileFuselage(Fuselage* f)
         Math::unit3(fwd, x);
         y[0] = 0; y[1] = 1; y[2] = 0;
         Math::cross3(x, y, z);
-        Math::unit3(z, z);
-        Math::cross3(z, x, y);
+	Math::unit3(z, z);
+	Math::cross3(z, x, y);
         s->setOrientation(o);
 
         _model.addSurface(s);
@@ -503,38 +519,38 @@ void Airplane::compile()
     // The Wing objects
     if (_wing)
     {
-        if (baseN != 0) {
-            _wingsN = baseN->getChild("wing", 0, true);
-            _wing->setPropertyNode(_wingsN);
-        }
-        aeroWgt += compileWing(_wing);
-        
-        // convert % to absolute x coordinates
-        _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
-        _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
-        if (baseN != 0) {
-            SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
-            n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
-            n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
-        }
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("wing", 0, true);
+          _wing->setPropertyNode(_wingsN);
+      }
+      aeroWgt += compileWing(_wing);
+      
+      // convert % to absolute x coordinates
+      _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
+      _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
+      if (baseN != 0) {
+        SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
+        n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
+        n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
+      }
     }
     if (_tail)
     {
-        if (baseN != 0) {
-            _wingsN = baseN->getChild("tail", 0, true);
-            _tail->setPropertyNode(_wingsN);
-        }
-        aeroWgt += compileWing(_tail);
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("tail", 0, true);
+          _tail->setPropertyNode(_wingsN);
+      }
+      aeroWgt += compileWing(_tail);
     }
     int i;
     for(i=0; i<_vstabs.size(); i++)
     {
-        Wing* vs = (Wing*)_vstabs.get(i);
-        if (baseN != 0) {
-            _wingsN = baseN->getChild("stab", i, true);
-            vs->setPropertyNode(_wingsN);
-        }
-        aeroWgt += compileWing(vs);
+      Wing* vs = (Wing*)_vstabs.get(i);
+      if (baseN != 0) {
+          _wingsN = baseN->getChild("stab", i, true);
+          vs->setPropertyNode(_wingsN);
+      }
+      aeroWgt += compileWing(vs);
     }
 
     // The fuselage(s)
@@ -715,15 +731,15 @@ void Airplane::setupWeights(bool isApproach)
     }
 }
 
-/// load values for controls as defined in cruise configuration
+/// load values for controls as defined in cruise/approach configuration
 void Airplane::loadControls(const Vector& controls)
 {
-    _controls.reset();
-    for(int i=0; i < controls.size(); i++) {
+  _controls.reset();
+  for(int i=0; i < controls.size(); i++) {
         ControlSetting* c = (ControlSetting*)controls.get(i);
-    _controls.setInput(c->control, c->val);
-    }
-    _controls.applyControls(); 
+    _controls.setInput(c->propHandle, c->val);
+  }
+  _controls.applyControls(); 
 }
 
 /// Helper for solve()
@@ -801,11 +817,11 @@ void Airplane::applyDragFactor(float factor)
         }
     }
     for(i=0; i<_weights.size(); i++) {
-        WeightRec* wr = (WeightRec*)_weights.get(i);
+	WeightRec* wr = (WeightRec*)_weights.get(i);
 	wr->surf->setDragCoefficient(wr->surf->getDragCoefficient() * applied);
     }
     for(i=0; i<_gears.size(); i++) {
-        GearRec* gr = (GearRec*)_gears.get(i);
+	GearRec* gr = (GearRec*)_gears.get(i);
 	gr->surf->setDragCoefficient(gr->surf->getDragCoefficient() * applied);
     }
 }
diff --git a/src/FDM/YASim/Airplane.hpp b/src/FDM/YASim/Airplane.hpp
index 1a033357e..0f22cfc22 100644
--- a/src/FDM/YASim/Airplane.hpp
+++ b/src/FDM/YASim/Airplane.hpp
@@ -37,9 +37,9 @@ public:
 
     void setEmptyWeight(float weight) {  _emptyWeight = weight; }
 
-    void setWing(Wing* wing) { _wing = wing; }
-    Wing* getWing() { return _wing; }
-    void setTail(Wing* tail) { _tail = tail; }
+    Wing* getWing();
+    bool hasWing() const { return (_wing != nullptr); }
+    Wing* getTail(); 
     void addVStab(Wing* vstab) { _vstabs.add(vstab); }
 
     void addFuselage(float* front, float* back, float width,
@@ -59,9 +59,9 @@ public:
     void setApproach(float speed, float altitude, float aoa, float fuel, float gla);
     void setCruise(float speed, float altitude, float fuel, float gla);
 
-    void setElevatorControl(int control);
-    void addApproachControl(int control, float val);
-    void addCruiseControl(int control, float val);
+    void setElevatorControl(const char* prop);
+    void addApproachControl(const char* prop, float val);
+    void addCruiseControl(const char* prop, float val);
 
     void addSolutionWeight(bool approach, int idx, float wgt);
 
@@ -135,7 +135,7 @@ private:
       float mass;
     };
     struct ControlSetting { 
-      int control;
+      int propHandle;
       float val;
     };
     struct WeightRec { 
diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index 27dddc72c..db644691d 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -2,7 +2,8 @@
 #  include "config.h"
 #endif
 
-#include "yasim-common.hpp"
+#include <cstring>
+
 #include "Jet.hpp"
 #include "Thruster.hpp"
 #include "PropEngine.hpp"
@@ -42,16 +43,18 @@ ControlMap::~ControlMap()
 }
 
 /**
-	input : index to _inputs
-	type: identifier (see enum OutputType)
+prop: name of input property
+control: identifier (see enum OutputType)
+object: object to which this input belongs to
+options: bits OPT_INVERT, OPT_SPLIT, OPT_SQUARE
 */
-void ControlMap::addMapping(int input, Control control, void* object, int options,
-			    float src0, float src1, float dst0, float dst1)
+void ControlMap::addMapping(const char* prop, Control control, ObjectID id, int options, float src0, float src1, float dst0, float dst1)
 {
-    addMapping(input, control, object, options);
+    addMapping(prop, control, id, options);
+    int inputPropHandle = getPropertyHandle(prop);
 
     // The one we just added is last in the list (ugly, awful hack!)
-    Vector* maps = (Vector*)_inputs.get(input);
+    Vector* maps = (Vector*)_inputs.get(inputPropHandle);
     MapRec* m = (MapRec*)maps->get(maps->size() - 1);
 
     m->src0 = src0;
@@ -61,16 +64,21 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
 }
 
 /**
-	input : index to _inputs
-	type: identifier (see enum OutputType)
+prop: name of input property
+control: identifier (see enum OutputType)
+object: object to which this input belongs to
+options: bits OPT_INVERT, OPT_SPLIT, OPT_SQUARE
 */
-void ControlMap::addMapping(int input, Control control, void* object, int options)
+void ControlMap::addMapping(const char* prop, Control control, ObjectID id, int options)
 {
+    int inputPropHandle = getPropertyHandle(prop);
     // See if the output object already exists
     OutRec* out {nullptr};
     for(int i = 0; i < _outputs.size(); i++) {
         OutRec* o = (OutRec*)_outputs.get(i);
-        if(o->object == object && o->control == control) {
+        if(o->oid.object == id.object && o->oid.subObj == id.subObj 
+            && o->control == control) 
+        {
             out = o;
             break;
         }
@@ -80,7 +88,7 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
     if(out == nullptr) {
         out = new OutRec();
         out->control = control;
-        out->object = object;
+        out->oid = id;
         _outputs.add(out);
     }
     
@@ -95,7 +103,7 @@ void ControlMap::addMapping(int input, Control control, void* object, int option
     map->src0 = map->dst0 = rangeMin(control);
 
     // And add it to the approproate vectors.
-    Vector* maps = (Vector*)_inputs.get(input);
+    Vector* maps = (Vector*)_inputs.get(inputPropHandle);
     maps->add(map);
 }
 
@@ -124,14 +132,15 @@ void ControlMap::setInput(int input, float val)
     }
 }
 
-int ControlMap::getOutputHandle(void* obj, Control control)
+int ControlMap::getOutputHandle(ObjectID id, Control control)
 {
-    for(int i=0; i<_outputs.size(); i++) {
+    for(int i = 0; i < _outputs.size(); i++) {
         OutRec* o = (OutRec*)_outputs.get(i);
-	    if(o->object == obj && o->control == control)
+	    if(o->oid.object == id.object && o->oid.subObj == id.subObj 
+            && o->control == control)
 	        return i;
     }
-    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%d, control %d \n", obj, control);
+    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%ld, control %d \n", (long)id.object, control);
     return -1;
 }
 
@@ -153,27 +162,28 @@ float ControlMap::getOutputR(int handle)
 void ControlMap::applyControls(float dt)
 {
     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;
-	int i;
-	for(i=0; i<o->maps.size(); i++) {
-	    MapRec* m = (MapRec*)o->maps.get(i);
-	    float val = m->val;
+    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;
+        int i;
+        for(i=0; i<o->maps.size(); i++) {
+            MapRec* m = (MapRec*)o->maps.get(i);
+            float val = m->val;
 
-	    if(m->opt & OPT_SQUARE)
-		val = val * Math::abs(val);
- 	    if(m->opt & OPT_INVERT)
-		val = -val;
-	    lval += val;
-	    if(m->opt & OPT_SPLIT)
-		rval -= val;
-	    else
-		rval += val;
-	}
+            if(m->opt & OPT_SQUARE)
+            val = val * Math::abs(val);
+            if(m->opt & OPT_INVERT)
+            val = -val;
+            lval += val;
+            if(m->opt & OPT_SPLIT)
+            rval -= val;
+            else
+            rval += val;
+        }
 
         // If there is a finite transition time, clamp the values to
         // the maximum travel allowed in this dt.
@@ -194,59 +204,135 @@ void ControlMap::applyControls(float dt)
         o->oldL = lval;
         o->oldR = rval;
 
-	void* obj = o->object;
-	switch(o->control) {
-	case THROTTLE: ((Thruster*)obj)->setThrottle(lval);        break;
-	case MIXTURE:  ((Thruster*)obj)->setMixture(lval);         break;
-    case CONDLEVER: ((TurbineEngine*)((PropEngine*)
-                        obj)->getEngine())->setCondLever(lval); break;
-	case STARTER:  ((Thruster*)obj)->setStarter(lval != 0.0);  break;
-	case MAGNETOS: ((PropEngine*)obj)->setMagnetos((int)lval); break;
-	case ADVANCE:  ((PropEngine*)obj)->setAdvance(lval);       break;
-        case PROPPITCH: ((PropEngine*)obj)->setPropPitch(lval);    break;
-        case PROPFEATHER: ((PropEngine*)obj)->setPropFeather((int)lval); break;
-	case REHEAT:   ((Jet*)obj)->setReheat(lval);               break;
-	case VECTOR:   ((Jet*)obj)->setRotation(lval);             break;
-	case BRAKE:    ((Gear*)obj)->setBrake(lval);               break;
-	case STEER:    ((Gear*)obj)->setRotation(lval);            break;
-	case EXTEND:   ((Gear*)obj)->setExtension(lval);           break;
-	case HEXTEND:  ((Hook*)obj)->setExtension(lval);           break;
-	case LEXTEND:  ((Launchbar*)obj)->setExtension(lval);      break;
-    case LACCEL:   ((Launchbar*)obj)->setAcceleration(lval);   break;
-	case CASTERING:((Gear*)obj)->setCastering(lval != 0);      break;
-	case SLAT:     ((Wing*)obj)->setFlapPos(WING_SLAT,lval);                break;
-	case FLAP0:    ((Wing*)obj)->setFlapPos(WING_FLAP0, lval, rval);         break;
-	case FLAP0EFFECTIVENESS: ((Wing*)obj)->setFlapEffectiveness(WING_FLAP0,lval); break;
-	case FLAP1:    ((Wing*)obj)->setFlapPos(WING_FLAP1,lval, rval);         break;
-	case FLAP1EFFECTIVENESS: ((Wing*)obj)->setFlapEffectiveness(WING_FLAP1,lval); break;
-	case SPOILER:  ((Wing*)obj)->setFlapPos(WING_SPOILER, lval, rval);       break;
-        case COLLECTIVE:   ((Rotor*)obj)->setCollective(lval);     break;
-        case CYCLICAIL:    ((Rotor*)obj)->setCyclicail(lval,rval); break;
-        case CYCLICELE:    ((Rotor*)obj)->setCyclicele(lval,rval); break;
-        case TILTPITCH:    ((Rotor*)obj)->setTiltPitch(lval);      break;
-        case TILTYAW:      ((Rotor*)obj)->setTiltYaw(lval);        break;
-        case TILTROLL:     ((Rotor*)obj)->setTiltRoll(lval);       break;
-        case ROTORBALANCE:
-                           ((Rotor*)obj)->setRotorBalance(lval);   break;
-        case ROTORBRAKE:   ((Rotorgear*)obj)->setRotorBrake(lval); break;
-        case ROTORENGINEON: 
-                        ((Rotorgear*)obj)->setEngineOn((int)lval); break;
-        case ROTORENGINEMAXRELTORQUE: 
-              ((Rotorgear*)obj)->setRotorEngineMaxRelTorque(lval); break;
-        case ROTORRELTARGET:
-                       ((Rotorgear*)obj)->setRotorRelTarget(lval); break;
-	case REVERSE_THRUST: ((Jet*)obj)->setReverse(lval != 0);   break;
-	case BOOST:
-	    ((PistonEngine*)((Thruster*)obj)->getEngine())->setBoost(lval);
-	    break;
-        case WASTEGATE:
-            ((PistonEngine*)((Thruster*)obj)->getEngine())->setWastegate(lval);
-            break;
-        case WINCHRELSPEED: ((Hitch*)obj)->setWinchRelSpeed(lval); break;
-        case HITCHOPEN:    ((Hitch*)obj)->setOpen(lval!=0);       break;
-        case PLACEWINCH:    ((Hitch*)obj)->setWinchPositionAuto(lval!=0); break;
-        case FINDAITOW:     ((Hitch*)obj)->findBestAIObject(lval!=0); break;
-	}
+        void* obj = o->oid.object;
+        switch(o->control) {
+            case THROTTLE:
+                ((Thruster*)obj)->setThrottle(lval);
+                break;
+            case MIXTURE:
+                ((Thruster*)obj)->setMixture(lval);
+                break;
+            case CONDLEVER:
+                ((TurbineEngine*)((PropEngine*)obj)->getEngine())->setCondLever(lval);
+                break;
+            case STARTER:
+                ((Thruster*)obj)->setStarter(lval != 0.0);
+                break;
+            case MAGNETOS:
+                ((PropEngine*)obj)->setMagnetos((int)lval);
+                break;
+            case ADVANCE:
+                ((PropEngine*)obj)->setAdvance(lval);
+                break;
+            case PROPPITCH:
+                ((PropEngine*)obj)->setPropPitch(lval);
+                break;
+            case PROPFEATHER:
+                ((PropEngine*)obj)->setPropFeather((int)lval);
+                break;
+            case REHEAT:
+                ((Jet*)obj)->setReheat(lval);
+                break;
+            case VECTOR:
+                ((Jet*)obj)->setRotation(lval);
+                break;
+            case BRAKE:
+                ((Gear*)obj)->setBrake(lval);
+                break;
+            case STEER:
+                ((Gear*)obj)->setRotation(lval);
+                break;
+            case EXTEND:
+                ((Gear*)obj)->setExtension(lval);
+                break;
+            case HEXTEND:
+                ((Hook*)obj)->setExtension(lval);
+                break;
+            case LEXTEND:
+                ((Launchbar*)obj)->setExtension(lval);
+                break;
+            case LACCEL:
+                ((Launchbar*)obj)->setAcceleration(lval);
+                break;
+            case CASTERING:
+                ((Gear*)obj)->setCastering(lval != 0);
+                break;
+            case SLAT:
+                ((Wing*)obj)->setFlapPos(WING_SLAT,lval);
+                break;
+            case FLAP0:
+                ((Wing*)obj)->setFlapPos(WING_FLAP0, lval, rval);
+                break;
+            case FLAP0EFFECTIVENESS:
+                ((Wing*)obj)->setFlapEffectiveness(WING_FLAP0,lval);
+                break;
+            case FLAP1:
+                ((Wing*)obj)->setFlapPos(WING_FLAP1,lval, rval);         
+                break;
+            case FLAP1EFFECTIVENESS:
+                ((Wing*)obj)->setFlapEffectiveness(WING_FLAP1,lval);
+                break;
+            case SPOILER:
+                ((Wing*)obj)->setFlapPos(WING_SPOILER, lval, rval);       
+                break;
+            case COLLECTIVE:
+                ((Rotor*)obj)->setCollective(lval);     
+                break;
+            case CYCLICAIL:
+                ((Rotor*)obj)->setCyclicail(lval,rval); 
+                break;
+            case CYCLICELE:
+                ((Rotor*)obj)->setCyclicele(lval,rval); 
+                break;
+            case TILTPITCH:
+                ((Rotor*)obj)->setTiltPitch(lval);      
+                break;
+            case TILTYAW:
+                ((Rotor*)obj)->setTiltYaw(lval);        
+                break;
+            case TILTROLL:
+                ((Rotor*)obj)->setTiltRoll(lval);       
+                break;
+            case ROTORBALANCE:
+                ((Rotor*)obj)->setRotorBalance(lval);   
+                break;
+            case ROTORBRAKE:   
+                ((Rotorgear*)obj)->setRotorBrake(lval); 
+                break;
+            case ROTORENGINEON: 
+                ((Rotorgear*)obj)->setEngineOn((int)lval); 
+                break;
+            case ROTORENGINEMAXRELTORQUE: 
+                ((Rotorgear*)obj)->setRotorEngineMaxRelTorque(lval); 
+                break;
+            case ROTORRELTARGET:
+                ((Rotorgear*)obj)->setRotorRelTarget(lval);
+                break;
+            case REVERSE_THRUST: 
+                ((Jet*)obj)->setReverse(lval != 0);
+                break;
+            case BOOST:
+                ((PistonEngine*)((Thruster*)obj)->getEngine())->setBoost(lval);
+                break;
+            case WASTEGATE:
+                ((PistonEngine*)((Thruster*)obj)->getEngine())->setWastegate(lval);
+                break;
+            case WINCHRELSPEED:
+                ((Hitch*)obj)->setWinchRelSpeed(lval); 
+                break;
+            case HITCHOPEN:
+                ((Hitch*)obj)->setOpen(lval!=0);
+                break;
+            case PLACEWINCH:
+                ((Hitch*)obj)->setWinchPositionAuto(lval!=0);
+                break;
+            case FINDAITOW:
+                ((Hitch*)obj)->findBestAIObject(lval!=0);
+                break;
+            case PROP:
+            case INCIDENCE:
+                break;
+        }
     }
 }
 
@@ -283,17 +369,17 @@ float ControlMap::rangeMax(Control control)
 }
 
 /// register property name, return ID (int)
-int ControlMap::propertyHandle(const char* name)
+int ControlMap::getPropertyHandle(const char* name)
 {
 	for(int i=0; i < _properties.size(); i++) {
 		PropHandle* p = (PropHandle*)_properties.get(i);
-		if(eq(p->name, name))
+		if(!strcmp(p->name, name))
 			return p->handle;
 	}
 
 	// create new
 	PropHandle* p = new PropHandle();
-	p->name = dup(name);
+	p->name = strdup(name);
 	
 	fgGetNode(p->name, true); 
 
@@ -306,52 +392,60 @@ int ControlMap::propertyHandle(const char* name)
 
