From 5d31544476efaf950709f45b747a0b26117ddff1 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 11:30:36 -0700
Subject: [PATCH 01/19] Changed Lat/Lon/h to double in GetP

---
 xpcPlugin/MessageHandlers.cpp | 25 +++++++++++--------------
 1 file changed, 11 insertions(+), 14 deletions(-)

diff --git a/xpcPlugin/MessageHandlers.cpp b/xpcPlugin/MessageHandlers.cpp
index 2556fef..5163edc 100644
--- a/xpcPlugin/MessageHandlers.cpp
+++ b/xpcPlugin/MessageHandlers.cpp
@@ -24,7 +24,6 @@
 #include "XPLMScenery.h"
 #include "XPLMGraphics.h"
 
-
 #include <cmath>
 #include <cstring>
 #include <cstdint>
@@ -32,7 +31,6 @@
 #define MULTICAST_GROUP "239.255.1.1"
 #define MULITCAST_PORT 49710
 
-
 namespace XPC
 {
 	std::map<std::string, MessageHandlers::ConnectionInfo> MessageHandlers::connections;
@@ -560,21 +558,20 @@ namespace XPC
 		unsigned char aircraft = buffer[5];
 		Log::FormatLine(LOG_TRACE, "GPOS", "Getting position information for aircraft %u", aircraft);
 
-		unsigned char response[34] = "POSI";
+		unsigned char response[46] = "POSI";
 		response[5] = (char)DataManager::GetInt(DREF_GearHandle, aircraft);
-		// TODO change lat/lon/h to double?
-		*((float*)(response + 6)) = (float)DataManager::GetDouble(DREF_Latitude, aircraft);
-		*((float*)(response + 10)) = (float)DataManager::GetDouble(DREF_Longitude, aircraft);
-		*((float*)(response + 14)) = (float)DataManager::GetDouble(DREF_Elevation, aircraft);
-		*((float*)(response + 18)) = DataManager::GetFloat(DREF_Pitch, aircraft);
-		*((float*)(response + 22)) = DataManager::GetFloat(DREF_Roll, aircraft);
-		*((float*)(response + 26)) = DataManager::GetFloat(DREF_HeadingTrue, aircraft);
+		*((double*)(response + 6)) = DataManager::GetDouble(DREF_Latitude, aircraft);
+		*((double*)(response + 14)) = DataManager::GetDouble(DREF_Longitude, aircraft);
+		*((double*)(response + 22)) = DataManager::GetDouble(DREF_Elevation, aircraft);
+		*((float*)(response + 30)) = DataManager::GetFloat(DREF_Pitch, aircraft);
+		*((float*)(response + 34)) = DataManager::GetFloat(DREF_Roll, aircraft);
+		*((float*)(response + 38)) = DataManager::GetFloat(DREF_HeadingTrue, aircraft);
 
 		float gear[10];
 		DataManager::GetFloatArray(DREF_GearDeploy, gear, 10, aircraft);
-		*((float*)(response + 30)) = gear[0];
+		*((float*)(response + 42)) = gear[0];
 
-		sock->SendTo(response, 34, &connection.addr);
+		sock->SendTo(response, 46, &connection.addr);
 	}
 
 	void MessageHandlers::HandlePosi(const Message& msg)
@@ -594,6 +591,7 @@ namespace XPC
 		{
 			float posd_32[3];
 			memcpy(posd_32, buffer + 6, 12);
+		/* convert float to double */
 			posd[0] = posd_32[0];
 			posd[1] = posd_32[1];
 			posd[2] = posd_32[2];
@@ -612,7 +610,6 @@ namespace XPC
 			return;
 		}
 
-		/* convert float to double */
 		DataManager::SetPosition(posd, aircraftNumber);
 		DataManager::SetOrientation(orient, aircraftNumber);
 		if (gear >= 0)
@@ -632,7 +629,7 @@ namespace XPC
 			}
 		}
 	}
-	
+
 	void MessageHandlers::HandleGetT(const Message& msg)
 	{
 		const unsigned char* buffer = msg.GetBuffer();

From 113d664bfe6ebc3197534d42485a5566ee332761 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 11:48:17 -0700
Subject: [PATCH 02/19] Changed getPOSI to double values

---
 C/src/xplaneConnect.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/C/src/xplaneConnect.h b/C/src/xplaneConnect.h
index 8cfb06f..4a62b17 100644
--- a/C/src/xplaneConnect.h
+++ b/C/src/xplaneConnect.h
@@ -201,8 +201,9 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 /// \param sock   The socket used to send the command and receive the response.
 /// \param values An array to store the position information returned by the
 ///               plugin. The format of values is [Lat, Lon, Alt, Pitch, Roll, Yaw, Gear]
+/// \param ac     The aircraft number to get the position of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
-int getPOSI(XPCSocket sock, float values[7], char ac);
+int getPOSI(XPCSocket sock, double values[7], char ac);
 
 /// Sets the position and orientation of the specified aircraft.
 ///
@@ -211,7 +212,7 @@ int getPOSI(XPCSocket sock, float values[7], char ac);
 ///               [Lat, Lon, Alt, Pitch, Roll, Yaw, Gear]. If less than 7 values are specified,
 ///               the unspecified values will be left unchanged.
 /// \param size   The number of elements in values.
-/// \param ac     The aircraft number to set the position of. 0 for the player aircraft.
+/// \param ac     The aircraft number to set the position of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 
@@ -223,7 +224,7 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 /// \param values An array to store the position information returned by the
 ///               plugin. The format of values is [Elevator, Aileron, Rudder,
 ///               Throttle, Gear, Flaps, Speed Brakes]
-/// \param ac     The aircraft to set the control surfaces of. 0 is the main/player aircraft.
+/// \param ac     The aircraft to set the control surfaces of. 0 is the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int getCTRL(XPCSocket sock, float values[7], char ac);
 
@@ -234,7 +235,7 @@ int getCTRL(XPCSocket sock, float values[7], char ac);
 ///               [Elevator, Aileron, Rudder, Throttle, Gear, Flaps, Speed Brakes]. If less than
 ///               6 values are specified, the unspecified values will be left unchanged.
 /// \param size   The number of elements in values.
-/// \param ac     The aircraft number to set the control surfaces of. 0 for the player aircraft.
+/// \param ac     The aircraft to set the control surfaces of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int sendCTRL(XPCSocket sock, float values[], int size, char ac);
 
@@ -246,7 +247,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac);
 /// \param msg  The message to print of the screen.
 /// \param x    The distance in pixels from the left edge of the screen to print the text.
 /// \param y    The distance in pixels from the bottom edge of the screen to print the top line of text.
-/// \returns      0 if successful, otherwise a negative value.
+/// \returns    0 if successful, otherwise a negative value.
 int sendTEXT(XPCSocket sock, char* msg, int x, int y);
 
 /// Sets the camera view in X-Plane.

From 915e0591acf19f900bba26616d75bf92026a7078 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 12:44:19 -0700
Subject: [PATCH 03/19] Changed getPOSI to double values

Also fixed compiler warnings due to unsigned char for buffers.  Changed to char.
---
 C/src/xplaneConnect.c | 51 +++++++++++++++++++++++++++++--------------
 1 file changed, 35 insertions(+), 16 deletions(-)

diff --git a/C/src/xplaneConnect.c b/C/src/xplaneConnect.c
index ed984fb..9425c94 100755
--- a/C/src/xplaneConnect.c
+++ b/C/src/xplaneConnect.c
@@ -387,7 +387,7 @@ int sendDREFs(XPCSocket sock, const char* drefs[], float* values[], int sizes[],
 {
 	// Setup command
 	// Max size is technically unlimited.
-	unsigned char buffer[65536] = "DREF";
+	char buffer[65536] = "DREF";
 	int pos = 5;
     int i; // Iterator
 	for (i = 0; i < count; ++i)
@@ -433,7 +433,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 	// Setup command
 	// 6 byte header + potentially 255 drefs, each 256 chars long.
 	// Easiest to just round to an even 2^16.
-	unsigned char buffer[65536] = "GETD";
+	char buffer[65536] = "GETD";
 	buffer[5] = count;
 	int len = 6;
     int i; // iterator
@@ -460,7 +460,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 
 int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int sizes[])
 {
-	unsigned char buffer[65536];
+	char buffer[65536];
 	int result = readUDP(sock, buffer, 65536);
 
     if (result < 0)
@@ -537,10 +537,10 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 /*****************************************************************************/
 /****                          POSI functions                             ****/
 /*****************************************************************************/
-int getPOSI(XPCSocket sock, float values[7], char ac)
+int getPOSI(XPCSocket sock, double values[7], char ac)
 {
 	// Setup send command
-	unsigned char buffer[6] = "GETP";
+	char buffer[6] = "GETP";
 	buffer[5] = ac;
 
 	// Send command
@@ -551,22 +551,41 @@ int getPOSI(XPCSocket sock, float values[7], char ac)
 	}
 