 ControlMap::Control ControlMap::parseControl(const char* name)
 {
-    if(eq(name, "THROTTLE"))  return THROTTLE;
-    if(eq(name, "MIXTURE"))   return MIXTURE;
-    if(eq(name, "CONDLEVER")) return CONDLEVER;
-    if(eq(name, "STARTER"))   return STARTER;
-    if(eq(name, "MAGNETOS"))  return MAGNETOS;
-    if(eq(name, "ADVANCE"))   return ADVANCE;
-    if(eq(name, "REHEAT"))    return REHEAT;
-    if(eq(name, "BOOST"))     return BOOST;
-    if(eq(name, "VECTOR"))    return VECTOR;
-    if(eq(name, "PROP"))      return PROP;
-    if(eq(name, "BRAKE"))     return BRAKE;
-    if(eq(name, "STEER"))     return STEER;
-    if(eq(name, "EXTEND"))    return EXTEND;
-    if(eq(name, "HEXTEND"))   return HEXTEND;
-    if(eq(name, "LEXTEND"))   return LEXTEND;
-    if(eq(name, "LACCEL"))    return LACCEL;
-    if(eq(name, "INCIDENCE")) return INCIDENCE;
-    if(eq(name, "FLAP0"))     return FLAP0;
-    if(eq(name, "FLAP0EFFECTIVENESS"))   return FLAP0EFFECTIVENESS;
-    if(eq(name, "FLAP1"))     return FLAP1;
-    if(eq(name, "FLAP1EFFECTIVENESS"))   return FLAP1EFFECTIVENESS;
-    if(eq(name, "SLAT"))      return SLAT;
-    if(eq(name, "SPOILER"))   return SPOILER;
-    if(eq(name, "CASTERING")) return CASTERING;
-    if(eq(name, "PROPPITCH")) return PROPPITCH;
-    if(eq(name, "PROPFEATHER")) return PROPFEATHER;
-    if(eq(name, "COLLECTIVE")) return COLLECTIVE;
-    if(eq(name, "CYCLICAIL")) return CYCLICAIL;
-    if(eq(name, "CYCLICELE")) return CYCLICELE;
-    if(eq(name, "TILTROLL")) return TILTROLL;
-    if(eq(name, "TILTPITCH")) return TILTPITCH;
-    if(eq(name, "TILTYAW")) return TILTYAW;
-    if(eq(name, "ROTORGEARENGINEON")) return ROTORENGINEON;
-    if(eq(name, "ROTORBRAKE")) return ROTORBRAKE;
-    if(eq(name, "ROTORENGINEMAXRELTORQUE")) return ROTORENGINEMAXRELTORQUE;
-    if(eq(name, "ROTORRELTARGET")) return ROTORRELTARGET;
-    if(eq(name, "ROTORBALANCE")) return ROTORBALANCE;
-    if(eq(name, "REVERSE_THRUST")) return REVERSE_THRUST;
-    if(eq(name, "WASTEGATE")) return WASTEGATE;
-    if(eq(name, "WINCHRELSPEED")) return WINCHRELSPEED;
-    if(eq(name, "HITCHOPEN")) return HITCHOPEN;
-    if(eq(name, "PLACEWINCH")) return PLACEWINCH;
-    if(eq(name, "FINDAITOW")) return FINDAITOW;
+    if(!strcmp(name, "THROTTLE"))  return THROTTLE;
+    if(!strcmp(name, "MIXTURE"))   return MIXTURE;
+    if(!strcmp(name, "CONDLEVER")) return CONDLEVER;
+    if(!strcmp(name, "STARTER"))   return STARTER;
+    if(!strcmp(name, "MAGNETOS"))  return MAGNETOS;
+    if(!strcmp(name, "ADVANCE"))   return ADVANCE;
+    if(!strcmp(name, "REHEAT"))    return REHEAT;
+    if(!strcmp(name, "BOOST"))     return BOOST;
+    if(!strcmp(name, "VECTOR"))    return VECTOR;
+    if(!strcmp(name, "PROP"))      return PROP;
+    if(!strcmp(name, "BRAKE"))     return BRAKE;
+    if(!strcmp(name, "STEER"))     return STEER;
+    if(!strcmp(name, "EXTEND"))    return EXTEND;
+    if(!strcmp(name, "HEXTEND"))   return HEXTEND;
+    if(!strcmp(name, "LEXTEND"))   return LEXTEND;
+    if(!strcmp(name, "LACCEL"))    return LACCEL;
+    if(!strcmp(name, "INCIDENCE")) return INCIDENCE;
+    if(!strcmp(name, "FLAP0"))     return FLAP0;
+    if(!strcmp(name, "FLAP0EFFECTIVENESS"))   return FLAP0EFFECTIVENESS;
+    if(!strcmp(name, "FLAP1"))     return FLAP1;
+    if(!strcmp(name, "FLAP1EFFECTIVENESS"))   return FLAP1EFFECTIVENESS;
+    if(!strcmp(name, "SLAT"))      return SLAT;
+    if(!strcmp(name, "SPOILER"))   return SPOILER;
+    if(!strcmp(name, "CASTERING")) return CASTERING;
+    if(!strcmp(name, "PROPPITCH")) return PROPPITCH;
+    if(!strcmp(name, "PROPFEATHER")) return PROPFEATHER;
+    if(!strcmp(name, "COLLECTIVE")) return COLLECTIVE;
+    if(!strcmp(name, "CYCLICAIL")) return CYCLICAIL;
+    if(!strcmp(name, "CYCLICELE")) return CYCLICELE;
+    if(!strcmp(name, "TILTROLL")) return TILTROLL;
+    if(!strcmp(name, "TILTPITCH")) return TILTPITCH;
+    if(!strcmp(name, "TILTYAW")) return TILTYAW;
+    if(!strcmp(name, "ROTORGEARENGINEON")) return ROTORENGINEON;
+    if(!strcmp(name, "ROTORBRAKE")) return ROTORBRAKE;
+    if(!strcmp(name, "ROTORENGINEMAXRELTORQUE")) return ROTORENGINEMAXRELTORQUE;
+    if(!strcmp(name, "ROTORRELTARGET")) return ROTORRELTARGET;
+    if(!strcmp(name, "ROTORBALANCE")) return ROTORBALANCE;
+    if(!strcmp(name, "REVERSE_THRUST")) return REVERSE_THRUST;
+    if(!strcmp(name, "WASTEGATE")) return WASTEGATE;
+    if(!strcmp(name, "WINCHRELSPEED")) return WINCHRELSPEED;
+    if(!strcmp(name, "HITCHOPEN")) return HITCHOPEN;
+    if(!strcmp(name, "PLACEWINCH")) return PLACEWINCH;
+    if(!strcmp(name, "FINDAITOW")) return FINDAITOW;
     SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '" << name 
         << "' in YASim aircraft description.");
     exit(1);
 }
 
+ControlMap::ObjectID ControlMap::getObjectID(void* object, int subObj)
+{
+    ObjectID o;
+    o.object = object;
+    o.subObj = subObj;
+    return o;
+}
+
 } // namespace yasim
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index b385187bb..94374ea2a 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -62,26 +62,32 @@ public:
         OPT_SQUARE = 0x04
     };
 
-    struct PropHandle { char* name; int handle; };
+    struct PropHandle {
+        char* name {nullptr};
+        int handle {0};
+    };
+    struct ObjectID {
+        void* object {nullptr};
+        int subObj {0};
+    };
     
     // map control name to int (enum)
     Control parseControl(const char* name);
-    // Adds a mapping to between input handle and a particular setting
-    // on an output object.  The value of output MUST match the type
-    // of object!
-    void addMapping(int input, Control control, void* object, int options=0);
+    // create ID from object and optional sub index (e.g. for wing section)
+    ObjectID getObjectID(void* object, int subObj = 0);
+    
+    // add input property for a control to an object
+    void addMapping(const char* prop, Control control, ObjectID id, int options = 0);
 
-    // An additional form to specify a mapping range.  Input values
-    // outside of [src0:src1] are clamped, and are then mapped to
-    // [dst0:dst1] before being set on the object.
-    void addMapping(int input, Control control, void* object, int options,
-		    float src0, float src1, float dst0, float dst1);
+    // same with limits. Input values are clamped to [src0:src1] and then mapped to
+    // [dst0:dst1] before being set on the objects control.
+    void addMapping(const char* prop, Control control, ObjectID id, int options, float src0, float src1, float dst0, float dst1);
 
     // Resets our accumulated input values.  Call before any
     // setInput() invokations.
     void reset();
 
-    // Sets the specified input (as returned by propertyHandle) to the
+    // Sets the specified input (as returned by getPropertyHandle()) to the
     // specified value.
     void setInput(int propHandle, float value);
 
@@ -97,7 +103,7 @@ public:
 
     // Each output record is identified by both an object/type tuple
     // and a numeric handle.
-    int getOutputHandle(void* obj, Control control);
+    int getOutputHandle(ObjectID id, Control control);
 
     // Sets the transition time for the control output to swing
     // through its full range.
@@ -110,14 +116,14 @@ public:
     float getOutputR(int handle);
 
     // register property name, return handle
-    int propertyHandle(const char* name);
+    int getPropertyHandle(const char* name);
     int numProperties() { return _properties.size(); }
     PropHandle* getProperty(const int i) { return ((PropHandle*)_properties.get(i)); }
 
 private:
     struct OutRec { 
         Control control;
-        void* object {nullptr}; 
+        ObjectID oid;
         Vector maps;
         float oldL {0};
         float oldR {0};
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index f5545fc7e..1a8c82c63 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -4,9 +4,11 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <cstring>
 
 #include <Main/fg_props.hxx>
 
+#include "yasim-common.hpp"
 #include "Math.hpp"
 #include "Jet.hpp"
 #include "SimpleJet.hpp"
@@ -38,7 +40,7 @@ FGFDM::FGFDM()
     // Map /controls/flight/elevator to the approach elevator control.  This
     // should probably be settable, but there are very few aircraft
     // who trim their approaches using things other than elevator.
-    _airplane.setElevatorControl(_airplane.getControlMap()->propertyHandle("/controls/flight/elevator-trim"));
+    _airplane.setElevatorControl("/controls/flight/elevator-trim");
 
     // FIXME: read seed from somewhere?
     int seed = 0;
@@ -214,85 +216,23 @@ void FGFDM::init()
 }
 
 // Not the worlds safest parser.  But it's short & sweet.
-void FGFDM::startElement(const char* name, const XMLAttributes &atts)
+void FGFDM::startElement(const char* name, const XMLAttributes &a)
 {
-    XMLAttributes* a = (XMLAttributes*)&atts;
+    //XMLAttributes* a = (XMLAttributes*)&atts;
     float v[3] {0,0,0};
-    char buf[64];
-    float f {0};
     
-    if(eq(name, "airplane")) {
-      if(a->hasAttribute("mass")) { f = attrf(a, "mass") * LBS2KG; } 
-      else if (a->hasAttribute("mass-lbs")) { f = attrf(a, "mass-lbs") * LBS2KG; } 
-      else if (a->hasAttribute("mass-kg")) { f = attrf(a, "mass-kg"); }
-      else {
-        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, airplane needs one of {mass-lbs, mass-kg}");
-        exit(1);       
-      }
-      _airplane.setEmptyWeight(f);
-      if(a->hasAttribute("version")) {
-        _airplane.setVersion( a->getValue("version") );
-      }
-      if( !_airplane.isVersionOrNewer( Version::YASIM_VERSION_CURRENT ) ) {
-        SG_LOG(SG_FLIGHT, SG_DEV_ALERT, "This aircraft does not use the latest yasim configuration version.");
-      }
-      _airplane.setDesiredCGRangeInPercentOfMAC(attrf(a, "cg-min", 0.25f), attrf(a, "cg-max", 0.3f)); //FIXME find reasonable defaults
-      if (attrb(a, "auto-ballast")) {
-        _airplane.setAutoBallast(true);
-      }
-    } else if(eq(name, "approach")) {
-      float spd, alt = 0;
-      if (a->hasAttribute("speed")) { spd = attrf(a, "speed") * KTS2MPS; }
-      else if (a->hasAttribute("speed-kt")) { spd = attrf(a, "speed-kt") * KTS2MPS; }
-      else if (a->hasAttribute("speed-kmh")) { spd = attrf(a, "speed-kmh") * KMH2MPS; }
-      else {
-        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, approach needs one of {speed-kt, speed-kmh}");
-        exit(1);       
-      }
-      if (a->hasAttribute("alt")) { alt = attrf(a, "alt") * FT2M; }
-      else if (a->hasAttribute("alt-ft")) { alt = attrf(a, "alt-ft") * FT2M; }
-      else if (a->hasAttribute("alt-m")) { alt = attrf(a, "alt-m"); }
-      float aoa = attrf(a, "aoa", 0) * DEG2RAD;
-      float gla = attrf(a, "glide-angle", 0) * DEG2RAD;
-      _airplane.setApproach(spd, alt, aoa, attrf(a, "fuel", 0.2), gla);
-      _cruiseCurr = false;
-    } else if(eq(name, "cruise")) {
-      float spd, alt = 0;
-      if (a->hasAttribute("speed")) { spd = attrf(a, "speed") * KTS2MPS; }
-      else if (a->hasAttribute("speed-kt")) { spd = attrf(a, "speed-kt") * KTS2MPS; }
-      else if (a->hasAttribute("speed-kmh")) { spd = attrf(a, "speed-kmh") * KMH2MPS; }
-      else {
-        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, approach needs one of {speed-kt, speed-kmh}");
-        exit(1);       
-      }
-      if (a->hasAttribute("alt")) { alt = attrf(a, "alt") * FT2M; }
-      else if (a->hasAttribute("alt-ft")) { alt = attrf(a, "alt-ft") * FT2M; }
-      else if (a->hasAttribute("alt-m")) { alt = attrf(a, "alt-m"); }
-      float gla = attrf(a, "glide-angle", 0) * DEG2RAD;
-      _airplane.setCruise(spd, alt, attrf(a, "fuel", 0.5),gla);
-      _cruiseCurr = true;
-    } else if(eq(name, "solve-weight")) {
-        int idx = attri(a, "idx");
-        if(a->hasAttribute("weight")) { f = attrf(a, "weight") * LBS2KG; }
-        else if(a->hasAttribute("weight-lbs")) { f = attrf(a, "weight-lbs") * LBS2KG; }
-        else if(a->hasAttribute("weight-kg")) { f = attrf(a, "weight-kg"); }
-        else {
-          SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, solve-weight needs one of {weight-lbs, weight-kg}");
-          exit(1);       
-        }
-        _airplane.addSolutionWeight(!_cruiseCurr, idx, f);
-    } else if(eq(name, "cockpit")) {
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	_airplane.setPilotPos(v);
-    } else if(eq(name, "rotor")) {
-        _airplane.getModel()->getRotorgear()->addRotor(parseRotor(a, name));
-    } else if(eq(name, "rotorgear")) {
+    if(!strcmp(name, "airplane")) { parseAirplane(&a); }
+    else if(!strcmp(name, "approach") || !strcmp(name, "cruise")) { 
+        parseApproachCruise(&a, name);         
+    } 
+    else if(!strcmp(name, "solve-weight")) { parseSolveWeight(&a); } 
+    else if(!strcmp(name, "cockpit")) { parseCockpit(&a); }
+    else if(!strcmp(name, "rotor")) { parseRotor(&a, name); }
+    else if(!strcmp(name, "rotorgear")) {
         Rotorgear* r = _airplane.getModel()->getRotorgear();
-	_currObj = r;
-        #define p(x) if (a->hasAttribute(#x)) r->setParameter((char *)#x,attrf(a,#x) );
-        #define p2(x,y) if (a->hasAttribute(y)) r->setParameter((char *)#x,attrf(a,y) );
+        _currObj = r;
+        #define p(x) if ((&a)->hasAttribute(#x)) r->setParameter((char *)#x,attrf(&a,#x) );
+        #define p2(x,y) if ((&a)->hasAttribute(y)) r->setParameter((char *)#x,attrf(&a,y) );
         p2(max_power_engine,"max-power-engine")
         p2(engine_prop_factor,"engine-prop-factor")
         p(yasimdragfactor)
@@ -303,325 +243,113 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
         #undef p
         #undef p2
         r->setInUse();
-    } else if(eq(name, "wing")) {
-        Wing *wing = parseWing(a, name, &_airplane);
-        _airplane.setWing(wing);
-    } else if(eq(name, "hstab")) {
-	_airplane.setTail(parseWing(a, name, &_airplane));
-    } else if(eq(name, "vstab") || eq(name, "mstab")) {
-	_airplane.addVStab(parseWing(a, name, &_airplane));
-    } else if(eq(name, "piston-engine")) {
-        parsePistonEngine(a);
-    } else if(eq(name, "turbine-engine")) {
-        parseTurbineEngine(a);
-    } else if(eq(name, "propeller")) {
-	parsePropeller(a);
-    } else if(eq(name, "thruster")) {
-	SimpleJet* j = new SimpleJet();
-	_currObj = j;
-	v[0] = attrf(a, "x"); v[1] = attrf(a, "y"); v[2] = attrf(a, "z");
-	j->setPosition(v);
-	_airplane.addThruster(j, 0, v);
-	v[0] = attrf(a, "vx"); v[1] = attrf(a, "vy"); v[2] = attrf(a, "vz");
-	j->setDirection(v);
-	j->setThrust(attrf(a, "thrust") * LBS2N);
-    } else if(eq(name, "jet")) {
-	Jet* j = new Jet();
-	_currObj = j;
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	float mass;
-        if(a->hasAttribute("mass")) { mass = attrf(a, "mass") * LBS2KG; }
-        else if(a->hasAttribute("mass-lbs")) { mass = attrf(a, "mass-lbs") * LBS2KG; }
-        else if(a->hasAttribute("mass-kg")) { mass = attrf(a, "mass-kg"); }
-        else {
-          SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, jet needs one of {mass-lbs, mass-kg}");
-          exit(1);       
-        }       
-        j->setMaxThrust(attrf(a, "thrust") * LBS2N,
-			attrf(a, "afterburner", 0) * LBS2N);
-	j->setVectorAngle(attrf(a, "rotate", 0) * DEG2RAD);
-        j->setReverseThrust(attrf(a, "reverse", 0.2));
-
- 	float n1min = attrf(a, "n1-idle", 55);
-	float n1max = attrf(a, "n1-max", 102);
- 	float n2min = attrf(a, "n2-idle", 73);
-	float n2max = attrf(a, "n2-max", 103);
-	j->setRPMs(n1min, n1max, n2min, n2max);
-
-	j->setTSFC(attrf(a, "tsfc", 0.8));
-	j->setATSFC(attrf(a, "atsfc", 0.0));
-	if(a->hasAttribute("egt"))  j->setEGT(attrf(a, "egt"));
-	if(a->hasAttribute("epr"))  j->setEPR(attrf(a, "epr"));
-	if(a->hasAttribute("exhaust-speed"))
-	    j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
-	if(a->hasAttribute("spool-time"))
-	    j->setSpooling(attrf(a, "spool-time"));
-	
-	j->setPosition(v);
-	_airplane.addThruster(j, mass, v);
-	sprintf(buf, "/engines/engine[%d]", _nextEngine++);
-	EngRec* er = new EngRec();
-	er->eng = j;
-	er->prefix = dup(buf);
-	_thrusters.add(er);
-    } else if(eq(name, "hitch")) {
-        Hitch* h = new Hitch(a->getValue("name"));
-        _currObj = h;
-        v[0] = attrf(a, "x");
-        v[1] = attrf(a, "y");
-        v[2] = attrf(a, "z");
-        h->setPosition(v);
-        if(a->hasAttribute("force-is-calculated-by-other")) h->setForceIsCalculatedByOther(attrb(a,"force-is-calculated-by-other"));
-        _airplane.addHitch(h);
-    } else if(eq(name, "tow")) {
-        Hitch* h = (Hitch*)_currObj;
-        if(a->hasAttribute("length"))
-            h->setTowLength(attrf(a, "length"));
-        if(a->hasAttribute("elastic-constant"))
-            h->setTowElasticConstant(attrf(a, "elastic-constant"));
-        if(a->hasAttribute("break-force"))
-            h->setTowBreakForce(attrf(a, "break-force"));
-        if(a->hasAttribute("weight-per-meter"))
-            h->setTowWeightPerM(attrf(a, "weight-per-meter"));
-        if(a->hasAttribute("mp-auto-connect-period"))
-            h->setMpAutoConnectPeriod(attrf(a, "mp-auto-connect-period"));
-    } else if(eq(name, "winch")) {
-        Hitch* h = (Hitch*)_currObj;
-        double pos[3];
-        pos[0] = attrd(a, "x",0);
-        pos[1] = attrd(a, "y",0);
-        pos[2] = attrd(a, "z",0);
-        h->setWinchPosition(pos);
-        if(a->hasAttribute("max-speed"))
-            h->setWinchMaxSpeed(attrf(a, "max-speed"));
-        if(a->hasAttribute("power"))
-            h->setWinchPower(attrf(a, "power") * 1000);
-        if(a->hasAttribute("max-force"))
-            h->setWinchMaxForce(attrf(a, "max-force"));
-        if(a->hasAttribute("initial-tow-length"))
-            h->setWinchInitialTowLength(attrf(a, "initial-tow-length"));
-        if(a->hasAttribute("max-tow-length"))
-            h->setWinchMaxTowLength(attrf(a, "max-tow-length"));
-        if(a->hasAttribute("min-tow-length"))
-            h->setWinchMinTowLength(attrf(a, "min-tow-length"));
-    } else if(eq(name, "gear")) {
-	Gear* g = new Gear();
-	_currObj = g;
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	g->setPosition(v);
-        float nrm = Math::mag3(v);
-        if (_vehicle_radius < nrm)
-            _vehicle_radius = nrm;
-        if(a->hasAttribute("upx")) {
-            v[0] = attrf(a, "upx");
-            v[1] = attrf(a, "upy");
-            v[2] = attrf(a, "upz");
-            Math::unit3(v, v);
-        } else {
-            v[0] = 0;
-            v[1] = 0;
-            v[2] = 1;
-        }
-        for(int i=0; i<3; i++)
-            v[i] *= attrf(a, "compression", 1);
-	g->setCompression(v);
-        g->setBrake(attrf(a, "skid", 0));
-        g->setInitialLoad(attrf(a, "initial-load", 0));
-	g->setStaticFriction(attrf(a, "sfric", 0.8));
-	g->setDynamicFriction(attrf(a, "dfric", 0.7));
-        g->setSpring(attrf(a, "spring", 1));
-        g->setDamping(attrf(a, "damp", 1));
-        if(a->hasAttribute("on-water")) g->setOnWater(attrb(a,"on-water"));
-        if(a->hasAttribute("on-solid")) g->setOnSolid(attrb(a,"on-solid"));
-        if(a->hasAttribute("ignored-by-solver")) g->setIgnoreWhileSolving(attrb(a,"ignored-by-solver"));
-        g->setSpringFactorNotPlaning(attrf(a, "spring-factor-not-planing", 1));
-        g->setSpeedPlaning(attrf(a, "speed-planing", 0) * KTS2MPS);
-        g->setReduceFrictionByExtension(attrf(a, "reduce-friction-by-extension", 0));
-	_airplane.addGear(g);
-    } else if(eq(name, "hook")) {
-	Hook* h = new Hook();
-	_currObj = h;
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	h->setPosition(v);
-        float length = attrf(a, "length", 1.0);
-        h->setLength(length);
-        float nrm = length+Math::mag3(v);
-        if (_vehicle_radius < nrm)
-            _vehicle_radius = nrm;
-        h->setDownAngle(attrf(a, "down-angle", 70) * DEG2RAD);
-        h->setUpAngle(attrf(a, "up-angle", 0) * DEG2RAD);
- 	_airplane.addHook(h);
-    } else if(eq(name, "launchbar")) {
-	Launchbar* l = new Launchbar();
-	_currObj = l;
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	l->setLaunchbarMount(v);
-	v[0] = attrf(a, "holdback-x", v[0]);
-	v[1] = attrf(a, "holdback-y", v[1]);
-	v[2] = attrf(a, "holdback-z", v[2]);
-	l->setHoldbackMount(v);
-        float length = attrf(a, "length", 1.0);
-        l->setLength(length);
-        l->setDownAngle(attrf(a, "down-angle", 45) * DEG2RAD);
-        l->setUpAngle(attrf(a, "up-angle", -45) * DEG2RAD);
-        l->setHoldbackLength(attrf(a, "holdback-length", 2.0));
- 	_airplane.addLaunchbar(l);
-    } else if(eq(name, "fuselage")) {
-	float b[3];
-	v[0] = attrf(a, "ax");
-	v[1] = attrf(a, "ay");
-	v[2] = attrf(a, "az");
-	b[0] = attrf(a, "bx");
-	b[1] = attrf(a, "by");
-	b[2] = attrf(a, "bz");
-        float taper = attrf(a, "taper", 1);
-        float mid = attrf(a, "midpoint", 0.5);
-	if (_airplane.isVersionOrNewer(Version::YASIM_VERSION_32)) {
-	    // A fuselage's "midpoint" XML attribute is defined from the
-            // fuselage's front end, but the Fuselage object's internal
-            // "mid" attribute is actually defined from the rear end.
-	    // Thus YASim's original interpretation of "midpoint" was wrong.
-            // Complement the "midpoint" value to ensure the fuselage
-            // points the right way.
-	    mid = 1 - mid;
-	}
-        float cx = attrf(a, "cx", 1);
-        float cy = attrf(a, "cy", 1);
-        float cz = attrf(a, "cz", 1);
-	float idrag = attrf(a, "idrag", 1);
-	_airplane.addFuselage(v, b, attrf(a, "width"), taper, mid, 
-            cx, cy, cz, idrag);
-    } else if(eq(name, "tank")) {
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	float density = 6.0; // gasoline, in lbs/gal
-	if(a->hasAttribute("jet")) density = 6.72; 
-	density *= LBS2KG*CM2GALS;
-        float capacity = 0;
-        if(a->hasAttribute("capacity")) { capacity = attrf(a, "capacity") * LBS2KG; }
-        else if(a->hasAttribute("capacity-lbs")) { capacity = attrf(a, "capacity-lbs") * LBS2KG; }
-        else if(a->hasAttribute("capacity-kg")) { capacity = attrf(a, "capacity-kg"); }
-        else {
-          SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, tank needs one of {capacity-lbs, capacity-kg}");
-          exit(1);                 
-        }
-        _airplane.addTank(v, capacity, density);
-    } else if(eq(name, "ballast")) {
-	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-        if(a->hasAttribute("mass")) { f = attrf(a, "mass") * LBS2KG; } 
-        else if (a->hasAttribute("mass-lbs")) { f = attrf(a, "mass-lbs") * LBS2KG; } 
-        else if (a->hasAttribute("mass-kg")) { f = attrf(a, "mass-kg"); }
-        else {
-          SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, airplane needs one of {mass-lbs, mass-kg}");
-          exit(1);       
-        }
-        _airplane.addBallast(v, f);
-    } else if(eq(name, "weight")) {
-	parseWeight(a);
-    } else if(eq(name, "stall")) {
-	Wing* w = (Wing*)_currObj;
-        StallParams sp;
-        sp.aoa = attrf(a, "aoa") * DEG2RAD;
-        sp.width = attrf(a, "width", 2) * DEG2RAD;
-        sp.peak = attrf(a, "peak", 1.5);
-        w->setStallParams(sp);
-    } else if(eq(name, "flap0") || eq(name, "flap1") || eq(name, "spoiler") || eq(name, "slat")) {
-        FlapParams fp;
-        fp.start = attrf(a, "start");
-        fp.end = attrf(a, "end");
-        if (eq(name, "slat")) {
-            fp.aoa = attrf(a, "aoa");
-        } 
-        else {
-            fp.lift =  attrf(a, "lift");
-        }
-        fp.drag = attrf(a, "drag");
-        
-        if (eq(name, "flap0")) {
-            ((Wing*)_currObj)->setFlapParams(WING_FLAP0, fp);
-        }
-        if (eq(name, "flap1")) {
-            ((Wing*)_currObj)->setFlapParams(WING_FLAP1, fp);
-        }
-        if (eq(name, "spoiler")) {
-            ((Wing*)_currObj)->setFlapParams(WING_SPOILER, fp);
-        }
-        if (eq(name, "slat")) {
-            ((Wing*)_currObj)->setFlapParams(WING_SLAT, fp);
-        }
-    } else if(eq(name, "actionpt")) {
- 	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	((Thruster*)_currObj)->setPosition(v);
-    } else if(eq(name, "dir")) {
- 	v[0] = attrf(a, "x");
-	v[1] = attrf(a, "y");
-	v[2] = attrf(a, "z");
-	((Thruster*)_currObj)->setDirection(v);
-  } else if(eq(name, "control-setting")) {
-    // A cruise or approach control setting
-    const char* axis = a->getValue("axis");
-    float value = attrf(a, "value", 0);
-    ControlMap* cm = _airplane.getControlMap();
-    if(_cruiseCurr)
-        _airplane.addCruiseControl(cm->propertyHandle(axis), value);
-    else
-	    _airplane.addApproachControl(cm->propertyHandle(axis), value);
-    } else if(eq(name, "control-input")) {
-        ControlMap* cm = _airplane.getControlMap();
-        // A mapping of input property to a control
-        int propHandle = cm->propertyHandle(a->getValue("axis"));
-        ControlMap::Control control = cm->parseControl(a->getValue("control"));
-        int opt = 0;
-        opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
-        opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
-        opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
-        if(a->hasAttribute("src0")) {
-            cm->addMapping(propHandle, control, _currObj, opt, attrf(a, "src0"), attrf(a, "src1"), attrf(a, "dst0"), attrf(a, "dst1"));
-        } else {
-            cm->addMapping(propHandle, control, _currObj, opt);
-        }
-    } else if(eq(name, "control-output")) {
-        // A property output for a control on the current object
-        ControlMap* cm = _airplane.getControlMap();
-        ControlMap::Control control = cm->parseControl(a->getValue("control"));
-
-        PropOut* p = new PropOut();
-        p->prop = fgGetNode(a->getValue("prop"), true);
-        p->handle = cm->getOutputHandle(_currObj, control);
-        p->control = control;
-        p->left = !(a->hasAttribute("side") &&
-                            eq("right", a->getValue("side")));
-        p->min = attrf(a, "min", cm->rangeMin(control));
-        p->max = attrf(a, "max", cm->rangeMax(control));
-        _controlProps.add(p);
-
-    } else if(eq(name, "control-speed")) {
-        ControlMap* cm = _airplane.getControlMap();
-        ControlMap::Control control = cm->parseControl(a->getValue("control"));
-        int handle = cm->getOutputHandle(_currObj, control);
-        float time = attrf(a, "transition-time", 0);
-        
-        cm->setTransitionTime(handle, time);
-    } else {
-        SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '"
-               << name << "' found in YASim aircraft description");
+    } 
+    else if(!strcmp(name, "wing") || !strcmp(name, "hstab") || !strcmp(name, "vstab") || !strcmp(name, "mstab")) { 
+        parseWing(&a, name, &_airplane); 
+    } 
+    else if(!strcmp(name, "piston-engine")) { parsePistonEngine(&a); }
+    else if(!strcmp(name, "turbine-engine")) { parseTurbineEngine(&a); }
+    else if(!strcmp(name, "propeller")) { parsePropeller(&a); } 
+    else if(!strcmp(name, "thruster")) { parseThruster(&a); }
+    else if(!strcmp(name, "jet")) { parseJet(&a); } 
+    else if(!strcmp(name, "hitch")) { parseHitch(&a); }
+    else if(!strcmp(name, "tow")) { parseTow(&a); } 
+    else if(!strcmp(name, "winch")) { parseWinch(&a); } 
+    else if(!strcmp(name, "gear")) { parseGear(&a); } 
+    else if(!strcmp(name, "hook")) { parseHook(&a); } 
+    else if(!strcmp(name, "launchbar")) { parseLaunchbar(&a); } 
+    else if(!strcmp(name, "fuselage")) { parseFuselage(&a); } 
+    else if(!strcmp(name, "tank")) { parseTank(&a); } 
+    else if(!strcmp(name, "ballast")) { parseBallast(&a); } 
+    else if(!strcmp(name, "weight")) { parseWeight(&a); } 
+    else if(!strcmp(name, "stall")) { parseStall(&a); }
+    else if(!strcmp(name, "flap0") || !strcmp(name, "flap1") || !strcmp(name, "spoiler") || !strcmp(name, "slat")) {
+        parseFlap(&a, name);
+    } 
+    else if(!strcmp(name, "actionpt")) {
+        attrf_xyz(&a, v);
+        ((Thruster*)_currObj)->setPosition(v);
+    } 
+    else if(!strcmp(name, "dir")) {
+        attrf_xyz(&a, v);
+        ((Thruster*)_currObj)->setDirection(v);
+    } 
+    else if(!strcmp(name, "control-setting")) { parseControlSetting(&a); }
+    else if(!strcmp(name, "control-input")) { parseControlIn(&a); }
+    else if(!strcmp(name, "control-output")) { parseControlOut(&a); }
+    else if(!strcmp(name, "control-speed")) { parseControlSpeed(&a); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '" << name << "' found in YASim aircraft description");
         exit(1);
     }
+} // startElement
+
+void FGFDM::parseAirplane(const XMLAttributes* a)
+{
+    float f {0};
+    if(a->hasAttribute("mass")) { f = attrf(a, "mass") * LBS2KG; } 
+    else if (a->hasAttribute("mass-lbs")) { f = attrf(a, "mass-lbs") * LBS2KG; } 
+    else if (a->hasAttribute("mass-kg")) { f = attrf(a, "mass-kg"); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, airplane needs one of {mass-lbs, mass-kg}");
+        exit(1);       
+    }
+    _airplane.setEmptyWeight(f);
+    if(a->hasAttribute("version")) { _airplane.setVersion(a->getValue("version")); }
+    if( !_airplane.isVersionOrNewer( Version::YASIM_VERSION_CURRENT ) ) {
+        SG_LOG(SG_FLIGHT, SG_DEV_ALERT, "This aircraft does not use the latest yasim configuration version.");
+    }
+    _airplane.setDesiredCGRangeInPercentOfMAC(attrf(a, "cg-min", 0.25f), attrf(a, "cg-max", 0.3f)); 
+    if (attrb(a, "auto-ballast")) { _airplane.setAutoBallast(true); }
 }
 