 	// Get response
-	unsigned char readBuffer[34];
-	int readResult = readUDP(sock, readBuffer, 34);
+	char readBuffer[46];
+	float f[7];
+	int readResult = readUDP(sock, readBuffer, 46);
+
+	// Copy response into values
 	if (readResult < 0)
 	{
 		printError("getPOSI", "Failed to read response.");
 		return -2;
 	}
-	if (readResult != 34)
+	else if (readResult == 34) /* lat/lon/h as 32-bit float */
+	{
+		memcpy(f, readBuffer + 6, 7 * sizeof(float));
+		values[0] = (double)f[0];
+		values[1] = (double)f[1];
+		values[2] = (double)f[2];
+		values[3] = (double)f[3];
+		values[4] = (double)f[4];
+		values[5] = (double)f[5];
+		values[6] = (double)f[6];
+	}
+	else if (readResult == 46) /* lat/lon/h as 64-bit double */
+	{
+		memcpy(values, readBuffer + 6, 3 * sizeof(double));
+		memcpy(f, readBuffer + 30, 4 * sizeof(float));
+		values[3] = (double)f[0];
+		values[4] = (double)f[1];
+		values[5] = (double)f[2];
+		values[6] = (double)f[3];
+	}
+	else
 	{
 		printError("getPOSI", "Unexpected response length.");
 		return -3;
 	}
-    // TODO: change this to the 64-bit lat/lon/h
-
-	// Copy response into values
-	memcpy(values, readBuffer + 6, 7 * sizeof(float));
 	return 0;
 }
 
@@ -585,7 +604,7 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 	}
 
 	// Setup command
-	unsigned char buffer[46] = "POSI";
+	char buffer[46] = "POSI";
 	buffer[4] = 0xff; //Placeholder for message length
 	buffer[5] = ac;
     int i; // iterator
@@ -627,7 +646,7 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 int getCTRL(XPCSocket sock, float values[7], char ac)
 {
 	// Setup send command
-	unsigned char buffer[6] = "GETC";
+	char buffer[6] = "GETC";
 	buffer[5] = ac;
 
 	// Send command
@@ -638,7 +657,7 @@ int getCTRL(XPCSocket sock, float values[7], char ac)
 	}
 
 	// Get response
-	unsigned char readBuffer[31];
+	char readBuffer[31];
 	int readResult = readUDP(sock, readBuffer, 31);
 	if (readResult < 0)
 	{
@@ -675,7 +694,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac)
 
 	// Setup Command
 	// 5 byte header + 5 float values * 4 + 2 byte values
-	unsigned char buffer[31] = "CTRL";
+	char buffer[31] = "CTRL";
 	int cur = 5;
     int i; // iterator
 	for (i = 0; i < 6; i++)

From 32bff7ffe47f00edb6f1f765929fda3ec66a4688 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 12:55:55 -0700
Subject: [PATCH 04/19] Changed getPOSI to double posi

Also fixed compiler error for timeval struct tv not defined for WIN32.
---
 C/monitorExample/main.c | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/C/monitorExample/main.c b/C/monitorExample/main.c
index e6d2e62..e0af291 100644
--- a/C/monitorExample/main.c
+++ b/C/monitorExample/main.c
@@ -26,6 +26,8 @@
 #include <sys/time.h>
 #include "stdio.h"
 
+struct timeval tv;
+
 #ifdef WIN32
 HANDLE hStdIn = NULL;
 INPUT_RECORD buffer;
@@ -51,7 +53,6 @@ int waitForInput()
 #else
 int fdstdin = 0;
 fd_set fds;
-struct timeval tv;
 
 int waitForInput()
 {
@@ -67,10 +68,10 @@ int main(void)
 {
 	XPCSocket client = openUDP("127.0.0.1");
 	const int aircraftNum = 0;
-    tv.tv_usec = 100 * 1000;
+	tv.tv_usec = 100 * 1000;
 	while (1)
 	{
-		float posi[7]; // FIXME: change this to the 64-bit lat/lon/h
+		double posi[7];
 		int result = getPOSI(client, posi, aircraftNum);
 		if (result < 0) // Error in getPOSI
 		{

From 53154e5908a5dabab38c80ae754948291d63270f Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 12:59:49 -0700
Subject: [PATCH 05/19] Changed getPOSI to double posi

---
 C/playbackExample/src/playback.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/C/playbackExample/src/playback.c b/C/playbackExample/src/playback.c
index 4d2e594..dd92e45 100644
--- a/C/playbackExample/src/playback.c
+++ b/C/playbackExample/src/playback.c
@@ -65,7 +65,7 @@ void record(char* path, int interval, int duration)
 	XPCSocket sock = openUDP("127.0.0.1");
 	for (int i = 0; i < count; ++i)
 	{
-		float posi[7];
+		double posi[7];
 		int result = getPOSI(sock, posi, 0);
 		playbackSleep(interval);
 		if (result < 0)