+void FGFDM::parseApproachCruise(const XMLAttributes* a, const char* name)
+{      
+    float spd, alt = 0;
+    if (a->hasAttribute("speed")) { spd = attrf(a, "speed") * KTS2MPS; }
+    else if (a->hasAttribute("speed-kt")) { spd = attrf(a, "speed-kt") * KTS2MPS; }
+    else if (a->hasAttribute("speed-kmh")) { spd = attrf(a, "speed-kmh") * KMH2MPS; }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, "<< name << " needs one of {speed-kt, speed-kmh}");
+        exit(1);       
+    }
+    if (a->hasAttribute("alt")) { alt = attrf(a, "alt") * FT2M; }
+    else if (a->hasAttribute("alt-ft")) { alt = attrf(a, "alt-ft") * FT2M; }
+    else if (a->hasAttribute("alt-m")) { alt = attrf(a, "alt-m"); }
+    float gla = attrf(a, "glide-angle", 0) * DEG2RAD;
+    if (!strcmp(name, "approach")) {
+        float aoa = attrf(a, "aoa", 0) * DEG2RAD;
+        _airplane.setApproach(spd, alt, aoa, attrf(a, "fuel", 0.2), gla);
+        _cruiseCurr = false;        
+    }
+    else {
+        _airplane.setCruise(spd, alt, attrf(a, "fuel", 0.5),gla);
+        _cruiseCurr = true;
+    }
+}
+
+void FGFDM::parseSolveWeight(const XMLAttributes* a)
+{
+    float f {0};
+    int idx = attri(a, "idx");
+    if(a->hasAttribute("weight")) { f = attrf(a, "weight") * LBS2KG; }
+    else if(a->hasAttribute("weight-lbs")) { f = attrf(a, "weight-lbs") * LBS2KG; }
+    else if(a->hasAttribute("weight-kg")) { f = attrf(a, "weight-kg"); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, solve-weight needs one of {weight-lbs, weight-kg}");
+        exit(1);       
+    }
+    _airplane.addSolutionWeight(!_cruiseCurr, idx, f);
+}
+
+void FGFDM::parseCockpit(const XMLAttributes* a)
+{
+    float v[3];
+    attrf_xyz(a, v);
+    _airplane.setPilotPos(v);
+}
+
+
 void FGFDM::getExternalInput(float dt)
 {
     char buf[256];
@@ -801,69 +529,89 @@ void FGFDM::setOutputProperties(float dt)
     }
 }
 
-Wing* FGFDM::parseWing(XMLAttributes* a, const char* type, Version * version)
+void FGFDM::parseWing(const XMLAttributes* a, const char* type, Airplane* airplane)
 {
     float defDihed = 0;
     bool mirror = true;
 
-    if(eq(type, "vstab")) {
-      defDihed = 90;
-      mirror = false;
+    if(!strcmp(type, "vstab")) {
+        defDihed = 90;
+        mirror = false;
     }
     
-    float isSection = attrb(a, "section");
     float base[3] {0,0,0};
     float chord {0};
-    if (!isSection) {
-      base[0] = attrf(a, "x");
-      base[1] = attrf(a, "y");
-      base[2] = attrf(a, "z");
-      chord = attrf(a, "chord");
-    } 
     float length = attrf(a, "length");
 
+    // These come in with positive indicating positive AoA, but the
+    // internals expect a rotation about the left-pointing Y axis, so
+    // invert the sign.
+    float incidence {0};
+    float twist = attrf(a, "twist", 0) * DEG2RAD * -1;
+    
+    // if this element is declared as section of a wing, skip attributes 
+    // that are ignored in class Wing anyway because they are calculated
+    float isSection = attrb(a, "append");
+    if (!isSection) {
+        attrf_xyz(a, base);
+        chord = attrf(a, "chord");
+        incidence = attrf(a, "incidence", 0) * DEG2RAD * -1;
+    } 
+
     // optional attributes (with defaults)
     float sweep = attrf(a, "sweep", 0) * DEG2RAD;
     float taper = attrf(a, "taper", 1);
     float dihedral = attrf(a, "dihedral", defDihed) * DEG2RAD;
 
-    // These come in with positive indicating positive AoA, but the
-    // internals expect a rotation about the left-pointing Y axis, so
-    // invert the sign.
-    float incidence = attrf(a, "incidence", 0) * DEG2RAD * -1;
-    float twist = attrf(a, "twist", 0) * DEG2RAD * -1;
 
     float camber = attrf(a, "camber", 0);
-    if (!version->isVersionOrNewer(Version::YASIM_VERSION_2017_2) && (camber == 0)) {
-      SG_LOG(SG_FLIGHT, SG_DEV_WARN, "YASIM warning: versions before 2017.2 are buggy for wings with camber=0");
+    if (!airplane->isVersionOrNewer(Version::YASIM_VERSION_2017_2) && (camber == 0)) {
+        SG_LOG(SG_FLIGHT, SG_DEV_WARN, "YASIM warning: versions before 2017.2 are buggy for wings with camber=0");
     }
     
-    Wing* w = new Wing(version, mirror, base, chord, length, 
-                      taper, sweep, dihedral, twist);
-    w->setIncidence(incidence);
-    w->setCamber(camber);
-
     // The 70% is a magic number that sorta kinda seems to match known
     // throttle settings to approach speed.
-    w->setInducedDrag(0.7*attrf(a, "idrag", 1));
+    float idrag = 0.7*attrf(a, "idrag", 1);
    
-    float effect = attrf(a, "effectiveness", 1);
-    w->multiplyDragCoefficient(effect);
-    
+    // get wing object by type
+    Wing* w;
+    if (!strcmp(type, "wing"))
+    {
+        w = airplane->getWing();
+    } 
+    else if (!strcmp(type, "hstab")) {
+        w = airplane->getTail();
+    } else {
+        w = new Wing(airplane, mirror);
+    }
+    // add section; if wing object has already section, base will be overridden 
+    // by tip of last section
+    _wingSection = w->addWingSection(base, chord, length, taper, sweep, dihedral, twist, camber, idrag, incidence);
+    if (!strcmp(type, "vstab") || !strcmp(type, "mstab"))
+    {
+        airplane->addVStab(w);
+    } 
+
+    float dragFactor = attrf(a, "pdrag", 1);
+    if (a->hasAttribute("effectiveness")) {
+        SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
+               "deprecated attribute 'effectiveness' in YASim configuration file.  " <<
+               "Use 'pdrag' instead to add parasitic drag.");
+        
+        dragFactor = attrf(a, "effectiveness", 1);
+    }
+    w->setSectionDrag(_wingSection, dragFactor);
     _currObj = w;
-    return w;
 }
 
-Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
+void FGFDM::parseRotor(const XMLAttributes* a, const char* type)
 {
     Rotor* w = new Rotor();
 
     // float defDihed = 0;
 
     float pos[3];
-    pos[0] = attrf(a, "x");
-    pos[1] = attrf(a, "y");
-    pos[2] = attrf(a, "z");
+    attrf_xyz(a, pos);
     w->setBase(pos);
 
     float normal[3];
@@ -920,24 +668,21 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
     if(attrb(a,"sharedflaphinge"))
        w->setSharedFlapHinge(true); 
 
-    if(a->hasAttribute("name"))
-       w->setName(a->getValue("name") );
-    if(a->hasAttribute("alphaout0"))
-       w->setAlphaoutput(0,a->getValue("alphaout0") );
-    if(a->hasAttribute("alphaout1"))  w->setAlphaoutput(1,a->getValue("alphaout1") );
-    if(a->hasAttribute("alphaout2"))  w->setAlphaoutput(2,a->getValue("alphaout2") );
-    if(a->hasAttribute("alphaout3"))  w->setAlphaoutput(3,a->getValue("alphaout3") );
-    if(a->hasAttribute("coneout"))  w->setAlphaoutput(4,a->getValue("coneout") );
-    if(a->hasAttribute("yawout"))   w->setAlphaoutput(5,a->getValue("yawout") );
-    if(a->hasAttribute("rollout"))  w->setAlphaoutput(6,a->getValue("rollout") );
+    if(a->hasAttribute("name"))      w->setName(a->getValue("name"));
+    if(a->hasAttribute("alphaout0")) w->setAlphaoutput(0,a->getValue("alphaout0"));
+    if(a->hasAttribute("alphaout1")) w->setAlphaoutput(1,a->getValue("alphaout1"));
+    if(a->hasAttribute("alphaout2")) w->setAlphaoutput(2,a->getValue("alphaout2"));
+    if(a->hasAttribute("alphaout3")) w->setAlphaoutput(3,a->getValue("alphaout3"));
+    if(a->hasAttribute("coneout"))   w->setAlphaoutput(4,a->getValue("coneout"));
+    if(a->hasAttribute("yawout"))    w->setAlphaoutput(5,a->getValue("yawout"));
+    if(a->hasAttribute("rollout"))   w->setAlphaoutput(6,a->getValue("rollout"));
 
     w->setPitchA(attrf(a, "pitch-a", 10));
     w->setPitchB(attrf(a, "pitch-b", 10));
     w->setForceAtPitchA(attrf(a, "forceatpitch-a", 3000));
     w->setPowerAtPitch0(attrf(a, "poweratpitch-0", 300));
     w->setPowerAtPitchB(attrf(a, "poweratpitch-b", 3000));
-    if(attrb(a,"notorque"))
-       w->setNotorque(1); 
+    if(attrb(a,"notorque")) w->setNotorque(1); 
 
 #define p(x) if (a->hasAttribute(#x)) w->setParameter((char *)#x,attrf(a,#x) );
 #define p2(x,y) if (a->hasAttribute(y)) w->setParameter((char *)#x,attrf(a,y) );
@@ -971,10 +716,10 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
 #undef p
 #undef p2
     _currObj = w;
-    return w;
-}
+    _airplane.getModel()->getRotorgear()->addRotor(w);    
+} //parseRotor
 
-void FGFDM::parsePistonEngine(XMLAttributes* a)
+void FGFDM::parsePistonEngine(const XMLAttributes* a)
 {
     float engP = attrf(a, "eng-power") * HP2W;
     float engS = attrf(a, "eng-rpm") * RPM2RAD;
@@ -1003,7 +748,7 @@ void FGFDM::parsePistonEngine(XMLAttributes* a)
     ((PropEngine*)_currObj)->setEngine(eng);
 }
 
-void FGFDM::parseTurbineEngine(XMLAttributes* a)
+void FGFDM::parseTurbineEngine(const XMLAttributes* a)
 {
     float power = attrf(a, "eng-power") * HP2W;
     float omega = attrf(a, "eng-rpm") * RPM2RAD;
@@ -1022,7 +767,7 @@ void FGFDM::parseTurbineEngine(XMLAttributes* a)
     ((PropEngine*)_currObj)->setEngine(eng);
 }
 
-void FGFDM::parsePropeller(XMLAttributes* a)
+void FGFDM::parsePropeller(const XMLAttributes* a)
 {
     // Legacy Handling for the old engines syntax:
     PistonEngine* eng = 0;
@@ -1046,9 +791,7 @@ void FGFDM::parsePropeller(XMLAttributes* a)
 
     // Now parse the actual propeller definition:
     float cg[3];
-    cg[0] = attrf(a, "x");
-    cg[1] = attrf(a, "y");
-    cg[2] = attrf(a, "z");
+    attrf_xyz(a, cg);
     float mass = attrf(a, "mass") * LBS2KG;
     float moment = attrf(a, "moment");
     float radius = attrf(a, "radius");
@@ -1091,30 +834,364 @@ void FGFDM::parsePropeller(XMLAttributes* a)
     sprintf(buf, "/engines/engine[%d]", _nextEngine++);
     EngRec* er = new EngRec();
     er->eng = thruster;
-    er->prefix = dup(buf);
+    er->prefix = strdup(buf);
     _thrusters.add(er);
 
     _currObj = thruster;
 }
 
+void FGFDM::parseThruster(const XMLAttributes* a)
+{
+    float v[3];
+    SimpleJet* j = new SimpleJet();
+    _currObj = j;
+    attrf_xyz(a, v);
+    j->setPosition(v);
+    _airplane.addThruster(j, 0, v);
+    v[0] = attrf(a, "vx"); v[1] = attrf(a, "vy"); v[2] = attrf(a, "vz");
+    j->setDirection(v);
+    j->setThrust(attrf(a, "thrust") * LBS2N);    
+}
 