From 79110a6f9102e408bd3285e20b926841a4854547 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 15:05:35 -0700
Subject: [PATCH 06/19] getPOSI and sendPOSI fix to handle Lat/Lon/h doubles

getPOSI now can interpret either float or double Lat/Lon/h messages.  sendPOSI now sends double Lat/Lon/h messages.  Also fixed integer conversion bug in sendCTRL.
---
 Python3/src/xpc.py | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/Python3/src/xpc.py b/Python3/src/xpc.py
index ddf2be9..9c85942 100644
--- a/Python3/src/xpc.py
+++ b/Python3/src/xpc.py
@@ -1,7 +1,6 @@
 import socket
 import struct
 
-
 class XPlaneConnect(object):
     """XPlaneConnect (XPC) facilitates communication to and from the XPCPlugin."""
     socket = None
@@ -158,10 +157,13 @@ class XPlaneConnect(object):
 
         # Read response
         resultBuf = self.readUDP()
-        if len(resultBuf) != 34:
+        if len(resultBuf) == 34:
+            result = struct.unpack(b"<4sxBfffffff", resultBuf)
+        elif len(resultBuf) == 46:
+            result = struct.unpack(b"<4sxBdddffff", resultBuf)
+        else:
             raise ValueError("Unexpected response length.")
 
-        result = struct.unpack(b"<4sxBfffffff", resultBuf)
         if result[0] != b"POSI":
             raise ValueError("Unexpected header: " + result[0])
 
@@ -197,7 +199,10 @@ class XPlaneConnect(object):
             val = -998
             if i < len(values):
                 val = values[i]
-            buffer += struct.pack(b"<f", val)
+            if i < 3:
+                buffer += struct.pack(b"<d", val)
+            else:
+                buffer += struct.pack(b"<f", val)
 
         # Send
         self.sendUDP(buffer)
@@ -257,7 +262,7 @@ class XPlaneConnect(object):
                 val = values[i]
             if i == 4:
                 val = -1 if (abs(val + 998) < 1e-4) else val
-                buffer += struct.pack(b"b", val)
+                buffer += struct.pack(b"b", int(val))
             else:
                 buffer += struct.pack(b"<f", val)
 

From cf8f005b2e2680823d3283dd4189f3b2091cb5d9 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 15:24:54 -0700
Subject: [PATCH 07/19] Python3 Tests created

Created a Python3 compatible version of Tests.py
---
 TestScripts/Python3 Tests/Tests.py | 434 +++++++++++++++++++++++++++++
 1 file changed, 434 insertions(+)
 create mode 100644 TestScripts/Python3 Tests/Tests.py