-void FGFDM::parseWeight(XMLAttributes* a)
+void FGFDM::parseJet(const XMLAttributes* a)
+{
+    float v[3];
+    Jet* j = new Jet();
+    _currObj = j;
+    attrf_xyz(a, v);
+    float mass;
+    if(a->hasAttribute("mass")) { mass = attrf(a, "mass") * LBS2KG; }
+    else if(a->hasAttribute("mass-lbs")) { mass = attrf(a, "mass-lbs") * LBS2KG; }
+    else if(a->hasAttribute("mass-kg")) { mass = attrf(a, "mass-kg"); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, jet needs one of {mass-lbs, mass-kg}");
+        exit(1);       
+    }       
+    j->setMaxThrust(attrf(a, "thrust") * LBS2N, attrf(a, "afterburner", 0) * LBS2N);
+    j->setVectorAngle(attrf(a, "rotate", 0) * DEG2RAD);
+    j->setReverseThrust(attrf(a, "reverse", 0.2));
+
+    float n1min = attrf(a, "n1-idle", 55);
+    float n1max = attrf(a, "n1-max", 102);
+    float n2min = attrf(a, "n2-idle", 73);
+    float n2max = attrf(a, "n2-max", 103);
+    j->setRPMs(n1min, n1max, n2min, n2max);
+
+    j->setTSFC(attrf(a, "tsfc", 0.8));
+    j->setATSFC(attrf(a, "atsfc", 0.0));
+    if(a->hasAttribute("egt"))  j->setEGT(attrf(a, "egt"));
+    if(a->hasAttribute("epr"))  j->setEPR(attrf(a, "epr"));
+    if(a->hasAttribute("exhaust-speed"))
+        j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
+    if(a->hasAttribute("spool-time"))
+        j->setSpooling(attrf(a, "spool-time"));
+    
+    j->setPosition(v);
+    _airplane.addThruster(j, mass, v);
+    char buf[64];
+    sprintf(buf, "/engines/engine[%d]", _nextEngine++);
+    EngRec* er = new EngRec();
+    er->eng = j;
+    er->prefix = strdup(buf);
+    _thrusters.add(er);    
+}
+
+void FGFDM::parseHitch(const XMLAttributes* a)
+{
+    float v[3];
+    Hitch* h = new Hitch(a->getValue("name"));
+    _currObj = h;
+    attrf_xyz(a, v);
+    h->setPosition(v);
+    if(a->hasAttribute("force-is-calculated-by-other")) h->setForceIsCalculatedByOther(attrb(a,"force-is-calculated-by-other"));
+    _airplane.addHitch(h);    
+}
+    
+void FGFDM::parseTow(const XMLAttributes* a)
+{
+    Hitch* h = (Hitch*)_currObj;
+    if(a->hasAttribute("length"))
+        h->setTowLength(attrf(a, "length"));
+    if(a->hasAttribute("elastic-constant"))
+        h->setTowElasticConstant(attrf(a, "elastic-constant"));
+    if(a->hasAttribute("break-force"))
+        h->setTowBreakForce(attrf(a, "break-force"));
+    if(a->hasAttribute("weight-per-meter"))
+        h->setTowWeightPerM(attrf(a, "weight-per-meter"));
+    if(a->hasAttribute("mp-auto-connect-period"))
+        h->setMpAutoConnectPeriod(attrf(a, "mp-auto-connect-period"));    
+}
+    
+void FGFDM::parseWinch(const XMLAttributes* a)
+{
+    Hitch* h = (Hitch*)_currObj;
+    double pos[3];
+    pos[0] = attrd(a, "x",0);
+    pos[1] = attrd(a, "y",0);
+    pos[2] = attrd(a, "z",0);
+    h->setWinchPosition(pos);
+    if(a->hasAttribute("max-speed"))
+        h->setWinchMaxSpeed(attrf(a, "max-speed"));
+    if(a->hasAttribute("power"))
+        h->setWinchPower(attrf(a, "power") * 1000);
+    if(a->hasAttribute("max-force"))
+        h->setWinchMaxForce(attrf(a, "max-force"));
+    if(a->hasAttribute("initial-tow-length"))
+        h->setWinchInitialTowLength(attrf(a, "initial-tow-length"));
+    if(a->hasAttribute("max-tow-length"))
+        h->setWinchMaxTowLength(attrf(a, "max-tow-length"));
+    if(a->hasAttribute("min-tow-length"))
+        h->setWinchMinTowLength(attrf(a, "min-tow-length"));    
+}
+
+void FGFDM::parseGear(const XMLAttributes* a)
+{
+    float v[3];
+    Gear* g = new Gear();
+    _currObj = g;
+    attrf_xyz(a, v);
+    g->setPosition(v);
+    float nrm = Math::mag3(v);
+    if (_vehicle_radius < nrm)
+        _vehicle_radius = nrm;
+    if(a->hasAttribute("upx")) {
+        v[0] = attrf(a, "upx");
+        v[1] = attrf(a, "upy");
+        v[2] = attrf(a, "upz");
+        Math::unit3(v, v);
+    } else {
+        v[0] = 0;
+        v[1] = 0;
+        v[2] = 1;
+    }
+    for(int i=0; i<3; i++)
+        v[i] *= attrf(a, "compression", 1);
+    g->setCompression(v);
+    g->setBrake(attrf(a, "skid", 0));
+    g->setInitialLoad(attrf(a, "initial-load", 0));
+    g->setStaticFriction(attrf(a, "sfric", 0.8));
+    g->setDynamicFriction(attrf(a, "dfric", 0.7));
+    g->setSpring(attrf(a, "spring", 1));
+    g->setDamping(attrf(a, "damp", 1));
+    if(a->hasAttribute("on-water")) g->setOnWater(attrb(a,"on-water"));
+    if(a->hasAttribute("on-solid")) g->setOnSolid(attrb(a,"on-solid"));
+    if(a->hasAttribute("ignored-by-solver")) g->setIgnoreWhileSolving(attrb(a,"ignored-by-solver"));
+    g->setSpringFactorNotPlaning(attrf(a, "spring-factor-not-planing", 1));
+    g->setSpeedPlaning(attrf(a, "speed-planing", 0) * KTS2MPS);
+    g->setReduceFrictionByExtension(attrf(a, "reduce-friction-by-extension", 0));
+    _airplane.addGear(g);    
+}
+
+void FGFDM::parseHook(const XMLAttributes* a)
+{
+    float v[3];
+    Hook* h = new Hook();
+    _currObj = h;
+    attrf_xyz(a, v);
+    h->setPosition(v);
+    float length = attrf(a, "length", 1.0);
+    h->setLength(length);
+    float nrm = length+Math::mag3(v);
+    if (_vehicle_radius < nrm)
+        _vehicle_radius = nrm;
+    h->setDownAngle(attrf(a, "down-angle", 70) * DEG2RAD);
+    h->setUpAngle(attrf(a, "up-angle", 0) * DEG2RAD);
+    _airplane.addHook(h);
+}
+
+void FGFDM::parseLaunchbar(const XMLAttributes* a)
+{
+    float v[3];
+    Launchbar* l = new Launchbar();
+    _currObj = l;
+    attrf_xyz(a, v);
+    l->setLaunchbarMount(v);
+    v[0] = attrf(a, "holdback-x", v[0]);
+    v[1] = attrf(a, "holdback-y", v[1]);
+    v[2] = attrf(a, "holdback-z", v[2]);
+    l->setHoldbackMount(v);
+    float length = attrf(a, "length", 1.0);
+    l->setLength(length);
+    l->setDownAngle(attrf(a, "down-angle", 45) * DEG2RAD);
+    l->setUpAngle(attrf(a, "up-angle", -45) * DEG2RAD);
+    l->setHoldbackLength(attrf(a, "holdback-length", 2.0));
+    _airplane.addLaunchbar(l);    
+}
+
+void FGFDM::parseFuselage(const XMLAttributes* a)
+{
+    float v[3];
+    float b[3];
+    v[0] = attrf(a, "ax");
+    v[1] = attrf(a, "ay");
+    v[2] = attrf(a, "az");
+    b[0] = attrf(a, "bx");
+    b[1] = attrf(a, "by");
+    b[2] = attrf(a, "bz");
+    float taper = attrf(a, "taper", 1);
+    float mid = attrf(a, "midpoint", 0.5);
+    if (_airplane.isVersionOrNewer(Version::YASIM_VERSION_32)) {
+        // A fuselage's "midpoint" XML attribute is defined from the
+            // fuselage's front end, but the Fuselage object's internal
+            // "mid" attribute is actually defined from the rear end.
+        // Thus YASim's original interpretation of "midpoint" was wrong.
+            // Complement the "midpoint" value to ensure the fuselage
+            // points the right way.
+        mid = 1 - mid;
+    }
+    float cx = attrf(a, "cx", 1);
+    float cy = attrf(a, "cy", 1);
+    float cz = attrf(a, "cz", 1);
+    float idrag = attrf(a, "idrag", 1);
+    _airplane.addFuselage(v, b, attrf(a, "width"), taper, mid, cx, cy, cz, idrag);
+}
+
+void FGFDM::parseTank(const XMLAttributes* a)
+{
+    float v[3];
+    attrf_xyz(a, v);
+    float density = 6.0; // gasoline, in lbs/gal
+    if(a->hasAttribute("jet")) density = 6.72; 
+    density *= LBS2KG*CM2GALS;
+    float capacity = 0;
+    if(a->hasAttribute("capacity")) { capacity = attrf(a, "capacity") * LBS2KG; }
+    else if(a->hasAttribute("capacity-lbs")) { capacity = attrf(a, "capacity-lbs") * LBS2KG; }
+    else if(a->hasAttribute("capacity-kg")) { capacity = attrf(a, "capacity-kg"); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, tank needs one of {capacity-lbs, capacity-kg}");
+        exit(1);                 
+    }
+    _airplane.addTank(v, capacity, density);
+}
+
+void FGFDM::parseBallast(const XMLAttributes* a)
+{
+    float v[3];
+    float f;
+    attrf_xyz(a, v);
+    if(a->hasAttribute("mass")) { f = attrf(a, "mass") * LBS2KG; } 
+    else if (a->hasAttribute("mass-lbs")) { f = attrf(a, "mass-lbs") * LBS2KG; } 
+    else if (a->hasAttribute("mass-kg")) { f = attrf(a, "mass-kg"); }
+    else {
+        SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, airplane needs one of {mass-lbs, mass-kg}");
+        exit(1);       
+    }
+    _airplane.addBallast(v, f);
+}
+
+/*
+void FGFDM::parseXXX(const XMLAttributes* a)
+{
+    float v[3];
+}
+*/
+
+void FGFDM::parseWeight(const XMLAttributes* a)
 {
     WeightRec* wr = new WeightRec();
 
     float v[3];
-    v[0] = attrf(a, "x");
-    v[1] = attrf(a, "y");
-    v[2] = attrf(a, "z");
-
-    wr->prop = dup(a->getValue("mass-prop"));
+    attrf_xyz(a, v);
+    wr->prop = strdup(a->getValue("mass-prop"));
     wr->size = attrf(a, "size", 0);
     wr->handle = _airplane.addWeight(v, wr->size);
-
     _weights.add(wr);
 }
 
-int FGFDM::attri(XMLAttributes* atts, const char* attr)
+void FGFDM::parseStall(const XMLAttributes* a)
+{
+    Wing* w = (Wing*)_currObj;
+    StallParams sp;
+    sp.aoa = attrf(a, "aoa") * DEG2RAD;
+    sp.width = attrf(a, "width", 2) * DEG2RAD;
+    sp.peak = attrf(a, "peak", 1.5);
+    w->setSectionStallParams(_wingSection, sp);
+}
+
+void FGFDM::parseFlap(const XMLAttributes* a, const char* name)
+{
+    FlapParams fp;
+    fp.start = attrf(a, "start");
+    fp.end = attrf(a, "end");
+    if (!strcmp(name, "slat")) {
+        fp.aoa = attrf(a, "aoa");
+    } 
+    else {
+        fp.lift =  attrf(a, "lift");
+    }
+    fp.drag = attrf(a, "drag");
+    if (!strcmp(name, "flap0")) {
+        ((Wing*)_currObj)->setFlapParams(_wingSection, WING_FLAP0, fp);
+    }
+    if (!strcmp(name, "flap1")) {
+        ((Wing*)_currObj)->setFlapParams(_wingSection, WING_FLAP1, fp);
+    }
+    if (!strcmp(name, "spoiler")) {
+        ((Wing*)_currObj)->setFlapParams(_wingSection, WING_SPOILER, fp);
+    }
+    if (!strcmp(name, "slat")) {
+        ((Wing*)_currObj)->setFlapParams(_wingSection, WING_SLAT, fp);
+    }
+}
+
+void FGFDM::parseControlSetting(const XMLAttributes* a)
+{
+    // A cruise or approach control setting
+    float value = attrf(a, "value", 0);
+    if(_cruiseCurr) {
+        _airplane.addCruiseControl(a->getValue("axis"), value);
+    }
+    else {
+        _airplane.addApproachControl(a->getValue("axis"), value);
+    }
+}
+
+void FGFDM::parseControlIn(const XMLAttributes* a)
+{
+    // map input property to a YASim control 
+    ControlMap* cm = _airplane.getControlMap();
+    ControlMap::Control control = cm->parseControl(a->getValue("control"));
+    ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
+    int opt = 0;
+    opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
+    opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
+    opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
+    if(a->hasAttribute("src0")) {
+        cm->addMapping(a->getValue("axis"), control, oid, opt, attrf(a, "src0"), attrf(a, "src1"), attrf(a, "dst0"), attrf(a, "dst1"));
+    } else {
+        cm->addMapping(a->getValue("axis"), control, oid, opt);
+    }   
+}
+
+void FGFDM::parseControlOut(const XMLAttributes* a)
+{
+    // A property output for a control on the current object
+    ControlMap* cm = _airplane.getControlMap();
+    ControlMap::Control control = cm->parseControl(a->getValue("control"));
+    ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
+
+    PropOut* p = new PropOut();
+    p->prop = fgGetNode(a->getValue("prop"), true);
+    p->handle = cm->getOutputHandle(oid, control);
+    p->control = control;
+    p->left = !(a->hasAttribute("side") &&
+                    !strcmp("right", a->getValue("side")));
+    p->min = attrf(a, "min", cm->rangeMin(control));
+    p->max = attrf(a, "max", cm->rangeMax(control));
+    _controlProps.add(p);
+}
+
+void FGFDM::parseControlSpeed(const XMLAttributes* a)
+{
+    ControlMap* cm = _airplane.getControlMap();
+    ControlMap::Control control = cm->parseControl(a->getValue("control"));
+    ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
+    int handle = cm->getOutputHandle(oid, control);
+    float time = attrf(a, "transition-time", 0);
+    cm->setTransitionTime(handle, time);
+}
+
+int FGFDM::attri(const XMLAttributes* atts, const char* attr)
 {
     if(!atts->hasAttribute(attr)) {
         SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
@@ -1124,14 +1201,14 @@ int FGFDM::attri(XMLAttributes* atts, const char* attr)
     return attri(atts, attr, 0);
 }
 
-int FGFDM::attri(XMLAttributes* atts, const char* attr, int def)
+int FGFDM::attri(const XMLAttributes* atts, const char* attr, int def)
 {
     const char* val = atts->getValue(attr);
     if(val == 0) return def;
     else         return atol(val);
 }
 
-float FGFDM::attrf(XMLAttributes* atts, const char* attr)
+float FGFDM::attrf(const XMLAttributes* atts, const char* attr)
 {
     if(!atts->hasAttribute(attr)) {
         SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
@@ -1141,14 +1218,21 @@ float FGFDM::attrf(XMLAttributes* atts, const char* attr)
     return attrf(atts, attr, 0);
 }
 
-float FGFDM::attrf(XMLAttributes* atts, const char* attr, float def)
+float FGFDM::attrf(const XMLAttributes* atts, const char* attr, float def)
 {
     const char* val = atts->getValue(attr);
     if(val == 0) return def;
     else         return (float)atof(val);    
 }
 
-double FGFDM::attrd(XMLAttributes* atts, const char* attr)
+void FGFDM::attrf_xyz(const XMLAttributes* atts, float* out)
+{
+    out[0] = attrf(atts, "x");
+    out[1] = attrf(atts, "y");
+    out[2] = attrf(atts, "z");
+}
+
+double FGFDM::attrd(const XMLAttributes* atts, const char* attr)
 {
     if(!atts->hasAttribute(attr)) {
         SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
@@ -1158,7 +1242,7 @@ double FGFDM::attrd(XMLAttributes* atts, const char* attr)
     return attrd(atts, attr, 0);
 }
 
-double FGFDM::attrd(XMLAttributes* atts, const char* attr, double def)
+double FGFDM::attrd(const XMLAttributes* atts, const char* attr, double def)
 {
     const char* val = atts->getValue(attr);
     if(val == 0) return def;
@@ -1176,12 +1260,12 @@ double FGFDM::attrd(XMLAttributes* atts, const char* attr, double def)
 // Unfortunately, this usage creeped into existing configuration files
 // while I wasn't active, and it's going to be hard to remove.  Issue
 // a warning to nag people into changing their ways for now...
-bool FGFDM::attrb(XMLAttributes* atts, const char* attr)
+bool FGFDM::attrb(const XMLAttributes* atts, const char* attr)
 {
     const char* val = atts->getValue(attr);
     if(val == 0) return false;
 
-    if(eq(val,"true")) {
+    if(!strcmp(val,"true")) {
         SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
                "deprecated 'true' boolean in YASim configuration file.  " <<
                "Use numeric booleans (attribute=\"1\") instead");
diff --git a/src/FDM/YASim/FGFDM.hpp b/src/FDM/YASim/FGFDM.hpp
index 49644163f..845873d66 100644
--- a/src/FDM/YASim/FGFDM.hpp
+++ b/src/FDM/YASim/FGFDM.hpp
@@ -4,7 +4,6 @@
 #include <simgear/xml/easyxml.hxx>
 #include <simgear/props/props.hxx>
 
-#include "yasim-common.hpp"
 #include "Airplane.hpp"
 #include "Vector.hpp"
 
@@ -50,22 +49,49 @@ private:
         float max {0}; 
     };
 
+    void parseAirplane(const XMLAttributes* a);
+    void parseApproachCruise(const XMLAttributes* a, const char* name);
+    void parseSolveWeight(const XMLAttributes* a);
+    void parseCockpit(const XMLAttributes* a);
+    
+    
     void setOutputProperties(float dt);
 
-    Rotor* parseRotor(XMLAttributes* a, const char* name);
-    Wing* parseWing(XMLAttributes* a, const char* name, Version * version);
+    void parseRotor(const XMLAttributes* a, const char* name);
+    void parseWing(const XMLAttributes* a, const char* name, Airplane* airplane);
     int parseOutput(const char* name);
-    void parseWeight(XMLAttributes* a);
-    void parseTurbineEngine(XMLAttributes* a);
-    void parsePistonEngine(XMLAttributes* a);
-    void parsePropeller(XMLAttributes* a);
-    int attri(XMLAttributes* atts, const char* attr);
-    int attri(XMLAttributes* atts, const char* attr, int def); 
-    float attrf(XMLAttributes* atts, const char* attr);
-    float attrf(XMLAttributes* atts, const char* attr, float def); 
-    double attrd(XMLAttributes* atts, const char* attr);
-    double attrd(XMLAttributes* atts, const char* attr, double def); 
-    bool attrb(XMLAttributes* atts, const char* attr);
+    void parseWeight(const XMLAttributes* a);
+    void parseStall(const XMLAttributes* a);
+    void parseFlap(const XMLAttributes* a, const char* name);
+    
+    void parseTurbineEngine(const XMLAttributes* a);
+    void parsePistonEngine(const XMLAttributes* a);
+    void parsePropeller(const XMLAttributes* a);
+    void parseThruster(const XMLAttributes* a);
+    void parseJet(const XMLAttributes* a);
+    void parseHitch(const XMLAttributes* a);
+    void parseTow(const XMLAttributes* a);
+    void parseWinch(const XMLAttributes* a);
+    void parseGear(const XMLAttributes* a);
+    void parseHook(const XMLAttributes* a);
+    void parseLaunchbar(const XMLAttributes* a);
+    void parseFuselage(const XMLAttributes* a);
+    void parseTank(const XMLAttributes* a);
+    void parseBallast(const XMLAttributes* a);
+    void parseControlSetting(const XMLAttributes* a);
+    void parseControlIn(const XMLAttributes* a);
+    void parseControlOut(const XMLAttributes* a);
+    void parseControlSpeed(const XMLAttributes* a);
+    
+    
+    int attri(const XMLAttributes* atts, const char* attr);
+    int attri(const XMLAttributes* atts, const char* attr, int def); 
+    float attrf(const XMLAttributes* atts, const char* attr);
+    float attrf(const XMLAttributes* atts, const char* attr, float def); 
+    void attrf_xyz(const XMLAttributes* atts, float* out);
+    double attrd(const XMLAttributes* atts, const char* attr);
+    double attrd(const XMLAttributes* atts, const char* attr, double def); 
+    bool attrb(const XMLAttributes* atts, const char* attr);
 
     // The core Airplane object we manage.
     Airplane _airplane;
@@ -89,6 +115,7 @@ private:
     void* _currObj {nullptr};
     bool _cruiseCurr {false};
     int _nextEngine {0};
+    int _wingSection {0};
 
     class FuelProps
     {
diff --git a/src/FDM/YASim/Surface.cpp b/src/FDM/YASim/Surface.cpp
index 6f01dc836..ffb5723bf 100644
--- a/src/FDM/YASim/Surface.cpp
+++ b/src/FDM/YASim/Surface.cpp
@@ -67,8 +67,10 @@ void Surface::setSpoilerParams(float liftPenalty, float dragPenalty)
 void Surface::setFlapPos(float pos)
 {
   if (_flapPos != pos) {
-      _flapPos = pos;
-    if (_surfN != 0) _flapN->setFloatValue(pos);
+    _flapPos = pos;
+    if (_surfN != 0) {
+        _flapN->setFloatValue(pos);
+    }
   }
 }
 
@@ -76,7 +78,9 @@ void Surface::setSlatPos(float pos)
 {
   if (_slatPos != pos) {
     _slatPos = pos;
-    if (_surfN != 0) _slatN->setFloatValue(pos);
+    if (_surfN != 0) {
+        _slatN->setFloatValue(pos);
+    }
   }
 }
 
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 3c3c3dc21..02757fa2f 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -5,81 +5,95 @@
 
 namespace yasim {
   
-Wing::Wing(Version *ver, bool mirror, float* base, float chord, 
-        float length, float taper, float sweep, float dihedral, float twist) :
+Wing::Wing(Version *ver, bool mirror) :
     _version(ver),
-    _mirror(mirror),
-    _rootChordLength(chord),
-    _length(length),
-    _taper(taper),
-    _sweepAngleCenterLine(sweep),
-    _dihedral(dihedral),
-    _twist(twist)
+    _mirror(mirror)
 {
-    Math::set3(base, _base);
-    _meanChord = _rootChordLength*(_taper+1)*0.5f;
-    calculateWingCoordinateSystem();
-    calculateTip();
-    calculateSpan();
-    calculateMAC();
 }
 
 Wing::~Wing()
 {
-    for(int i=0; i<_surfs.size(); i++) {
-        SurfRec* s = (SurfRec*)_surfs.get(i);
-        delete s->surface;
-        delete s;
-    }
-}
-
-void Wing::setIncidence(float incidence)
-{
-    _incidence = incidence;
-    for(int i=0; i<_surfs.size(); i++)
-        ((SurfRec*)_surfs.get(i))->surface->setIncidence(incidence);
-}
-
-void Wing::setFlapParams(WingFlaps i, FlapParams fp)
-{
-    _flapParams[i] = fp;
-}
-
-void Wing::setFlapPos(WingFlaps f,float lval, float rval)
-{
-    float min {-1};
-    if (f == WING_SPOILER || f == WING_SLAT) {
-        min = 0;
-    }
-    lval = Math::clamp(lval, min, 1);
-    rval = Math::clamp(rval, min, 1);
-    for(int i=0; i<_flapSurfs[f].size(); i++) {
-        switch (f) {
-            case WING_FLAP0:
-            case WING_FLAP1:
-                ((Surface*)_flapSurfs[f].get(i))->setFlapPos(lval);
-                if(_mirror) ((Surface*)_flapSurfs[f].get(++i))->setFlapPos(rval);
-                break;
-            case WING_SLAT:
-                ((Surface*)_flapSurfs[f].get(i))->setSlatPos(lval);
-                break;
-            case WING_SPOILER:
-                ((Surface*)_flapSurfs[f].get(i))->setSpoilerPos(lval);
-                if(_mirror) ((Surface*)_flapSurfs[f].get(++i))->setSpoilerPos(rval);
-                break;
+    WingSection* ws;
+    for (int s=0; s < _sections.size(); s++){
+        ws = (WingSection*)_sections.get(s);
+        for(int i=0; i<ws->_surfs.size(); i++) {
+            SurfRec* s = (SurfRec*)ws->_surfs.get(i);
+            delete s->surface;
+            delete s;
         }
     }
 }
 
-void Wing::setFlapEffectiveness(WingFlaps f, float lval)
+int Wing::addWingSection(float* base, float chord, float wingLength, float taper, 
+                         float sweep, float dihedral, float twist, float camber, 
+                         float idrag, float incidence)
 {
-    lval = Math::clamp(lval, 1, 10);
-    for(int i=0; i<_flapSurfs[f].size(); i++) {
-        ((Surface*)_flapSurfs[f].get(i))->setFlapEffectiveness(lval);
+    WingSection* ws = new WingSection;
+    if (_sections.size() == 0) {
+        // first section
+        Math::set3(base, _base);
+        ws->_rootChord = _float2chord(base, chord);
+        ws->_sectionIncidence = incidence;
+    } else { 
+        WingSection* prev = (WingSection*)_sections.get(_sections.size()-1);
+        //use old wing tip instead of base argument
+        ws->_rootChord = prev->_tipChord;
+        ws->_sectionIncidence = prev->_sectionIncidence + prev->_twist;
     }
+    ws->_length = wingLength;
+    ws->_taper = taper; 
+    ws->_sweepAngleCenterLine = sweep;    
+    ws->_dihedral = dihedral;
+    ws->_twist = twist;
+    ws->_camber = camber;
+    ws->_inducedDrag = idrag;
+    ws->calculateGeometry();
+    int idx = _sections.add(ws);    
+    // first / only section
+    if (idx == 0) {
+        _mac = ws->getMAC();
+        _wingspan = ws->_wingspan;
+        _area = ws->getArea();
+        _meanChord = ws->_meanChord;
+    }
+    // append section: Calculate wing MAC from MACs of section and prev wing
+    else {
+        _mac = Wing::calculateMAC(_mac, ws->getMAC());
+        _wingspan += ws->_wingspan;
+        _area += ws->getArea();
+        _meanChord = _meanChord * ws->_meanChord * 0.5f;
+    }
+    _chord2float(ws->_tipChord, _tip);    
+    return idx;
 }
 
-void Wing::calculateWingCoordinateSystem() {
+Chord Wing::_float2chord(float* pos, float lenght)
+{
+    Chord c;
+    c.x = pos[0];
+    c.y = pos[1];
+    c.z = pos[2];
+    c.length = lenght;
+    return c;
+}
+
+void Wing::_chord2float(Chord c, float* pos)
+{
+    pos[0] = c.x;
+    pos[1] = c.y;
+    pos[2] = c.z;
+}
+
+void Wing::WingSection::calculateGeometry()
+{
+    _meanChord = _rootChord.length*(_taper+1)*0.5f;
+    calculateWingCoordinateSystem();
+    calculateTipChord();
+    calculateSpan();
+    calculateMAC();    
+}
+
+void Wing::WingSection::calculateWingCoordinateSystem() {
   // prepare wing coordinate system, ignoring incidence and twist for now
   // (tail incidence is varied by the solver)
   // Generating a unit vector pointing out the left wing.
@@ -110,168 +124,257 @@ void Wing::calculateWingCoordinateSystem() {
   for(i=3; i<6; i++)  _rightOrient[i] = -_rightOrient[i];
 }
 
-void Wing::calculateTip() {
+void Wing::WingSection::calculateTipChord() {
     float *y = _orient+3;
-    Math::mul3(_length, y, _tip);
-    Math::add3(_base, _tip, _tip);
+    _tipChord.x = _rootChord.x + _length * y[0];
+    _tipChord.y = _rootChord.y + _length * y[1];
+    _tipChord.z = _rootChord.z + _length * y[2];
+    _tipChord.length = _rootChord.length * _taper;
 }
 
-void Wing::calculateSpan()
+void Wing::WingSection::calculateSpan()
 {
     // wingspan in y-direction (not for vstab)
-    _wingspan = Math::abs(2*_tip[1]);
-    _netSpan = Math::abs(2*(_tip[1]-_base[1]));
+    _wingspan = Math::abs(2*_tipChord.y);
     _aspectRatio = _wingspan / _meanChord;  
 }
 
-void Wing::calculateMAC()
+void Wing::WingSection::calculateMAC()
 {
+    //FIXME call static method, use absolute y values
+    
     // http://www.nasascale.org/p2/wp-content/uploads/mac-calculator.htm
-    const float commonFactor = _rootChordLength*(0.5+_taper)/(3*_rootChordLength*(1+_taper));
-    _mac.length = _rootChordLength-(2*_rootChordLength*(1-_taper)*commonFactor);
-    _mac.y = _netSpan*commonFactor;
-    _mac.x = _base[0]-Math::tan(_sweepAngleCenterLine) * _mac.y + _mac.length/2;
+    const float commonFactor = _rootChord.length*(0.5+_taper)/(3*_rootChord.length*(1+_taper));
+    _mac.length = _rootChord.length-(2*_rootChord.length*(1-_taper)*commonFactor);
+    _mac.y = Math::abs(2*(_tipChord.y-_rootChord.y))*commonFactor;
+    _mac.x = _rootChord.x-Math::tan(_sweepAngleCenterLine)*_mac.y + _mac.length/2;
+    _mac.y += _rootChord.y;
 }
 
-Chord Wing::calculateMAC(Chord root, Chord tip)
-{
-    assert(root.length > 0);
-    //const float taper = tip.length / root.length;
-    const float commonFactor = (root.length*0.5+tip.length)/(3*(root.length+tip.length));
-    Chord m;
-    m.length = root.length-(2*(root.length - tip.length)*commonFactor);
-    m.y = Math::abs(2*(tip.y - root.y))*commonFactor;
-    m.x = root.x - (root.x - tip.x)*(root.y - m.y)/(root.y - tip.y);
-    return m;
-}
-
-float Wing::calculateSweepAngleLeadingEdge()
+float Wing::WingSection::calculateSweepAngleLeadingEdge()
 {
     if (_length == 0) {
       return 0;
     }
     return Math::atan(
-      (sin(_sweepAngleCenterLine)+(1-_taper)*_rootChordLength/(2*_length)) /
+      (sin(_sweepAngleCenterLine)+(1-_taper)*_rootChord.length/(2*_length)) /
       cos(_sweepAngleCenterLine)
     );  
 }
 
+void Wing::WingSection::setIncidence(float incidence)
+{
+    //update surface
+    for(int i=0; i<_surfs.size(); i++)
+        ((SurfRec*)_surfs.get(i))->surface->setIncidence(incidence + _sectionIncidence);
+}
+
+// root and tip (x,y) coordinates are on leading edge
+Chord Wing::calculateMAC(Chord root, Chord tip)
+{
+    assert(root.length > 0);
+    //taper = tip.length / root.length;
+    const float commonFactor = (root.length*0.5+tip.length)/(3*(root.length+tip.length));
+    Chord m;
+    m.length = root.length-(2*(root.length - tip.length)*commonFactor);
+    m.y = Math::abs(2*(tip.y - root.y))*commonFactor + root.y; 
+    m.x = root.x - (root.x - tip.x)*(root.y - m.y)/(root.y - tip.y);
+    return m;
+}
+
+void Wing::setFlapParams(int section, WingFlaps type, FlapParams fp)
+{
+    ((WingSection*)_sections.get(section))->_flapParams[type] = fp;
+}
+
+void Wing::setSectionDrag(int section, float pdrag)
+{
+    ((WingSection*)_sections.get(section))->_dragScale = pdrag;
+}
+
+void Wing::setSectionStallParams(int section, StallParams sp)
+{
+    ((WingSection*)_sections.get(section))->_stallParams = sp;
+}
+    
+void Wing::setFlapPos(WingFlaps type,float lval, float rval)
+{
+    float min {-1};
+    if (type == WING_SPOILER || type == WING_SLAT) {
+        min = 0;
+    }
+    lval = Math::clamp(lval, min, 1);
+    rval = Math::clamp(rval, min, 1);
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);
+        for(int i=0; i < ws->_flapSurfs[type].size(); i++) {
+            switch (type) {
+                case WING_FLAP0:
+                case WING_FLAP1:
+                    ((Surface*)ws->_flapSurfs[type].get(i))->setFlapPos(lval);
+                    if(_mirror) ((Surface*)ws->_flapSurfs[type].get(++i))->setFlapPos(rval);
+                    break;
+                case WING_SLAT:
+                    ((Surface*)ws->_flapSurfs[type].get(i))->setSlatPos(lval);
+                    break;
+                case WING_SPOILER:
+                    ((Surface*)ws->_flapSurfs[type].get(i))->setSpoilerPos(lval);
+                    if(_mirror) ((Surface*)ws->_flapSurfs[type].get(++i))->setSpoilerPos(rval);
+                    break;
+            }
+        }
+    }
+}
+
+void Wing::setFlapEffectiveness(WingFlaps f, float lval)
+{
+    lval = Math::clamp(lval, 1, 10);
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);        
+        for(int i=0; i<ws->_flapSurfs[f].size(); i++) {
+            ((Surface*)ws->_flapSurfs[f].get(i))->setFlapEffectiveness(lval);
+        }
+    }
+}
+
 
 void Wing::compile()
 {
-    // Have we already been compiled?
-    if(! _surfs.empty()) return;
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);
+        // Have we already been compiled?
+        if(! ws->_surfs.empty()) return;
+        
+        // Assemble the start/end coordinates of all control surfaces
+        // and the wing itself into an array, sort them,
+        // and remove duplicates.  This gives us the boundaries of our
+        // segments.
+        const int NUM_BOUNDS {10};
+        float bounds[NUM_BOUNDS];
+        bounds[0] = ws->_flapParams[WING_FLAP0].start;   
+        bounds[1] = ws->_flapParams[WING_FLAP0].end;
+        bounds[2] = ws->_flapParams[WING_FLAP1].start;   
+        bounds[3] = ws->_flapParams[WING_FLAP1].end;
+        bounds[4] = ws->_flapParams[WING_SPOILER].start; 
+        bounds[5] = ws->_flapParams[WING_SPOILER].end;
+        bounds[6] = ws->_flapParams[WING_SLAT].start;    
+        bounds[7] = ws->_flapParams[WING_SLAT].end;
+        //and don't forget the root and the tip of the wing itself
+        bounds[8] = 0;             bounds[9] = 1;
 
-    // Assemble the start/end coordinates of all control surfaces
-    // and the wing itself into an array, sort them,
-    // and remove duplicates.  This gives us the boundaries of our
-    // segments.
-    const int NUM_BOUNDS {10};
-    float bounds[NUM_BOUNDS];
-    bounds[0] = _flapParams[WING_FLAP0].start;   
-    bounds[1] = _flapParams[WING_FLAP0].end;
-    bounds[2] = _flapParams[WING_FLAP1].start;   
-    bounds[3] = _flapParams[WING_FLAP1].end;
-    bounds[4] = _flapParams[WING_SPOILER].start; 
-    bounds[5] = _flapParams[WING_SPOILER].end;
-    bounds[6] = _flapParams[WING_SLAT].start;    
-    bounds[7] = _flapParams[WING_SLAT].end;
-    //and don't forget the root and the tip of the wing itself
-    bounds[8] = 0;             bounds[9] = 1;
-
-    // Sort in increasing order
-    int i;
-    for(i=0; i<NUM_BOUNDS; i++) {
-      int minIdx = i;
-      float minVal = bounds[i];
-      for(int j=i+1; j<NUM_BOUNDS; j++) {
-        if(bounds[j] < minVal) {
-          minIdx = j;
-          minVal = bounds[j];
+        // Sort in increasing order
+        for(int i=0; i<NUM_BOUNDS; i++) {
+            int minIdx = i;
+            float minVal = bounds[i];
+            for(int j=i+1; j<NUM_BOUNDS; j++) {
+                if(bounds[j] < minVal) {
+                    minIdx = j;
+                    minVal = bounds[j];
+                }
+            }   
+            float tmp = bounds[i];
+            bounds[i] = minVal; bounds[minIdx] = tmp;
         }
-      }
-      float tmp = bounds[i];
-      bounds[i] = minVal; bounds[minIdx] = tmp;
-    }
 
-    // Uniqify
-    float last = bounds[0];
-    int nbounds = 1;
-    for(i=1; i<NUM_BOUNDS; i++) {
-        if(bounds[i] != last)
-            bounds[nbounds++] = bounds[i];
-        last = bounds[i];
-    }
+        // Uniqify
+        float last = bounds[0];
+        int nbounds = 1;
+        for(int i=1; i<NUM_BOUNDS; i++) {
+            if(bounds[i] != last)
+                bounds[nbounds++] = bounds[i];
+            last = bounds[i];
+        }
 
-    // Calculate a "nominal" segment length equal to an average chord,
-    // normalized to lie within 0-1 over the length of the wing.
-    float segLen = _meanChord / _length;
+        // Calculate a "nominal" segment length equal to an average chord,
+        // normalized to lie within 0-1 over the length of the wing.
+        float segLen = ws->_meanChord / ws->_length;
 
-    // Now go through each boundary and make segments
-    for(i=0; i<(nbounds-1); i++) {
-        float start = bounds[i];
-        float end = bounds[i+1];
-        float mid = (start+end)/2;
+        // Now go through each boundary and make segments
+        for(int i=0; i<(nbounds-1); i++) {
+            float start = bounds[i];
+            float end = bounds[i+1];
+            float mid = (start+end)/2;
 
-        bool hasFlap0=0, hasFlap1=0, hasSlat=0, hasSpoiler=0;
-        if(_flapParams[WING_FLAP0].start   < mid && mid < _flapParams[WING_FLAP0].end)   hasFlap0 = 1;
-        if(_flapParams[WING_FLAP1].start   < mid && mid < _flapParams[WING_FLAP1].end)   hasFlap1 = 1;
-        if(_flapParams[WING_SLAT].start    < mid && mid < _flapParams[WING_SLAT].end)    hasSlat = 1;
-        if(_flapParams[WING_SPOILER].start < mid && mid < _flapParams[WING_SPOILER].end) hasSpoiler = 1;
+            bool hasFlap0=0, hasFlap1=0, hasSlat=0, hasSpoiler=0;
+            if(ws->_flapParams[WING_FLAP0].start < mid && mid < ws->_flapParams[WING_FLAP0].end)  
+                hasFlap0 = 1;
+            if(ws->_flapParams[WING_FLAP1].start < mid && mid < ws->_flapParams[WING_FLAP1].end)  
+                hasFlap1 = 1;
+            if(ws->_flapParams[WING_SLAT].start < mid && mid < ws->_flapParams[WING_SLAT].end)
+                hasSlat = 1;
+            if(ws->_flapParams[WING_SPOILER].start < mid && mid < ws->_flapParams[WING_SPOILER].end) 
+                hasSpoiler = 1;
 
-        // FIXME: Should probably detect an error here if both flap0
-        // and flap1 are set.  Right now flap1 overrides.
+            // FIXME: Should probably detect an error here if both flap0
+            // and flap1 are set.  Right now flap1 overrides.
 
-        int nSegs = (int)Math::ceil((end-start)/segLen);
-        if (_twist != 0 && nSegs < 8) // more segments if twisted
-            nSegs = 8;
-        float segWid = _length * (end - start)/nSegs;
+            int nSegs = (int)Math::ceil((end-start)/segLen);
+            if (ws->_twist != 0 && nSegs < 8) // more segments if twisted
+                nSegs = 8;
+            float segWid = ws->_length * (end - start)/nSegs;
 
-        int j;
-        for(j=0; j<nSegs; j++) {
-            float frac = start + (j+0.5f) * (end-start)/nSegs;
-            float pos[3];
-            interp(_base, _tip, frac, pos);
+            for(int j=0; j<nSegs; j++) {
+                float frac = start + (j+0.5f) * (end-start)/nSegs;
+                float pos[3];
+                interp(_base, _tip, frac, pos);
 
-            float chord = _rootChordLength * (1 - (1-_taper)*frac);
-            float weight = chord * segWid;
-            float twist = _twist * frac;
+                float chord = ws->_rootChord.length * (1 - (1-ws->_taper)*frac);
+                float weight = chord * segWid;
+                float twist = ws->_twist * frac;
 
-            Surface *s = newSurface(pos, _orient, chord,
-                                    hasFlap0, hasFlap1, hasSlat, hasSpoiler);
+                ws->newSurface(_version, pos, ws->_orient, chord,                                       hasFlap0, hasFlap1, hasSlat, hasSpoiler, weight, twist);
 
-            addSurface(s, weight, twist);
-
-            if(_mirror) {
-                pos[1] = -pos[1];
-                s = newSurface(pos, _rightOrient, chord,
-                               hasFlap0, hasFlap1, hasSlat, hasSpoiler);
-                addSurface(s, weight, twist);                
+                if(_mirror) {
+                    pos[1] = -pos[1];
+                    ws->newSurface(_version, pos, ws->_rightOrient, chord,
+                                hasFlap0, hasFlap1, hasSlat, hasSpoiler, weight, twist);                
+                }
             }
         }
+        // Last of all, re-set the incidence in case setIncidence() was
+        // called before we were compiled.
+        setIncidence(_incidence);
     }
-    // Last of all, re-set the incidence in case setIncidence() was
-    // called before we were compiled.
-    setIncidence(_incidence);
     writeInfoToProptree();
 }
 
 void Wing::multiplyLiftRatio(float factor)
 {
-    setLiftRatio(_liftRatio * factor);
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);
+        ws->multiplyLiftRatio(factor);
+    }  
 }
 
-void Wing::addSurface(Surface* s, float weight, float twist)
+void Wing::multiplyDragCoefficient(float factor)
 {
-    SurfRec *sr = new SurfRec();
-    sr->surface = s;
-    sr->weight = weight;
-    s->setDragCoefficient(sr->weight);
-    s->setTwist(twist);
-    _surfs.add(sr);
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);
+        ws->multiplyDragCoefficient(factor);
+    }
 }
 
-void Wing::setDragCoefficient(float scale)
+void Wing::setIncidence(float incidence)
+{
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) 
+    {        
+        ws = (WingSection*)_sections.get(section);
+        ws->setIncidence(incidence);
+    }    
+}
+    
+void Wing::WingSection::setDragCoefficient(float scale)
 {
     _dragScale = scale;
     for(int i=0; i<_surfs.size(); i++) {
@@ -280,20 +383,24 @@ void Wing::setDragCoefficient(float scale)
     }
 }
 
-void Wing::multiplyDragCoefficient(float factor)
+void Wing::WingSection::multiplyDragCoefficient(float factor)
 {
     setDragCoefficient(_dragScale * factor);
 }
 
-void Wing::setLiftRatio(float ratio)
+void Wing::WingSection::setLiftRatio(float ratio)
 {
     _liftRatio = ratio;
     for(int i=0; i<_surfs.size(); i++)
         ((SurfRec*)_surfs.get(i))->surface->setZDrag(ratio);
 }
 