diff --git a/TestScripts/Python3 Tests/Tests.py b/TestScripts/Python3 Tests/Tests.py
new file mode 100644
index 0000000..41e2bd4
--- /dev/null
+++ b/TestScripts/Python3 Tests/Tests.py	
@@ -0,0 +1,434 @@
+import random
+import unittest
+import importlib
+import time
+
+from importlib.machinery import SourceFileLoader
+xpc = SourceFileLoader('xpc', '../../Python3/src/xpc.py').load_module()
+
+class XPCTests(unittest.TestCase):
+    """Tests the functionality of the XPlaneConnect class."""
+
+    def test_init(self):
+        try:
+            client = xpc.XPlaneConnect()
+        except:
+            self.fail("Default constructor failed.")
+            
+        try:
+            client = xpc.XPlaneConnect("I'm not a real host")
+            self.fail("Failed to catch invalid XP host.")
+        except ValueError:
+            pass
+        
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 90001)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", -1)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, 90001)
+            self.fail("Failed to catch invalid local port.")
+        except ValueError:
+            pass
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, -1)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+        
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, 0, -1)
+            self.fail("Failed to catch invalid timeout.")
+        except ValueError:
+            pass
+
+    def test_close(self):
+        client = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+        client.close()
+        self.assertIsNone(client.socket)
+        client = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+
+    def test_send_read(self):
+        # Init
+        test = "\x00\x01\x02\x03\x05"
+
+        # Setup
+        sender = xpc.XPlaneConnect("127.0.0.1", 49063, 49064)
+        receiver = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+
+        # Execution
+        sender.sendUDP(test.encode())
+        buf = receiver.readUDP()
+
+        # Cleanup
+        sender.close()
+        receiver.close()
+
+        # Tests
+        for a, b in zip(test, buf.decode()):
+            self.assertEqual(a, b)
+
+    def test_getDREFs(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        drefs = ["sim/cockpit/switches/gear_handle_status",\
+                 "sim/cockpit2/switches/panel_brightness_ratio"]
+
+        # Execution
+        result = client.getDREFs(drefs)
+
+        # Cleanup
+        client.close()
+
+        # Tests
+        self.assertEqual(2, len(result))
+        self.assertEqual(1, len(result[0]))
+        self.assertEqual(4, len(result[1]))
+
+    def test_sendDREF(self):
+        dref = "sim/cockpit/switches/gear_handle_status"
+        value = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendDREF(dref, value)
+            result = client.getDREF(dref)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(1, len(result))
+            self.assertEqual(value, result[0])
+
+        # Test 1
+        value = 1
+        do_test()
+
+        # Test 2
+        value = 0
+        do_test()
+
+    def test_sendDREFs(self):
+        drefs = [\
+            "sim/cockpit/switches/gear_handle_status",\
+            "sim/cockpit/autopilot/altitude"]
+        values = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendDREFs(drefs, values)
+            result = client.getDREFs(drefs)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(2, len(result))
+            self.assertEqual(1, len(result[0]))
+            self.assertEqual(values[0], result[0][0])
+            self.assertEqual(1, len(result[1]))
+            self.assertEqual(values[1], result[1][0])
+
+        # Test 1
+        values = [1, 2000]
+        do_test()
+
+        # Test 2
+        values = [0, 4000]
+        do_test()
+
+    def test_sendDATA(self):
+        # Setup
+        dref = "sim/aircraft/parts/acf_gear_deploy"
+        data = [[ 14, 1, 0, -998, -998, -998, -998, -998, -998 ]]
+        client = xpc.XPlaneConnect()
+
+        # Execute
+        client.sendDATA(data)
+        result = client.getDREF(dref)
+
+        # Cleanup
+        client.close()
+
+        #Tests
+        self.assertEqual(result[0], data[0][1])
+
+    def test_pauseSim(self):
+        dref = "sim/operation/override/override_planepath"
+        value = None
+        expected = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.pauseSim(value)
+            result = client.getDREF(dref)
+        
+            # Cleanup
+            client.close()
+
+            # Test
+            self.assertAlmostEqual(expected, result[0])
+
+        # Test 1
+        value = True
+        expected = 1.0
+        do_test()
+
+        # Test 2
+        value = False
+        expected = 0.0
+        do_test()
+
+        # Test 3
+        value = 1
+        expected = 1.0
+        do_test()
+
+        # Test 4
+        value = 2
+        expected = 0.0
+        do_test()
+
+    def test_getCTRL(self):
+        values = None
+        ac = 0
+        expected = None
+        def do_test():
+            with xpc.XPlaneConnect() as client:
+                # Execute
+                client.sendCTRL(values, ac)
+                result = client.getCTRL(ac)
+
+                # Test
+                self.assertEqual(len(result), len(expected))
+                for a, e in zip(result, expected):
+                    self.assertAlmostEqual(a, e, 4)
+                    
+        values = [0.0, 0.0, 0.0, 0.8, 1.0, 0.5, -1.5]
+        expected = values
+        ac = 0
+        do_test()
+
+        ac = 3
+        do_test()
+
+        
+    def test_sendCTRL(self):
+        # Setup
+        drefs = ["sim/cockpit2/controls/yoke_pitch_ratio",\
+		         "sim/cockpit2/controls/yoke_roll_ratio",\
+		         "sim/cockpit2/controls/yoke_heading_ratio",\
+		         "sim/flightmodel/engine/ENGN_thro",\
+		         "sim/cockpit/switches/gear_handle_status",\
+		         "sim/flightmodel/controls/flaprqst"]
+        ctrl = []
+
+        def do_test():            
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendCTRL(ctrl)
+            result = client.getDREFs(drefs)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(6, len(result))
+            for i in range(6):
+                self.assertAlmostEqual(ctrl[i], result[i][0], 4)
+
+        # Test 1
+        ctrl = [ -1.0, -1.0, -1.0, 0.0, 1.0, 1.0 ]
+        do_test()
+
+        # Test 2
+        ctrl = [ 1.0, 1.0, 1.0, 0.0, 1.0, 0.5 ]
+        do_test()
+
+        # Test 2
+        ctrl = [ 0.0, 0.0, 0.0, 0.8, 1.0, 0.0 ]
+        do_test()
+
+    def test_sendCTRL_speedbrake(self):
+        # Setup
+        dref = "sim/flightmodel/controls/sbrkrqst"
+        ctrl = []
+
+        def do_test():            
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendCTRL(ctrl)
+            result = client.getDREF(dref)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertAlmostEqual(result[0], ctrl[6])
+
+        # Test 1
+        ctrl = [-998, -998, -998, -998, -998, -998, -0.5]
+        do_test()
+
+        # Test 2
+        ctrl[6] = 1.0
+        do_test()
+
+        # Test 2
+        ctrl[6] = 0.0
+        do_test()
+
+    def test_getPOSI(self):
+        values = None
+        ac = 0
+        expected = None
+        def do_test():
+            with xpc.XPlaneConnect() as client:
+                # Execute
+                client.pauseSim(True)
+                client.sendPOSI(values, ac)
+                result = client.getPOSI(ac)
+                client.pauseSim(False)
+
+                # Test
+                self.assertEqual(len(result), len(expected))
+                for a, e in zip(result, expected):
+                    self.assertAlmostEqual(a, e, 4)
+                    
+        values = [ 37.524, -122.06899, 2500, 45, -45, 15, 1 ]
+        expected = values
+        ac = 0
+        do_test()
+
+        ac = 3
+        do_test()
+
+    def test_sendPOSI(self):
+        # Setup
+        drefs = ["sim/flightmodel/position/latitude",\
+		         "sim/flightmodel/position/longitude",\
+		         "sim/flightmodel/position/elevation",\
+		         "sim/flightmodel/position/theta",\
+		         "sim/flightmodel/position/phi",\
+		         "sim/flightmodel/position/psi",\
+		         "sim/cockpit/switches/gear_handle_status"]
+        posi = None
+        def do_test():
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.pauseSim(True)
+            client.sendPOSI(posi)
+            result = client.getDREFs(drefs)
+            client.pauseSim(False)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(7, len(result))
+            for i in range(7):
+                self.assertAlmostEqual(posi[i], result[i][0], 4)
+
+        # Test 1
+        posi = [ 37.524, -122.06899, 2500, 5, 7, 11, 1 ]
+        do_test()
+
+        # Test 2
+        posi = [ 38, -121.0, 2000, -10, 0, 0, 0 ]
+        do_test()
+
+    def test_sendTEXT(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        x = 200
+        y = 700
+        msg = "Python sendTEXT test message."
+
+        # Execution
+        client.sendTEXT(msg, x, y)
+        # NOTE: Manually verify that msg appears on the screen in X-Plane
+
+        # Cleanup
+        client.close()
+
+    def test_sendView(self):
+        # Setup
+        dref = "sim/graphics/view/view_type"
+        fwd = 1000
+        chase = 1017
+
+        #Execution
+        with xpc.XPlaneConnect() as client:
+            client.sendVIEW(xpc.ViewType.Forwards)
+            result = client.getDREF(dref)
+            self.assertAlmostEqual(fwd, result[0], 1e-4)
+            client.sendVIEW(xpc.ViewType.Chase)
+            result = client.getDREF(dref)
+            self.assertAlmostEqual(chase, result[0], 1e-4)
+             
+
+    def test_sendWYPT(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        points = [\
+		    37.5245, -122.06899, 2500,\
+		    37.455397, -122.050037, 2500,\
+		    37.469567, -122.051411, 2500,\
+		    37.479376, -122.060509, 2300,\
+		    37.482237, -122.076130, 2100,\
+		    37.474881, -122.087288, 1900,\
+		    37.467660, -122.079391, 1700,\
+		    37.466298, -122.090549, 1500,\
+		    37.362562, -122.039223, 1000,\
+		    37.361448, -122.034416, 1000,\
+		    37.361994, -122.026348, 1000,\
+		    37.365541, -122.022572, 1000,\
+		    37.373727, -122.024803, 1000,\
+		    37.403869, -122.041283, 50,\
+		    37.418544, -122.049222, 6]
+
+        # Execution
+        client.sendPOSI([37.5245, -122.06899, 2500])
+        client.sendWYPT(3, [])
+        client.sendWYPT(1, points)
+        # NOTE: Manually verify that points appear on the screen in X-Plane
+
+        # Cleanup
+        client.close()
+
+    def test_setCONN(self):
+        # Setup
+        dref = "sim/cockpit/switches/gear_handle_status";
+        client = xpc.XPlaneConnect()
+
+        # Execute
+        client.setCONN(49055)
+        result = client.getDREF(dref)
+
+        # Cleanup
+        client.close()
+        
+        # Test
+        self.assertEqual(1, len(result))
+
+
+
+if __name__ == '__main__':
+    unittest.main()