-Surface* Wing::newSurface(float* pos, float* orient, float chord,
-                          bool hasFlap0, bool hasFlap1, bool hasSlat, bool hasSpoiler)
+void Wing::WingSection::multiplyLiftRatio(float factor)
+{
+    setLiftRatio(_liftRatio * factor);
+}
+
+void Wing::WingSection::newSurface(Version* _version, float* pos, float* orient, float chord, bool hasFlap0, bool hasFlap1, bool hasSlat, bool hasSpoiler, float weight, float twist)
 {
     Surface* s = new Surface(_version);
 
@@ -347,7 +454,12 @@ Surface* Wing::newSurface(float* pos, float* orient, float chord,
 
     s->setInducedDrag(_inducedDrag);
 
-    return s;
+    SurfRec *sr = new SurfRec();
+    sr->surface = s;
+    sr->weight = weight;
+    s->setDragCoefficient(sr->weight);
+    s->setTwist(twist);
+    _surfs.add(sr);
 }
 
 void Wing::interp(const float* v1, const float* v2, const float frac, float* out)
@@ -361,30 +473,40 @@ void Wing::writeInfoToProptree()
 {
     if (_wingN == nullptr) 
         return;
+    WingSection* ws = (WingSection*)_sections.get(0);
+    float chord = ws->_rootChord.length;
+    ws = (WingSection*)_sections.get(_sections.size()-1);
+    float taper = ws->_rootChord.length * ws->_taper;
     _wingN->getNode("tip-x", true)->setFloatValue(_tip[0]);
     _wingN->getNode("tip-y", true)->setFloatValue(_tip[1]);
     _wingN->getNode("tip-z", true)->setFloatValue(_tip[2]);
     _wingN->getNode("base-x", true)->setFloatValue(_base[0]);
     _wingN->getNode("base-y", true)->setFloatValue(_base[1]);
     _wingN->getNode("base-z", true)->setFloatValue(_base[2]);
+    _wingN->getNode("chord", true)->setFloatValue(chord);
+    _wingN->getNode("taper", true)->setFloatValue(taper);
     _wingN->getNode("wing-span", true)->setFloatValue(_wingspan);
     _wingN->getNode("wing-area", true)->setFloatValue(_wingspan*_meanChord);
     _wingN->getNode("aspect-ratio", true)->setFloatValue(_aspectRatio);
     _wingN->getNode("standard-mean-chord", true)->setFloatValue(_meanChord);
     _wingN->getNode("mac", true)->setFloatValue(_mac.length);
     _wingN->getNode("mac-x", true)->setFloatValue(_mac.x);
-    _wingN->getNode("mac-y", true)->setFloatValue(_base[1]+_mac.y);
+    _wingN->getNode("mac-y", true)->setFloatValue(_mac.y);
 
     float wgt = 0;
     float dragSum = 0;
-    for(int surf=0; surf < numSurfaces(); surf++) {
-        Surface* s = (Surface*)getSurface(surf);
-        float drag = s->getDragCoefficient();
-        dragSum += drag;
 
-        float mass = getSurfaceWeight(surf);
-        mass = mass * Math::sqrt(mass);
-        wgt += mass;
+    for (int section=0; section < _sections.size(); section++) {
+        ws = (WingSection*)_sections.get(section);
+        for (int surf=0; surf < ws->numSurfaces(); surf++) {
+            Surface* s = ws->getSurface(surf);
+            float drag = s->getDragCoefficient();
+            dragSum += drag;
+
+            float mass = ws->getSurfaceWeight(surf);
+            mass = mass * Math::sqrt(mass);
+            wgt += mass;
+        }
     }
     _wingN->getNode("weight", true)->setFloatValue(wgt);
     _wingN->getNode("drag", true)->setFloatValue(dragSum);
@@ -393,21 +515,25 @@ void Wing::writeInfoToProptree()
 float Wing::updateModel(Model* model) 
 {
     float wgt = 0;
-    for(int surf=0; surf < numSurfaces(); surf++) {
-        Surface* s = (Surface*)getSurface(surf);
-        model->addSurface(s);
+    WingSection* ws;
+    for (int section=0; section < _sections.size(); section++) {
+        ws = (WingSection*)_sections.get(section);
+        for(int surf=0; surf < ws->numSurfaces(); surf++) {
+            Surface* s = ws->getSurface(surf);
+            model->addSurface(s);
 
-        float mass = getSurfaceWeight(surf);
-        mass = mass * Math::sqrt(mass);
-        wgt += mass;
+            float mass = ws->getSurfaceWeight(surf);
+            mass = mass * Math::sqrt(mass);
+            wgt += mass;
 
-        float pos[3];
-        s->getPosition(pos);
-        int mid = model->getBody()->addMass(mass, pos, true);
-        if (_wingN != nullptr) {
-            SGPropertyNode_ptr n = _wingN->getNode("surfaces", true)->getChild("surface", s->getID(), true);
-            n->getNode("drag", true)->setFloatValue(s->getDragCoefficient());
-            n->getNode("mass-id", true)->setIntValue(mid);
+            float pos[3];
+            s->getPosition(pos);
+            int mid = model->getBody()->addMass(mass, pos, true);
+            if (_wingN != nullptr) {
+                SGPropertyNode_ptr n = _wingN->getNode("surfaces", true)->getChild("surface", s->getID(), true);
+                n->getNode("drag", true)->setFloatValue(s->getDragCoefficient());
+                n->getNode("mass-id", true)->setIntValue(mid);
+            }
         }
     }
     return wgt;    
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index b4142612a..cb8bd5644 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -29,6 +29,7 @@ struct StallParams {
 struct Chord {
     float x {0};
     float y {0};
+    float z {0};
     float length {0};
 };
 
@@ -39,133 +40,132 @@ enum WingFlaps {
     WING_SLAT,
 };
 
-// FIXME: need to handle "inverted" controls for mirrored wings.
 class Wing {
     SGPropertyNode_ptr _wingN {nullptr};
+    
+    struct SurfRec { 
+        Surface* surface; 
+        float weight; 
+    };
+    
+    struct WingSection {
+        Chord _rootChord;
+        // length is distance from base to tip, not wing span
+        float _length {0};
+        float _taper {1};
+        // sweep of center line, not leading edge!
+        float _sweepAngleCenterLine {0}; 
+        float _dihedral {0};
+        float _twist {0};
+        float _camber {0}; 
+        float _inducedDrag {1};
+
+        StallParams _stallParams;
+
+        //fixed incidence of section as given in config XML
+        float _sectionIncidence {0};
+        float _dragScale {1};
+        float _liftRatio {1};
+
+        FlapParams _flapParams[sizeof(WingFlaps)];
+
+        // calculated from above
+        float _orient[9];
+        float _rightOrient[9];
+        Chord _tipChord;
+        float _meanChord {0}; // std. mean chord
+        Chord _mac; // mean aerodynamic chord (x,y) leading edge
+        float _wingspan {0};
+        float _aspectRatio {1};
+        // all SurfRec of this wing
+        Vector _surfs;      
+        // surfaces having a certain type of flap (flap, slat, spoiler)
+        Vector _flapSurfs[sizeof(WingFlaps)];
+        
+        void calculateGeometry();
+        void calculateWingCoordinateSystem();
+        void calculateTipChord();
+        void calculateSpan();
+        void calculateMAC();
+        float calculateSweepAngleLeadingEdge();
+        //set incidence value to all surfaces of this section
+        void setIncidence(float incidence);
+        // parameters for stall curve
+        void setStallParams(StallParams sp) { _stallParams = sp; }
+
+        // valid only after Wing::compile() was called
+        Chord getMAC() const { return _mac; };
+        float getArea() const { return _wingspan*_meanChord; };
+        void setDragCoefficient(float scale);
+        void multiplyDragCoefficient(float factor);
+        // The ratio of force along the Z (lift) direction of each wing
+        // segment to that along the X (drag) direction.
+        void setLiftRatio(float ratio);
+        void multiplyLiftRatio(float factor);
+
+        void newSurface(Version* _version, float* pos, float* orient, float chord,
+            bool hasFlap0, bool hasFlap1, bool hasSlat, bool hasSpoiler, 
+            float weight, float twist);
+        int numSurfaces() const { return _surfs.size(); }
+        Surface* getSurface(int n) { return ((SurfRec*)_surfs.get(n))->surface; }
+        float getSurfaceWeight(int n) const { return ((SurfRec*)_surfs.get(n))->weight; }
+    }; //struct WingSection
+
+    //-- wing member variables --    
+    Version* _version;
+    bool _mirror {false};
+    Vector _sections;
+    Chord _mac;
+    float _base[3] {0,0,0};
+    float _tip[3] {0,0,0};
+    float _wingspan {0};
+    float _area {0};
+    float _aspectRatio {0};
+    float _meanChord {0};
+    float _incidence {0};
+
+    Chord _float2chord(float* pos, float lenght = 0);
+    void _chord2float(Chord c, float* pos);
+    void interp(const float* v1, const float* v2, const float frac, float* out);
+    void writeInfoToProptree();
+    
 public:
-    Wing(Version *ver, bool mirror, float* base, float chord, float length, 
-        float taper = 1, float sweep = 0, float dihedral = 0, float twist = 0);
+    Wing(Version* ver, bool mirror);
     ~Wing();
 
-    // Do we mirror ourselves about the XZ plane?
-    void setMirror(bool mirror) { _mirror = mirror; }
-    const bool isMirrored() { return _mirror; };
-    
-    // Wing geometry in local coordinates:
-    
-    // base point of wing
-    void getBase(float* base) const { Math::set3(_base, base); };
-    // dist. ALONG wing (not span!)     
-    float getLength() const { return _length; };
-    // at base, measured along X axis
-    float getChord() const { return _rootChordLength; };
-    // fraction of chord at wing tip, 0..1
-    float getTaper() const { return _taper; };
-    // radians
-    float getSweep() const { return _sweepAngleCenterLine; };
-    // radians, positive is "up"
-    void setDihedral(float dihedral) { _dihedral = dihedral; }
-    float getDihedral() const { return _dihedral; };
-    
-    void setIncidence(float incidence);
-    
-    
-    // parameters for stall curve
-    void setStallParams(StallParams sp) { _stallParams = sp; }
-    void setCamber(float camber) { _camber = camber; }
-    void setInducedDrag(float drag) { _inducedDrag = drag; }
-    
-    
-    void setFlapParams(WingFlaps i, FlapParams fp);
+    int addWingSection(float* base, float chord, float wingLength, 
+        float taper = 1, float sweep = 0, float dihedral = 0, float twist = 0, float camber = 0, float idrag = 1, float incidence = 0);
 
-    // propergate the control axes value for the sub-surfaces
-    void setFlapPos(WingFlaps i, float lval, float rval = 0);
-    void setFlapEffectiveness(WingFlaps f, float lval);
+    static Chord calculateMAC(Chord root, Chord tip);    
 
+    void setFlapParams(int section, WingFlaps type, FlapParams fp);
+    void setSectionDrag(int section, float pdrag);
+    void setSectionStallParams(int section, StallParams sp);
+    
     // Compile the thing into a bunch of Surface objects
     void compile();
-    void getTip(float* tip) const { Math::set3(_tip, tip);};
-    
-    // valid only after Wing::compile() was called
+    void multiplyLiftRatio(float factor);
+    void multiplyDragCoefficient(float factor);
+    void setIncidence(float incidence);
+
+    bool isMirrored() const { return _mirror; };
+    void getBase(float* base) const { Math::set3(_base, base); };
+    void getTip(float* tip) const { Math::set3(_tip, tip); };
     float getSpan() const { return _wingspan; };
-    float getArea() const { return _wingspan*_meanChord; };
+    float getArea() const { return _area; };
     float getAspectRatio() const { return _aspectRatio; };
     float getSMC() const { return _meanChord; };
-    Chord getMAC() const { return _mac; };
     float getMACLength() const { return _mac.length; }; // get length of MAC
-    float getMACx() const { return _mac.x; }; // get x-coord of MAC 
-    float getMACy() const { return _base[1]+_mac.y; }; // get y-coord of MAC  
-    
-    
-    int numSurfaces() const { return _surfs.size(); }
-    Surface* getSurface(int n) { return ((SurfRec*)_surfs.get(n))->surface; }
-    float getSurfaceWeight(int n) const { return ((SurfRec*)_surfs.get(n))->weight; }
-
-    // The overall drag coefficient for the wing as a whole.  Units are
-    // arbitrary.
-    void setDragCoefficient(float scale);
-    void multiplyDragCoefficient(float factor);
-
-    // The ratio of force along the Z (lift) direction of each wing
-    // segment to that along the X (drag) direction.
-    void setLiftRatio(float ratio);
-    void multiplyLiftRatio(float factor);
+    float getMACx() const { return _mac.x; }; // get x-coord of MAC leading edge 
+    float getMACy() const { return _mac.y; }; // get y-coord of MAC leading edge 
+   
+//-----------------------------    
+    // propergate the control axes value for the sub-surfaces
+    void setFlapPos(WingFlaps type, float lval, float rval = 0);
+    void setFlapEffectiveness(WingFlaps f, float lval);
 
     void setPropertyNode(SGPropertyNode_ptr n) { _wingN = n; };
     float updateModel(Model* model);
-    
-private:
-    void interp(const float* v1, const float* v2, const float frac, float* out);
-    Surface* newSurface(float* pos, float* orient, float chord,
-                        bool hasFlap0, bool hasFlap1, bool hasSlat, bool hasSpoiler);
-    void calculateWingCoordinateSystem();
-    void calculateTip();
-    void calculateSpan();
-    void calculateMAC();
-    static Chord calculateMAC(Chord root, Chord tip);
-    float calculateSweepAngleLeadingEdge();
-
-    void addSurface(Surface* s, float weight, float twist);
-    void writeInfoToProptree();
-    
-    struct SurfRec { Surface * surface; float weight; };
-    // all surfaces of this wing
-    Vector _surfs;      
-    // surfaces having a certain type of flap (flap, slat, spoiler)
-    Vector _flapSurfs[sizeof(WingFlaps)]; 
-
-    Version * _version;
-    bool _mirror {false};
-    float _base[3] {0,0,0};
-    float _rootChordLength {0};
-    // length is distance from base to tip, not wing span
-    float _length {0};
-    float _taper {1};
-    // sweep of center line, not leading edge!
-    float _sweepAngleCenterLine {0}; 
-    float _dihedral {0};
-    
-    // calculated from above
-    float _orient[9];
-    float _rightOrient[9];
-    float _tip[3] {0,0,0};
-    float _meanChord {0}; // std. mean chord
-    Chord _mac; // mean aerodynamic chord (x,y) leading edge
-    float _netSpan {0};
-    float _wingspan {0};
-    float _aspectRatio {1};
-
-    StallParams _stallParams;
-    
-    float _twist {0};
-    float _camber {0};
-    float _incidence {0};
-    float _inducedDrag {1};
-
-    float _dragScale {1};
-    float _liftRatio {1};
-
-    FlapParams _flapParams[sizeof(WingFlaps)];
 
 };
 
diff --git a/src/FDM/YASim/proptest.cpp b/src/FDM/YASim/proptest.cpp
index c32c849e3..aaeb87d6f 100644
--- a/src/FDM/YASim/proptest.cpp
+++ b/src/FDM/YASim/proptest.cpp
@@ -5,6 +5,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 
+#include "yasim-common.hpp"
 #include "Math.hpp"
 #include "FGFDM.hpp"
 #include "PropEngine.hpp"
diff --git a/src/FDM/YASim/yasim-common.cpp b/src/FDM/YASim/yasim-common.cpp
index 23bbf7f6a..79273bdf8 100644
--- a/src/FDM/YASim/yasim-common.cpp
+++ b/src/FDM/YASim/yasim-common.cpp
@@ -1,23 +1,5 @@
 #include "yasim-common.hpp"
 
 namespace yasim {
-    /// duplicate null-terminated string
-    char* dup(const char* s)
-    {
-        int len=0;
-        while(s[len++]);
-        char* s2 = new char[len+1];
-        char* p = s2;
-        while((*p++ = *s++));
-        s2[len] = 0;
-        return s2;
-    }
 
-    /// compare null-terminated strings
-    bool eq(const char* a, const char* b)
-    {
-        while(*a && *b && *a == *b) { a++; b++; }
-        // equal if both a and b points to null chars
-        return !(*a || *b);
-    }
 }; //namespace yasim
diff --git a/src/FDM/YASim/yasim-common.hpp b/src/FDM/YASim/yasim-common.hpp
index 32097af7e..aceb3e834 100644
--- a/src/FDM/YASim/yasim-common.hpp
+++ b/src/FDM/YASim/yasim-common.hpp
@@ -31,10 +31,6 @@ namespace yasim {
     
     static const float NM2FTLB = (1/(LBS2N*FT2M));
     static const float SLUG2KG = 14.59390f;
-
-    char* dup(const char* s);
-    bool eq(const char* a, const char* b);
-    
 }; //namespace yasim
 
 #endif // ifndef _YASIM_COMMON_HPP
diff --git a/src/FDM/YASim/yasim-test.cpp b/src/FDM/YASim/yasim-test.cpp
index 685164756..fb08639d7 100644
--- a/src/FDM/YASim/yasim-test.cpp
+++ b/src/FDM/YASim/yasim-test.cpp
@@ -246,11 +246,12 @@ int main(int argc, char** argv)
     float SI_inertia[9];
     a->getModel()->getBody()->getInertiaMatrix(SI_inertia);
     float MAC = 0, MACx = 0, MACy = 0;
-    Wing* wing = a->getWing();
-    if (wing) {
-      MAC = a->getWing()->getMACLength();
-      MACx = a->getWing()->getMACx();
-      MACy = a->getWing()->getMACy();
+    Wing* wing {nullptr};
+    if (a->hasWing()) {
+      wing = a->getWing();
+      MAC = wing->getMACLength();
+      MACx = wing->getMACx();
+      MACy = wing->getMACy();
     }
     printf("       Iterations: %d\n", a->getSolutionIterations());
     printf(" Drag Coefficient: %.3f\n", drag);

From f7c5d2b1f948384484c8484e07949a6242408bdf Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Wed, 6 Dec 2017 20:26:41 +0100
Subject: [PATCH 26/29] YASIM refactoring class Surface and export more
 properties to proptree

---
 src/FDM/YASim/Airplane.cpp | 125 +++++++++++++++++--------------------
 src/FDM/YASim/Surface.cpp  |  63 +++++++++++++------
 src/FDM/YASim/Surface.hpp  |   9 +--
 src/FDM/YASim/Wing.cpp     |   4 +-
 4 files changed, 109 insertions(+), 92 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 8a3fb9afd..56dfad66e 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -254,9 +254,7 @@ int Airplane::addWeight(float* pos, float size)
     WeightRec* wr = new WeightRec();
     wr->handle = _model.getBody()->addMass(0, pos);
 
-    wr->surf = new Surface(this);
-    wr->surf->setPosition(pos);
-    wr->surf->setDragCoefficient(size*size);
+    wr->surf = new Surface(this, pos, size*size);
     _model.addSurface(wr->surf);
     _surfs.add(wr->surf);
 
@@ -273,13 +271,13 @@ void Airplane::setWeight(int handle, float mass)
     // Kill the aerodynamic drag if the mass is exactly zero.  This is
     // how we simulate droppable stores.
     if(mass == 0) {
-	wr->surf->setXDrag(0);
-	wr->surf->setYDrag(0);
-	wr->surf->setZDrag(0);
+        wr->surf->setXDrag(0);
+        wr->surf->setYDrag(0);
+        wr->surf->setZDrag(0);
     } else {
-	wr->surf->setXDrag(1);
-	wr->surf->setYDrag(1);
-	wr->surf->setZDrag(1);
+        wr->surf->setXDrag(1);
+        wr->surf->setYDrag(1);
+        wr->surf->setZDrag(1);
     }
 }
 
@@ -347,7 +345,7 @@ float Airplane::compileFuselage(Fuselage* f)
     float len = Math::mag3(fwd);
     if (len == 0) {
         _failureMsg = "Zero length fuselage";
-	return 0;
+    return 0;
     }
     float wid = f->width;
     int segs = (int)Math::ceil(len/wid);
@@ -355,19 +353,18 @@ float Airplane::compileFuselage(Fuselage* f)
     int j;
     for(j=0; j<segs; j++) {
         float frac = (j+0.5f) / segs;
-
         float scale = 1;
         if(frac < f->mid)
             scale = f->taper+(1-f->taper) * (frac / f->mid);
         else {
-	    if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-		// Correct calculation of width for fuselage taper.
-		scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
-	    } else {
-		// Original, incorrect calculation of width for fuselage taper.
-		scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
-	    }
-	}
+            if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+                // Correct calculation of width for fuselage taper.
+                scale = 1 - (1-f->taper) * (frac - f->mid) / (1 - f->mid);
+            } else {
+                // Original, incorrect calculation of width for fuselage taper.
+                scale = f->taper+(1-f->taper) * (frac - f->mid) / (1 - f->mid);
+            }
+        }
 
         // Where are we?
         float pos[3];
@@ -379,44 +376,42 @@ float Airplane::compileFuselage(Fuselage* f)
         _model.getBody()->addMass(mass, pos, true);
         wgt += mass;
 