From 0713a9553939274b3d250bef0f304551c1c037bc Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 15:26:54 -0700
Subject: [PATCH 08/19] Tests.pyproj copied from Python Tests

---
 TestScripts/Python3 Tests/Tests.pyproj | 45 ++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 TestScripts/Python3 Tests/Tests.pyproj

diff --git a/TestScripts/Python3 Tests/Tests.pyproj b/TestScripts/Python3 Tests/Tests.pyproj
new file mode 100644
index 0000000..c1626b5
--- /dev/null
+++ b/TestScripts/Python3 Tests/Tests.pyproj	
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>6931ebb2-4e01-4c5a-86b6-668c0e75051b</ProjectGuid>
+    <ProjectHome>.</ProjectHome>
+    <StartupFile>Tests.py</StartupFile>
+    <SearchPath>..\..\Python\src\</SearchPath>
+    <WorkingDirectory>.</WorkingDirectory>
+    <OutputPath>.</OutputPath>
+    <Name>Tests</Name>
+    <RootNamespace>Tests</RootNamespace>
+    <InterpreterId>{9a7a9026-48c1-4688-9d5d-e5699d47d074}</InterpreterId>
+    <InterpreterVersion>2.7</InterpreterVersion>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="Tests.py" />
+  </ItemGroup>
+  <ItemGroup>
+    <InterpreterReference Include="{9a7a9026-48c1-4688-9d5d-e5699d47d074}\2.7" />
+  </ItemGroup>
+  <PropertyGroup>
+    <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>
+    <PtvsTargetsFile>$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets</PtvsTargetsFile>
+  </PropertyGroup>
+  <Import Condition="Exists($(PtvsTargetsFile))" Project="$(PtvsTargetsFile)" />
+  <Import Condition="!Exists($(PtvsTargetsFile))" Project="$(MSBuildToolsPath)\Microsoft.Common.targets" />
+  <!-- Uncomment the CoreCompile target to enable the Build command in
+       Visual Studio and specify your pre- and post-build commands in
+       the BeforeBuild and AfterBuild targets below. -->
+  <!--<Target Name="CoreCompile" />-->
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+</Project>
\ No newline at end of file

From 132978b53dbcbbd78010fa7a1ad9863b95001b26 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 22:19:53 -0700
Subject: [PATCH 09/19] Changed drefs to const char* to fix compiler warnings

---
 TestScripts/C Tests/CtrlTests.h | 38 ++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/TestScripts/C Tests/CtrlTests.h b/TestScripts/C Tests/CtrlTests.h
index 83e7d36..f000f4e 100644
--- a/TestScripts/C Tests/CtrlTests.h	
+++ b/TestScripts/C Tests/CtrlTests.h	
@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doCTRLTest(XPCSocket *sock, char* drefs[7], float values[], int size, int ac, float expected[7])
+int doCTRLTest(XPCSocket *sock, const char* drefs[7], float values[], int size, int ac, float expected[7])
 {
 	float* data[7];
 	int sizes[7];
@@ -18,7 +18,7 @@ int doCTRLTest(XPCSocket *sock, char* drefs[7], float values[], int size, int ac
 
 	// Execute command
 	int result = sendCTRL(*sock, values, size, ac);
-    int d = 0.0f;
+	int d = 0.0f;
 	if (result >= 0)
 	{
 		result = getDREFs(*sock, drefs, data, 7, sizes);
@@ -66,19 +66,19 @@ int doGETCTest(float values[7], int ac, float expected[7])
 	return 0;
 }
 
-int basicCTRLTest(char** drefs, int ac)
+int basicCTRLTest(const char** drefs, int ac)
 {
 	// Set control surfaces to known state.
 	float CTRL[6] = { 0.0F, 0.0F, 0.0F, 0.8F, 1.0F, 0.5F };
 	float expected[7] = { 0.0F, 0.0F, 0.0F, NAN, NAN, NAN, NAN };
-    XPCSocket sock = openUDP(IP);
-    pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
+	XPCSocket sock = openUDP(IP);
+	pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
 	int result = doCTRLTest(&sock, drefs, CTRL, 3, ac, expected);
 	if (result < 0)
 	{
 		return -10000 + result;
 	}
-    crossPlatformUSleep(SLEEP_AMOUNT);
+	crossPlatformUSleep(SLEEP_AMOUNT);
 
 	// Test control surfaces and set other values to known state.
 	expected[0] = CTRL[0] = 0.2F;
@@ -92,19 +92,19 @@ int basicCTRLTest(char** drefs, int ac)
 	{
 		return -20000 + result;
 	}
-    crossPlatformUSleep(SLEEP_AMOUNT);
+	crossPlatformUSleep(SLEEP_AMOUNT);
 
 	// Test other values and verify control surfaces unchanged.
 	expected[0] = CTRL[0] = 0.15F;
 	expected[1] = CTRL[1] = 0.15F;
 	expected[2] = CTRL[2] = 0.15F;
 	expected[3] = CTRL[3] = 0.9F;
-    CTRL[4] = -998;
+	CTRL[4] = -998;
 	CTRL[5] = -998;
 	result = doCTRLTest(&sock, drefs, CTRL, 6, ac, expected);
 