+
+        // The following is the original YASim value for sideDrag.
+        // Originally YASim calculated the fuselage's lateral drag
+        // coefficient as (solver drag factor) * (len/wid).
+        // However, this greatly underestimates a fuselage's lateral drag.
+        float sideDrag = len/wid;
+
+        if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+            // New YASim assumes a fixed lateral drag coefficient of 0.5.
+            // This will not be multiplied by the solver drag factor, because
+            // that factor is tuned to match the drag in the direction of
+            // flight, which is completely independent of lateral drag.
+            // The value of 0.5 is only a ballpark estimate, roughly matching
+            // the side-on drag for a long cylinder at the higher Reynolds
+            // numbers typical for an aircraft's lateral drag.
+            // This fits if the fuselage is long and has a round cross section.
+            // For flat-sided fuselages, the value should be increased, up to
+            // a limit of around 2 for a long rectangular prism.
+            // For very short fuselages, in which the end effects are strong,
+            // the value should be reduced.
+            // Such adjustments can be made using the fuselage's "cy" and "cz"
+            // XML parameters: "cy" for the sides, "cz" for top and bottom.
+            sideDrag = 0.5;
+        }
+        float dragCoefficient = scale*segWgt*f->_cx;
+        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+                dragCoefficient = scale*segWgt;
+        }
+
         // Make a Surface too
-        Surface* s = new Surface(this);
-        s->setPosition(pos);
-
-	// The following is the original YASim value for sideDrag.
-	// Originally YASim calculated the fuselage's lateral drag
-	// coefficient as (solver drag factor) * (len/wid).
-	// However, this greatly underestimates a fuselage's lateral drag.
-	float sideDrag = len/wid;
-
-	if ( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-	    // New YASim assumes a fixed lateral drag coefficient of 0.5.
-	    // This will not be multiplied by the solver drag factor, because
-	    // that factor is tuned to match the drag in the direction of
-	    // flight, which is completely independent of lateral drag.
-	    // The value of 0.5 is only a ballpark estimate, roughly matching
-	    // the side-on drag for a long cylinder at the higher Reynolds
-	    // numbers typical for an aircraft's lateral drag.
-	    // This fits if the fuselage is long and has a round cross section.
-	    // For flat-sided fuselages, the value should be increased, up to
-	    // a limit of around 2 for a long rectangular prism.
-	    // For very short fuselages, in which the end effects are strong,
-	    // the value should be reduced.
-	    // Such adjustments can be made using the fuselage's "cy" and "cz"
-	    // XML parameters: "cy" for the sides, "cz" for top and bottom.
-	    sideDrag = 0.5;
-	}
-
-	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-        	s->setXDrag(f->_cx);
-	}
+        Surface* s = new Surface(this, pos, dragCoefficient);
+        if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
+                s->setXDrag(f->_cx);
+        }
         s->setYDrag(sideDrag*f->_cy);
         s->setZDrag(sideDrag*f->_cz);
-	if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-        	s->setDragCoefficient(scale*segWgt);
-	} else {
-		s->setDragCoefficient(scale*segWgt*f->_cx);
-	}
         s->setInducedDrag(f->_idrag);
 
         // FIXME: fails for fuselages aligned along the Y axis
@@ -425,8 +420,8 @@ float Airplane::compileFuselage(Fuselage* f)
         Math::unit3(fwd, x);
         y[0] = 0; y[1] = 1; y[2] = 0;
         Math::cross3(x, y, z);
-	Math::unit3(z, z);
-	Math::cross3(z, x, y);
+        Math::unit3(z, z);
+        Math::cross3(z, x, y);
         s->setOrientation(o);
 
         _model.addSurface(s);
@@ -441,9 +436,6 @@ void Airplane::compileGear(GearRec* gr)
 {
     Gear* g = gr->gear;
 
-    // Make a Surface object for the aerodynamic behavior
-    Surface* s = new Surface(this);
-    gr->surf = s;
 
     // Put the surface at the half-way point on the gear strut, give
     // it a drag coefficient equal to a square of the same dimension
@@ -456,8 +448,9 @@ void Airplane::compileGear(GearRec* gr)
     Math::mul3(0.5, cmp, cmp);
     Math::add3(pos, cmp, pos);
 
-    s->setPosition(pos);
-    s->setDragCoefficient(length*length);
+    // Make a Surface object for the aerodynamic behavior
+    Surface* s = new Surface(this, pos, length*length);
+    gr->surf = s;
 
     _model.addGear(g);
     _model.addSurface(s);
@@ -812,17 +805,17 @@ void Airplane::applyDragFactor(float factor)
             } else {
             // Originally YASim applied the drag factor to all axes
             // for Fuselage Surfaces.
-            s->setDragCoefficient(s->getDragCoefficient() * applied);
+            s->mulDragCoefficient(applied);
             }
         }
     }
     for(i=0; i<_weights.size(); i++) {
-	WeightRec* wr = (WeightRec*)_weights.get(i);
-	wr->surf->setDragCoefficient(wr->surf->getDragCoefficient() * applied);
+        WeightRec* wr = (WeightRec*)_weights.get(i);
+        wr->surf->mulDragCoefficient(applied);
     }
     for(i=0; i<_gears.size(); i++) {
-	GearRec* gr = (GearRec*)_gears.get(i);
-	gr->surf->setDragCoefficient(gr->surf->getDragCoefficient() * applied);
+        GearRec* gr = (GearRec*)_gears.get(i);
+        gr->surf->mulDragCoefficient(applied);
     }
 }
 
diff --git a/src/FDM/YASim/Surface.cpp b/src/FDM/YASim/Surface.cpp
index ffb5723bf..e9284dc4d 100644
--- a/src/FDM/YASim/Surface.cpp
+++ b/src/FDM/YASim/Surface.cpp
@@ -1,11 +1,13 @@
 #include <Main/fg_props.hxx>
+#include "Math.hpp"
 #include "Surface.hpp"
 
 namespace yasim {
 int Surface::s_idGenerator = 0;
 
-Surface::Surface( Version * version ) :
-    _version(version)
+Surface::Surface(Version* version, float* pos, float dragCoefficient = 1 ) :
+    _version(version),
+    _c0(dragCoefficient)
 {
     _id = s_idGenerator++;
 
@@ -13,36 +15,59 @@ Surface::Surface( Version * version ) :
     _orient[3] = 0; _orient[4] = 1; _orient[5] = 0;
     _orient[6] = 0; _orient[7] = 0; _orient[8] = 1;
     
+    Math::set3(pos, _pos);
+    
     _surfN = fgGetNode("/fdm/yasim/debug/surfaces", true);
     if (_surfN != 0) {
-      _surfN = _surfN->getChild("surface", _id, true);
-      _fxN = _surfN->getNode("f-x", true);
-      _fyN = _surfN->getNode("f-y", true);
-      _fzN = _surfN->getNode("f-z", true);
-      _fabsN = _surfN->getNode("f-abs", true);
-      _alphaN = _surfN->getNode("alpha", true);
-      _stallAlphaN = _surfN->getNode("stall-alpha", true);
-      _flapN = _surfN->getNode("flap-pos", true);
-      _slatN = _surfN->getNode("slat-pos", true);
-      _spoilerN = _surfN->getNode("spoiler-pos", true);
+        _surfN = _surfN->getChild("surface", _id, true);
+        _fxN = _surfN->getNode("f-x", true);
+        _fyN = _surfN->getNode("f-y", true);
+        _fzN = _surfN->getNode("f-z", true);
+        _fabsN = _surfN->getNode("f-abs", true);
+        _alphaN = _surfN->getNode("alpha", true);
+        _stallAlphaN = _surfN->getNode("stall-alpha", true);
+        _flapN = _surfN->getNode("flap-pos", true);
+        _slatN = _surfN->getNode("slat-pos", true);
+        _spoilerN = _surfN->getNode("spoiler-pos", true);
+        _surfN->getNode("pos-x", true)->setFloatValue(pos[0]);
+        _surfN->getNode("pos-y", true)->setFloatValue(pos[1]);
+        _surfN->getNode("pos-z", true)->setFloatValue(pos[2]);
+        _surfN->getNode("chord",true)->setFloatValue(0);
+        _surfN->getNode("axis-x", true)->setFloatValue(0);
+        _surfN->getNode("axis-y", true)->setFloatValue(0);
+        _surfN->getNode("axis-z", true)->setFloatValue(0);
     }
 }
 
 
-void Surface::setPosition(const float* p)
+void Surface::setPosition(const float* pos)
 {
-    int i;
-    for(i=0; i<3; i++) _pos[i] = p[i];
+    Math::set3(pos, _pos);
     if (_surfN != 0) {
-      _surfN->getNode("pos-x", true)->setFloatValue(p[0]);
-      _surfN->getNode("pos-y", true)->setFloatValue(p[1]);
-      _surfN->getNode("pos-z", true)->setFloatValue(p[2]);
+        _surfN->getNode("pos-x", true)->setFloatValue(pos[0]);
+        _surfN->getNode("pos-y", true)->setFloatValue(pos[1]);
+        _surfN->getNode("pos-z", true)->setFloatValue(pos[2]);
+    }
+}
+
+void Surface::setChord(float chord) 
+{
+    _chord = chord;
+    if (_surfN != 0) {
+        _surfN->getNode("chord",true)->setFloatValue(_chord);
     }
 }
 
 void Surface::setOrientation(const float* o)
 {
-  for(int i=0; i<9; i++) _orient[i] = o[i];
+    for(int i=0; i<9; i++) _orient[i] = o[i];
+    if (_surfN) {
+        float xaxis[3] {-1,0,0};
+        Math::tmul33(_orient,xaxis, xaxis);
+        _surfN->getNode("axis-x", true)->setFloatValue(xaxis[0]);
+        _surfN->getNode("axis-y", true)->setFloatValue(xaxis[1]);
+        _surfN->getNode("axis-z", true)->setFloatValue(xaxis[2]);
+    }
 }
 
 
diff --git a/src/FDM/YASim/Surface.hpp b/src/FDM/YASim/Surface.hpp
index 4d5538ce1..fc16bc501 100644
--- a/src/FDM/YASim/Surface.hpp
+++ b/src/FDM/YASim/Surface.hpp
@@ -16,7 +16,7 @@ class Surface
     int _id;        //index for property tree
 
 public:
-    Surface( Version * version );
+    Surface(Version * version, float* pos, float dragCoefficient);
 
     int getID() const { return _id; };
     static void resetIDgen() { s_idGenerator = 0; };
@@ -25,8 +25,8 @@ public:
     void setPosition(const float* p);
     void getPosition(float* out) const { Math::set3(_pos, out); }
 
-    // Distance scale along the X axis
-    void setChord(float chord) { _chord = chord; }
+    // Distance scale along the X axis used for torque (pitch) calculation
+    void setChord(float chord);
 
     // Slats act to move the stall peak by the specified angle, and
     // increase drag by the multiplier specified.
@@ -60,6 +60,7 @@ public:
     void setTwist(float angle) { _twist = angle; }
 
     void setDragCoefficient(float c0) { _c0 = c0; }
+    void mulDragCoefficient(float factor) { _c0 *= factor; }
     float getDragCoefficient() const { return _c0; }
     
     void setXDrag(float cx) { _cx = cx; }
@@ -87,6 +88,7 @@ public:
     
 private:
     SGPropertyNode_ptr _surfN;
+    Version * _version;
     
     float stallFunc(float* v);
     float flapLift(float alpha);
@@ -123,7 +125,6 @@ private:
     float _stallAlpha {0};
     float _alpha {0};
 
-    Version * _version;
     SGPropertyNode* _fxN;
     SGPropertyNode* _fyN;
     SGPropertyNode* _fzN;
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 02757fa2f..3c9c8ffc4 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -402,9 +402,8 @@ void Wing::WingSection::multiplyLiftRatio(float factor)
 
 void Wing::WingSection::newSurface(Version* _version, float* pos, float* orient, float chord, bool hasFlap0, bool hasFlap1, bool hasSlat, bool hasSpoiler, float weight, float twist)
 {
-    Surface* s = new Surface(_version);
+    Surface* s = new Surface(_version, pos, weight);
 
-    s->setPosition(pos);
     s->setOrientation(orient);
     s->setChord(chord);
 
@@ -457,7 +456,6 @@ void Wing::WingSection::newSurface(Version* _version, float* pos, float* orient,
     SurfRec *sr = new SurfRec();
     sr->surface = s;
     sr->weight = weight;
-    s->setDragCoefficient(sr->weight);
     s->setTwist(twist);
     _surfs.add(sr);
 }

From 7c55aa2c4a669fd968f8e2744eb464a3539a51c6 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Tue, 12 Dec 2017 08:04:22 +0100
Subject: [PATCH 27/29] YASim variable and method name clarification in class
 Surface

---
 src/FDM/YASim/Airplane.cpp | 82 ++++++++++++++++++++------------------
 src/FDM/YASim/Surface.cpp  | 20 +++++-----
 src/FDM/YASim/Surface.hpp  | 17 ++++----
 src/FDM/YASim/Wing.cpp     | 29 +++++++++-----
 src/FDM/YASim/Wing.hpp     |  4 +-
 5 files changed, 84 insertions(+), 68 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 56dfad66e..9510f65e8 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -133,9 +133,9 @@ void Airplane::updateGearState()
         GearRec* gr = (GearRec*)_gears.get(i);
         float ext = gr->gear->getExtension();
 
-        gr->surf->setXDrag(ext);
+        gr->surf->setDragCoefficient(ext);
         gr->surf->setYDrag(ext);
-        gr->surf->setZDrag(ext);
+        gr->surf->setLiftCoefficient(ext);
     }
 }
 
@@ -271,13 +271,13 @@ void Airplane::setWeight(int handle, float mass)
     // Kill the aerodynamic drag if the mass is exactly zero.  This is
     // how we simulate droppable stores.
     if(mass == 0) {
-        wr->surf->setXDrag(0);
+        wr->surf->setDragCoefficient(0);
         wr->surf->setYDrag(0);
-        wr->surf->setZDrag(0);
+        wr->surf->setLiftCoefficient(0);
     } else {
-        wr->surf->setXDrag(1);
+        wr->surf->setDragCoefficient(1);
         wr->surf->setYDrag(1);
-        wr->surf->setZDrag(1);
+        wr->surf->setLiftCoefficient(1);
     }
 }
 
@@ -408,10 +408,10 @@ float Airplane::compileFuselage(Fuselage* f)
         // Make a Surface too
         Surface* s = new Surface(this, pos, dragCoefficient);
         if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
-                s->setXDrag(f->_cx);
+                s->setDragCoefficient(f->_cx);
         }
         s->setYDrag(sideDrag*f->_cy);
-        s->setZDrag(sideDrag*f->_cz);
+        s->setLiftCoefficient(sideDrag*f->_cz);
         s->setInducedDrag(f->_idrag);
 
         // FIXME: fails for fuselages aligned along the Y axis
@@ -512,38 +512,38 @@ void Airplane::compile()
     // The Wing objects
     if (_wing)
     {
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("wing", 0, true);
-          _wing->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(_wing);
-      
-      // convert % to absolute x coordinates
-      _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
-      _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
-      if (baseN != 0) {
-        SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
-        n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
-        n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
-      }
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("wing", 0, true);
+            _wing->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(_wing);
+        
+        // convert % to absolute x coordinates
+        _cgDesiredFront = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMin;
+        _cgDesiredAft = _wing->getMACx() - _wing->getMACLength()*_cgDesiredMax;
+        if (baseN != 0) {
+            SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
+            n->getNode("cg-x-range-front", true)->setFloatValue(_cgDesiredFront);
+            n->getNode("cg-x-range-aft", true)->setFloatValue(_cgDesiredAft);
+        }
     }
     if (_tail)
     {
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("tail", 0, true);
-          _tail->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(_tail);
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("tail", 0, true);
+            _tail->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(_tail);
     }
     int i;
     for(i=0; i<_vstabs.size(); i++)
     {
-      Wing* vs = (Wing*)_vstabs.get(i);
-      if (baseN != 0) {
-          _wingsN = baseN->getChild("stab", i, true);
-          vs->setPropertyNode(_wingsN);
-      }
-      aeroWgt += compileWing(vs);
+        Wing* vs = (Wing*)_vstabs.get(i);
+        if (baseN != 0) {
+            _wingsN = baseN->getChild("stab", i, true);
+            vs->setPropertyNode(_wingsN);
+        }
+        aeroWgt += compileWing(vs);
     }
 
     // The fuselage(s)
@@ -557,9 +557,13 @@ void Airplane::compile()
 
     // Rescale to the specified empty weight
     float wscale = (_emptyWeight-nonAeroWgt)/aeroWgt;
-    for(i=firstMass; i<body->numMasses(); i++)
+    for(i=firstMass; i<body->numMasses(); i++) {
         body->setMass(i, body->getMass(i)*wscale);
-
+    }
+    if (_wingsN != nullptr) {
+        float w = _wingsN->getNode("weight", true)->getFloatValue();
+        _wingsN->getNode("mass", true)->setFloatValue(w * wscale);
+    }
     // Add the thruster masses
     for(i=0; i<_thrusters.size(); i++) {
         ThrustRec* t = (ThrustRec*)_thrusters.get(i);
@@ -801,21 +805,21 @@ void Airplane::applyDragFactor(float factor)
             // it won't be affected by the streamlining done to reduce
             // longitudinal drag. So the solver should only adjust the
             // fuselage's longitudinal (X axis) drag coefficient.
-            s->setXDrag(s->getXDrag() * applied);
+            s->setDragCoefficient(s->getDragCoefficient() * applied);
             } else {
             // Originally YASim applied the drag factor to all axes
             // for Fuselage Surfaces.
-            s->mulDragCoefficient(applied);
+            s->mulTotalForceCoefficient(applied);
             }
         }
     }
     for(i=0; i<_weights.size(); i++) {
         WeightRec* wr = (WeightRec*)_weights.get(i);
-        wr->surf->mulDragCoefficient(applied);
+        wr->surf->mulTotalForceCoefficient(applied);
     }
     for(i=0; i<_gears.size(); i++) {
         GearRec* gr = (GearRec*)_gears.get(i);
-        gr->surf->mulDragCoefficient(applied);
+        gr->surf->mulTotalForceCoefficient(applied);
     }
 }
 
diff --git a/src/FDM/YASim/Surface.cpp b/src/FDM/YASim/Surface.cpp
index e9284dc4d..2865b72c6 100644
--- a/src/FDM/YASim/Surface.cpp
+++ b/src/FDM/YASim/Surface.cpp
@@ -1,4 +1,5 @@
 #include <Main/fg_props.hxx>
+#include "yasim-common.hpp"
 #include "Math.hpp"
 #include "Surface.hpp"
 
@@ -119,23 +120,24 @@ void Surface::setSpoilerPos(float pos)
 
 // Calculate the aerodynamic force given a wind vector v (in the
 // aircraft's "local" coordinates) and an air density rho.  Returns a
-// torque about the Y axis, too.
+// torque about the Y axis ("pitch"), too.
 void Surface::calcForce(const float* v, const float rho, float* out, float* torque)
 {
+    // initialize outputs to zero
+    Math::zero3(out);
+    Math::zero3(torque);
+    
     // Split v into magnitude and direction:
     float vel = Math::mag3(v);
 
     // Zero velocity means zero force by definition (also prevents div0).
     if(vel == 0) {
-        int i;
-	for(i=0; i<3; i++) out[i] = torque[i] = 0;
-	return;
+        return;
     }
 
     // special case this so the logic below doesn't produce a non-zero
     // force; should probably have a "no force" flag instead...
     if(_cx == 0. && _cy == 0. && _cz == 0.) {
-        for(int i=0; i<3; i++) out[i] = torque[i] = 0.;
         return;
     }
     
@@ -145,10 +147,10 @@ void Surface::calcForce(const float* v, const float rho, float* out, float* torq
 
     // "Rotate" by the incidence angle.  Assume small angles, so we
     // need to diddle only the Z component, X is relatively unchanged
-    // by small rotations.
+    // by small rotations. sin(a) ~ a, cos(a) ~ 1 for small a
     float incidence = _incidence + _twist;
     out[2] += incidence * out[0]; // z' = z + incidence * x
-
+    
     // Hold onto the local wind vector so we can multiply the induced
     // drag at the end.
     float lwind[3];
@@ -190,9 +192,9 @@ void Surface::calcForce(const float* v, const float rho, float* out, float* torq
     // roughly parallel with Z, the small-angle approximation
     // must change its X component.
     if( _version->isVersionOrNewer( Version::YASIM_VERSION_32 )) {
-	out[0] += incidence * out[2];
+        out[0] += incidence * out[2];
     } else {
-	out[2] -= incidence * out[0];
+        out[2] -= incidence * out[0];
     }
 
     // Convert back to external coordinates
diff --git a/src/FDM/YASim/Surface.hpp b/src/FDM/YASim/Surface.hpp
index fc16bc501..bd5c35f04 100644
--- a/src/FDM/YASim/Surface.hpp
+++ b/src/FDM/YASim/Surface.hpp
@@ -59,17 +59,18 @@ public:
     // The offset from base incidence for this surface.
     void setTwist(float angle) { _twist = angle; }
 
-    void setDragCoefficient(float c0) { _c0 = c0; }
-    void mulDragCoefficient(float factor) { _c0 *= factor; }
-    float getDragCoefficient() const { return _c0; }
+    void  setTotalForceCoefficient(float c0) { _c0 = c0; }
+    void  mulTotalForceCoefficient(float factor) { _c0 *= factor; }
+    float getTotalForceCoefficient() const { return _c0; }
     
-    void setXDrag(float cx) { _cx = cx; }
-    void setYDrag(float cy) { _cy = cy; }
-    void setZDrag(float cz) { _cz = cz; }
-    float getXDrag() const { return _cx; }
+    void  setDragCoefficient(float cx) { _cx = cx; }
+    float getDragCoefficient() const { return _cx; }
+    void  setYDrag(float cy) { _cy = cy; }
+    void  setLiftCoefficient(float cz) { _cz = cz; }
+    float getLiftCoefficient() const { return _cz; }
 
     // zero-alpha Z drag ("camber") specified as a fraction of cz
-    void setBaseZDrag(float cz0) { _cz0 = cz0; }
+    void setZeroAlphaLift(float cz0) { _cz0 = cz0; }
 
     // i: 0 == forward, 1 == backwards
     void setStallPeak(int i, float peak) { _peaks[i] = peak; }
diff --git a/src/FDM/YASim/Wing.cpp b/src/FDM/YASim/Wing.cpp
index 3c9c8ffc4..6b8ad1a90 100644
--- a/src/FDM/YASim/Wing.cpp
+++ b/src/FDM/YASim/Wing.cpp
@@ -379,7 +379,7 @@ void Wing::WingSection::setDragCoefficient(float scale)
     _dragScale = scale;
     for(int i=0; i<_surfs.size(); i++) {
         SurfRec* s = (SurfRec*)_surfs.get(i);
-        s->surface->setDragCoefficient(scale * s->weight);
+        s->surface->setTotalForceCoefficient(scale * s->weight);
     }
 }
 
@@ -392,7 +392,7 @@ void Wing::WingSection::setLiftRatio(float ratio)
 {
     _liftRatio = ratio;
     for(int i=0; i<_surfs.size(); i++)
-        ((SurfRec*)_surfs.get(i))->surface->setZDrag(ratio);
+        ((SurfRec*)_surfs.get(i))->surface->setLiftCoefficient(ratio);
 }
 
 void Wing::WingSection::multiplyLiftRatio(float factor)
@@ -408,7 +408,7 @@ void Wing::WingSection::newSurface(Version* _version, float* pos, float* orient,
     s->setChord(chord);
 
     // Camber is expressed as a fraction of stall peak, so convert.
-    s->setBaseZDrag(_camber*_stallParams.peak);
+    s->setZeroAlphaLift(_camber*_stallParams.peak);
 
     // The "main" (i.e. normal) stall angle
     float stallAoA = _stallParams.aoa - _stallParams.width/4;
@@ -498,7 +498,7 @@ void Wing::writeInfoToProptree()
         ws = (WingSection*)_sections.get(section);
         for (int surf=0; surf < ws->numSurfaces(); surf++) {
             Surface* s = ws->getSurface(surf);
-            float drag = s->getDragCoefficient();
+            float drag = s->getTotalForceCoefficient();
             dragSum += drag;
 
             float mass = ws->getSurfaceWeight(surf);
@@ -510,9 +510,11 @@ void Wing::writeInfoToProptree()
     _wingN->getNode("drag", true)->setFloatValue(dragSum);
 }
 
+// estimate a mass distibution and add masses to the model
+// they will be scaled to match total mass of aircraft later
 float Wing::updateModel(Model* model) 
 {
-    float wgt = 0;
+    _weight = 0;
     WingSection* ws;
     for (int section=0; section < _sections.size(); section++) {
         ws = (WingSection*)_sections.get(section);
@@ -520,21 +522,26 @@ float Wing::updateModel(Model* model)
             Surface* s = ws->getSurface(surf);
             model->addSurface(s);
 
-            float mass = ws->getSurfaceWeight(surf);
-            mass = mass * Math::sqrt(mass);
-            wgt += mass;
+            float weight = ws->getSurfaceWeight(surf);
+            weight = weight * Math::sqrt(weight);
+            _weight += weight;
 
             float pos[3];
             s->getPosition(pos);
-            int mid = model->getBody()->addMass(mass, pos, true);
+            int mid = model->getBody()->addMass(weight, pos, true);
             if (_wingN != nullptr) {
                 SGPropertyNode_ptr n = _wingN->getNode("surfaces", true)->getChild("surface", s->getID(), true);
-                n->getNode("drag", true)->setFloatValue(s->getDragCoefficient());
+                n->getNode("c0", true)->setFloatValue(s->getTotalForceCoefficient());
+                n->getNode("cdrag", true)->setFloatValue(s->getDragCoefficient());
+                n->getNode("clift", true)->setFloatValue(s->getLiftCoefficient());
                 n->getNode("mass-id", true)->setIntValue(mid);
             }
         }
     }
-    return wgt;    
+    if (_wingN != nullptr) {
+        _wingN->getNode("weight", true)->setFloatValue(_weight);
+    }
+    return _weight;
 }
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/Wing.hpp b/src/FDM/YASim/Wing.hpp
index cb8bd5644..6481ba16c 100644
--- a/src/FDM/YASim/Wing.hpp
+++ b/src/FDM/YASim/Wing.hpp
@@ -49,6 +49,7 @@ class Wing {
     };
     
     struct WingSection {
+        int _id;
         Chord _rootChord;
         // length is distance from base to tip, not wing span
         float _length {0};
@@ -123,7 +124,9 @@ class Wing {
     float _aspectRatio {0};
     float _meanChord {0};
     float _incidence {0};
+    float _weight {0};
 
+    //-- private methods
     Chord _float2chord(float* pos, float lenght = 0);
     void _chord2float(Chord c, float* pos);
     void interp(const float* v1, const float* v2, const float frac, float* out);
@@ -166,7 +169,6 @@ public:
 
     void setPropertyNode(SGPropertyNode_ptr n) { _wingN = n; };
     float updateModel(Model* model);
-
 };
 
 }; // namespace yasim

From 87149931dd2bcc9939d7e8cd53d214c988e3fb78 Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Tue, 12 Dec 2017 08:14:30 +0100
Subject: [PATCH 28/29] YASim refactoring parser

---
 src/FDM/YASim/Airplane.cpp   | 27 +++++++--------
 src/FDM/YASim/Airplane.hpp   | 10 ++++--
 src/FDM/YASim/ControlMap.cpp | 52 ++++++++++++++--------------
 src/FDM/YASim/ControlMap.hpp |  7 ++--
 src/FDM/YASim/FGFDM.cpp      | 66 ++++++++++++++++++++----------------
 src/FDM/YASim/FGFDM.hpp      |  3 +-
 6 files changed, 87 insertions(+), 78 deletions(-)

diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp
index 9510f65e8..0a4b128b6 100644
--- a/src/FDM/YASim/Airplane.cpp
+++ b/src/FDM/YASim/Airplane.cpp
@@ -161,31 +161,30 @@ void Airplane::setCruise(float speed, float altitude, float fuel, float gla)
 
 void Airplane::setElevatorControl(const char* prop)
 {
-    _approachElevator.propHandle = getControlMap()->getPropertyHandle(prop);
+    _approachElevator.propHandle = getControlMap()->getInputPropertyHandle(prop);
     _approachElevator.val = 0;
     _approachConfig.controls.add(&_approachElevator);
 }
 
-void Airplane::addApproachControl(const char* prop, float val)
+void Airplane::addControlSetting(Configuration cfg, const char* prop, float val)
 {
     ControlSetting* c = new ControlSetting();
-    c->propHandle = getControlMap()->getPropertyHandle(prop);
+    c->propHandle = getControlMap()->getInputPropertyHandle(prop);
     c->val = val;
-    _approachConfig.controls.add(c);
+    switch (cfg) {
+        case APPROACH:
+            _approachConfig.controls.add(c);
+            break;
+        case CRUISE:
+            _cruiseConfig.controls.add(c);
+            break;
+    }
 }
 
-void Airplane::addCruiseControl(const char* prop, float val)
-{
-    ControlSetting* c = new ControlSetting();
-    c->propHandle = getControlMap()->getPropertyHandle(prop);
-    c->val = val;
-    _cruiseConfig.controls.add(c);
-}
-
-void Airplane::addSolutionWeight(bool approach, int idx, float wgt)
+void Airplane::addSolutionWeight(Configuration cfg, int idx, float wgt)
 {
     SolveWeight* w = new SolveWeight();
-    w->approach = approach;
+    w->approach = (cfg == APPROACH);
     w->idx = idx;
     w->wgt = wgt;
     _solveWeights.add(w);
diff --git a/src/FDM/YASim/Airplane.hpp b/src/FDM/YASim/Airplane.hpp
index 0f22cfc22..7304e986c 100644
--- a/src/FDM/YASim/Airplane.hpp
+++ b/src/FDM/YASim/Airplane.hpp
@@ -24,6 +24,11 @@ public:
     Airplane();
     ~Airplane();
 
+    enum Configuration {
+        APPROACH,
+        CRUISE,
+    };
+    
     void iterate(float dt);
     void calcFuelWeights();
 
@@ -60,10 +65,9 @@ public:
     void setCruise(float speed, float altitude, float fuel, float gla);
 
     void setElevatorControl(const char* prop);
-    void addApproachControl(const char* prop, float val);
-    void addCruiseControl(const char* prop, float val);
+    void addControlSetting(Configuration cfg, const char* prop, float val);
 
-    void addSolutionWeight(bool approach, int idx, float wgt);
+    void addSolutionWeight(Configuration cfg, int idx, float wgt);
 
     int numGear() const { return _gears.size(); }
     Gear* getGear(int g) { return ((GearRec*)_gears.get(g))->gear; }
diff --git a/src/FDM/YASim/ControlMap.cpp b/src/FDM/YASim/ControlMap.cpp
index db644691d..679d7aec5 100644
--- a/src/FDM/YASim/ControlMap.cpp
+++ b/src/FDM/YASim/ControlMap.cpp
@@ -50,13 +50,7 @@ options: bits OPT_INVERT, OPT_SPLIT, OPT_SQUARE
 */
 void ControlMap::addMapping(const char* prop, Control control, ObjectID id, int options, float src0, float src1, float dst0, float dst1)
 {
-    addMapping(prop, control, id, options);
-    int inputPropHandle = getPropertyHandle(prop);
-
-    // The one we just added is last in the list (ugly, awful hack!)
-    Vector* maps = (Vector*)_inputs.get(inputPropHandle);
-    MapRec* m = (MapRec*)maps->get(maps->size() - 1);
-
+    MapRec* m = (MapRec*)addMapping(prop, control, id, options);
     m->src0 = src0;
     m->src1 = src1;
     m->dst0 = dst0;
@@ -69,12 +63,13 @@ control: identifier (see enum OutputType)
 object: object to which this input belongs to
 options: bits OPT_INVERT, OPT_SPLIT, OPT_SQUARE
 */
-void ControlMap::addMapping(const char* prop, Control control, ObjectID id, int options)
+void* ControlMap::addMapping(const char* prop, Control control, ObjectID id, int options)
 {
-    int inputPropHandle = getPropertyHandle(prop);
+    int inputPropHandle = getInputPropertyHandle(prop);
     // See if the output object already exists
     OutRec* out {nullptr};
-    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->oid.object == id.object && o->oid.subObj == id.subObj 
             && o->control == control) 
@@ -105,6 +100,7 @@ void ControlMap::addMapping(const char* prop, Control control, ObjectID id, int
     // And add it to the approproate vectors.
     Vector* maps = (Vector*)_inputs.get(inputPropHandle);
     maps->add(map);
+    return map;
 }
 
 void ControlMap::reset()
@@ -138,9 +134,9 @@ int ControlMap::getOutputHandle(ObjectID id, Control control)
         OutRec* o = (OutRec*)_outputs.get(i);
 	    if(o->oid.object == id.object && o->oid.subObj == id.subObj 
             && o->control == control)
-	        return i;
+            return i;
     }
-    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%ld, control %d \n", (long)id.object, control);
+    fprintf(stderr, "ControlMap::getOutputHandle cannot find *%ld, control %d \nMissing <control-input ...> in XML?!", (long)id.object, control);
     return -1;
 }
 
@@ -330,6 +326,7 @@ void ControlMap::applyControls(float dt)
                 ((Hitch*)obj)->findBestAIObject(lval!=0);
                 break;
             case PROP:
+                break;
             case INCIDENCE:
                 break;
         }
@@ -369,24 +366,24 @@ float ControlMap::rangeMax(Control control)
 }
 
 /// register property name, return ID (int)
-int ControlMap::getPropertyHandle(const char* name)
+int ControlMap::getInputPropertyHandle(const char* name)
 {
-	for(int i=0; i < _properties.size(); i++) {
-		PropHandle* p = (PropHandle*)_properties.get(i);
-		if(!strcmp(p->name, name))
-			return p->handle;
-	}
+    for(int i=0; i < _properties.size(); i++) {
+        PropHandle* p = (PropHandle*)_properties.get(i);
+        if(!strcmp(p->name, name))
+            return p->handle;
+    }
 
-	// create new
-	PropHandle* p = new PropHandle();
-	p->name = strdup(name);
-	
-	fgGetNode(p->name, true); 
+    // create new
+    PropHandle* p = new PropHandle();
+    p->name = strdup(name);
+    
+    fgGetNode(p->name, true); 
 
-	Vector* v = new Vector();
-	p->handle = _inputs.add(v);
-	_properties.add(p);
-	return p->handle;
+    Vector* v = new Vector();
+    p->handle = _inputs.add(v);
+    _properties.add(p);
+    return p->handle;
 }
 
 
@@ -442,6 +439,7 @@ ControlMap::Control ControlMap::parseControl(const char* name)
 
 ControlMap::ObjectID ControlMap::getObjectID(void* object, int subObj)
 {
+    assert(object != nullptr);
     ObjectID o;
     o.object = object;
     o.subObj = subObj;
diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp
index 94374ea2a..5c150c1e1 100644
--- a/src/FDM/YASim/ControlMap.hpp
+++ b/src/FDM/YASim/ControlMap.hpp
@@ -9,7 +9,7 @@ namespace yasim {
 class ControlMap {
 public:
     ~ControlMap();
-
+    
     enum Control { 
         THROTTLE, 
         MIXTURE, 
@@ -77,7 +77,6 @@ public:
     ObjectID getObjectID(void* object, int subObj = 0);
     
     // add input property for a control to an object
-    void addMapping(const char* prop, Control control, ObjectID id, int options = 0);
 
     // same with limits. Input values are clamped to [src0:src1] and then mapped to
     // [dst0:dst1] before being set on the objects control.
@@ -116,7 +115,7 @@ public:
     float getOutputR(int handle);
 
     // register property name, return handle
-    int getPropertyHandle(const char* name);
+    int getInputPropertyHandle(const char* name);
     int numProperties() { return _properties.size(); }
     PropHandle* getProperty(const int i) { return ((PropHandle*)_properties.get(i)); }
 
@@ -148,6 +147,8 @@ private:
     Vector _outputs;
     // control properties
     Vector _properties;
+
+    void* addMapping(const char* prop, Control control, ObjectID id, int options = 0);
 };
 
 }; // namespace yasim
diff --git a/src/FDM/YASim/FGFDM.cpp b/src/FDM/YASim/FGFDM.cpp
index 1a8c82c63..3c21a5ed7 100644
--- a/src/FDM/YASim/FGFDM.cpp
+++ b/src/FDM/YASim/FGFDM.cpp
@@ -228,22 +228,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &a)
     else if(!strcmp(name, "solve-weight")) { parseSolveWeight(&a); } 
     else if(!strcmp(name, "cockpit")) { parseCockpit(&a); }
     else if(!strcmp(name, "rotor")) { parseRotor(&a, name); }
-    else if(!strcmp(name, "rotorgear")) {
-        Rotorgear* r = _airplane.getModel()->getRotorgear();
-        _currObj = r;
-        #define p(x) if ((&a)->hasAttribute(#x)) r->setParameter((char *)#x,attrf(&a,#x) );
-        #define p2(x,y) if ((&a)->hasAttribute(y)) r->setParameter((char *)#x,attrf(&a,y) );
-        p2(max_power_engine,"max-power-engine")
-        p2(engine_prop_factor,"engine-prop-factor")
-        p(yasimdragfactor)
-        p(yasimliftfactor)
-        p2(max_power_rotor_brake,"max-power-rotor-brake")
-        p2(rotorgear_friction,"rotorgear-friction")
-        p2(engine_accel_limit,"engine-accel-limit")
-        #undef p
-        #undef p2
-        r->setInUse();
-    } 
+    else if(!strcmp(name, "rotorgear")) { parseRotorGear(&a); }
     else if(!strcmp(name, "wing") || !strcmp(name, "hstab") || !strcmp(name, "vstab") || !strcmp(name, "mstab")) { 
         parseWing(&a, name, &_airplane); 
     } 
@@ -320,11 +305,11 @@ void FGFDM::parseApproachCruise(const XMLAttributes* a, const char* name)
     if (!strcmp(name, "approach")) {
         float aoa = attrf(a, "aoa", 0) * DEG2RAD;
         _airplane.setApproach(spd, alt, aoa, attrf(a, "fuel", 0.2), gla);
-        _cruiseCurr = false;        
+        _airplaneCfg = Airplane::Configuration::APPROACH;
     }
     else {
         _airplane.setCruise(spd, alt, attrf(a, "fuel", 0.5),gla);
-        _cruiseCurr = true;
+        _airplaneCfg = Airplane::Configuration::CRUISE;
     }
 }
 
@@ -339,7 +324,7 @@ void FGFDM::parseSolveWeight(const XMLAttributes* a)
         SG_LOG(SG_FLIGHT,SG_ALERT,"YASim fatal: missing attribute, solve-weight needs one of {weight-lbs, weight-kg}");
         exit(1);       
     }
-    _airplane.addSolutionWeight(!_cruiseCurr, idx, f);
+    _airplane.addSolutionWeight(_airplaneCfg, idx, f);
 }
 
 void FGFDM::parseCockpit(const XMLAttributes* a)
@@ -594,10 +579,13 @@ void FGFDM::parseWing(const XMLAttributes* a, const char* type, Airplane* airpla
 
     float dragFactor = attrf(a, "pdrag", 1);
     if (a->hasAttribute("effectiveness")) {
+/* FIXME: 
+ * check if all attibutes have "good" names and update parser AND documentation together
+ * only after that issue warnings
         SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
                "deprecated attribute 'effectiveness' in YASim configuration file.  " <<
                "Use 'pdrag' instead to add parasitic drag.");
-        
+*/       
         dragFactor = attrf(a, "effectiveness", 1);
     }
     w->setSectionDrag(_wingSection, dragFactor);
@@ -719,6 +707,24 @@ void FGFDM::parseRotor(const XMLAttributes* a, const char* type)
     _airplane.getModel()->getRotorgear()->addRotor(w);    
 } //parseRotor
 
+void FGFDM::parseRotorGear(const XMLAttributes* a)
+{
+    Rotorgear* r = _airplane.getModel()->getRotorgear();
+    _currObj = r;
+    #define p(x) if (a->hasAttribute(#x)) r->setParameter((char *)#x,attrf(a,#x) );
+    #define p2(x,y) if (a->hasAttribute(y)) r->setParameter((char *)#x,attrf(a,y) );
+    p2(max_power_engine,"max-power-engine")
+    p2(engine_prop_factor,"engine-prop-factor")
+    p(yasimdragfactor)
+    p(yasimliftfactor)
+    p2(max_power_rotor_brake,"max-power-rotor-brake")
+    p2(rotorgear_friction,"rotorgear-friction")
+    p2(engine_accel_limit,"engine-accel-limit")
+    #undef p
+    #undef p2
+    r->setInUse();
+}
+
 void FGFDM::parsePistonEngine(const XMLAttributes* a)
 {
     float engP = attrf(a, "eng-power") * HP2W;
@@ -1138,12 +1144,7 @@ void FGFDM::parseControlSetting(const XMLAttributes* a)
 {
     // A cruise or approach control setting
     float value = attrf(a, "value", 0);
-    if(_cruiseCurr) {
-        _airplane.addCruiseControl(a->getValue("axis"), value);
-    }
-    else {
-        _airplane.addApproachControl(a->getValue("axis"), value);
-    }
+    _airplane.addControlSetting(_airplaneCfg, a->getValue("axis"), value);
 }
 
 void FGFDM::parseControlIn(const XMLAttributes* a)
@@ -1156,11 +1157,16 @@ void FGFDM::parseControlIn(const XMLAttributes* a)
     opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
     opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
     opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
+    float src0, src1, dst0, dst1;
+    src0 = dst0 = cm->rangeMin(control);
+    src1 = dst1 = cm->rangeMax(control);
     if(a->hasAttribute("src0")) {
-        cm->addMapping(a->getValue("axis"), control, oid, opt, attrf(a, "src0"), attrf(a, "src1"), attrf(a, "dst0"), attrf(a, "dst1"));
-    } else {
-        cm->addMapping(a->getValue("axis"), control, oid, opt);
-    }   
+        src0 = attrf(a, "src0");
+        src1 = attrf(a, "src1");
+        dst0 = attrf(a, "dst0");
+        dst1 = attrf(a, "dst1");
+    }
+    cm->addMapping(a->getValue("axis"), control, oid, opt, src0, src1, dst0, dst1);
 }
 
 void FGFDM::parseControlOut(const XMLAttributes* a)
diff --git a/src/FDM/YASim/FGFDM.hpp b/src/FDM/YASim/FGFDM.hpp
index 845873d66..a546d1262 100644
--- a/src/FDM/YASim/FGFDM.hpp
+++ b/src/FDM/YASim/FGFDM.hpp
@@ -58,6 +58,7 @@ private:
     void setOutputProperties(float dt);
 
     void parseRotor(const XMLAttributes* a, const char* name);
+    void parseRotorGear(const XMLAttributes* a);
     void parseWing(const XMLAttributes* a, const char* name, Airplane* airplane);
     int parseOutput(const char* name);
     void parseWeight(const XMLAttributes* a);
@@ -113,7 +114,7 @@ private:
 
     // Parsing temporaries
     void* _currObj {nullptr};
-    bool _cruiseCurr {false};
+    Airplane::Configuration _airplaneCfg;
     int _nextEngine {0};
     int _wingSection {0};
 

From 9289c79e05169cf253691cc0cfa6cf8630aa3dce Mon Sep 17 00:00:00 2001
From: Henning Stahlke <github@henningstahlke.de>
Date: Thu, 14 Dec 2017 20:02:52 +0100
Subject: [PATCH 29/29] YASIM reduce precision of lift/drag output from CLI
 tool to .4

---
 src/FDM/YASim/yasim-test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/FDM/YASim/yasim-test.cpp b/src/FDM/YASim/yasim-test.cpp
index fb08639d7..4ac88869c 100644
--- a/src/FDM/YASim/yasim-test.cpp
+++ b/src/FDM/YASim/yasim-test.cpp
@@ -95,7 +95,7 @@ void yasim_graph(Airplane* a, const float alt, const float kts, int cfg = CONFIG
       ld_max= ld;
       ld_max_deg = deg;
     }    
-    printf("%d %g %g %g\n", deg, lift, drag, ld);
+    printf("%d %.4g %.4g %.4g\n", deg, lift, drag, ld);
   }
   printf("# cl_max %g at %d deg\n", cl_max, cl_max_deg);
   printf("# cd_min %g at %d deg\n", cd_min, cd_min_deg);