-    pauseSim(sock, 0);
-    closeUDP(sock);
+	pauseSim(sock, 0);
+	closeUDP(sock);
 	if (result < 0)
 	{
         if (result == -1004) {
@@ -112,12 +112,12 @@ int basicCTRLTest(char** drefs, int ac)
         }
 		return -30000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testCTRL_Player()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit2/controls/yoke_pitch_ratio",
 		"sim/cockpit2/controls/yoke_roll_ratio",
@@ -132,7 +132,7 @@ int testCTRL_Player()
 
 int testCTRL_NonPlayer()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/multiplayer/position/plane1_yolk_pitch",
 		"sim/multiplayer/position/plane1_yolk_roll",
@@ -147,7 +147,7 @@ int testCTRL_NonPlayer()
 
 int testCTRL_Speedbrakes()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit2/controls/yoke_pitch_ratio",
 		"sim/cockpit2/controls/yoke_roll_ratio",
@@ -161,8 +161,8 @@ int testCTRL_Speedbrakes()
 	// Arm
 	float CTRL[7] = { -998, -998, -998, -998, -998, -998, -0.5F };
 	float expected[7] = { NAN, NAN, NAN, NAN, NAN, NAN, -0.5F };
-    XPCSocket sock = openUDP(IP);
-    pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
+	XPCSocket sock = openUDP(IP);
+	pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
 	int result = doCTRLTest(&sock, drefs, CTRL, 7, 0, expected);
 	if (result < 0)
 	{
@@ -180,13 +180,13 @@ int testCTRL_Speedbrakes()
 	// Retract
 	expected[6] = CTRL[6] = 0.0F;
 	result = doCTRLTest(&sock, drefs, CTRL, 7, 0, expected);
-    pauseSim(sock, 0);
-    closeUDP(sock);
+	pauseSim(sock, 0);
+	closeUDP(sock);
 	if (result < 0)
 	{
 		return -30000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testGETC()

From 1ff2e1b93eb11509eea7c235d8c747368f08a17d Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 22:23:36 -0700
Subject: [PATCH 10/19] Changed drefs to const char* to fix compiler warnings

---
 TestScripts/C Tests/DataTests.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TestScripts/C Tests/DataTests.h b/TestScripts/C Tests/DataTests.h
index 4fde0ab..233602c 100644
--- a/TestScripts/C Tests/DataTests.h	
+++ b/TestScripts/C Tests/DataTests.h	
@@ -10,7 +10,7 @@ int testDATA()
 {
 	// Initialize
 	int i, j; // Iterator
-	char* drefs[100] =
+	const char* drefs[100] =
 	{
 		"sim/aircraft/parts/acf_gear_deploy"
 	};

From 38ddc0adb28d46bfeb5ecc8d21a9a296215d6981 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 22:29:17 -0700
Subject: [PATCH 11/19] Changed drefs to const char* to fix compiler warnings

Also changed actual [7] to a double in doGETPTEST to fix compiler warning
---
 TestScripts/C Tests/PosiTests.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/TestScripts/C Tests/PosiTests.h b/TestScripts/C Tests/PosiTests.h
index fc084ec..1b3983a 100644
--- a/TestScripts/C Tests/PosiTests.h	
+++ b/TestScripts/C Tests/PosiTests.h	
@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doPOSITest(char* drefs[7], double values[], int size, int ac, double expected[7])
+int doPOSITest(const char* drefs[7], double values[], int size, int ac, double expected[7])
 {
 	float* data[7];
 	int sizes[7];
@@ -43,7 +43,7 @@ int doPOSITest(char* drefs[7], double values[], int size, int ac, double expecte
 int doGETPTest(double values[7], int ac, double expected[7])
 {
 	// Execute Test
-	float actual[7];
+	double actual[7];
 	XPCSocket sock = openUDP(IP);
 	int result = sendPOSI(sock, values, 7, ac);
 	if (result >= 0)
@@ -67,7 +67,7 @@ int doGETPTest(double values[7], int ac, double expected[7])
 	return 0;
 }
 
-int basicPOSITest(char** drefs, int ac)
+int basicPOSITest(const char** drefs, int ac)
 {
 	// Set psoition and initial orientation
 	double POSI[7] = { 37.524, -122.06899, 2500, 0, 0, 0, 1 };
@@ -110,12 +110,12 @@ int basicPOSITest(char** drefs, int ac)
 	{
 		return -20000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testPOSI_Player()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/flightmodel/position/latitude",
 		"sim/flightmodel/position/longitude",
@@ -130,7 +130,7 @@ int testPOSI_Player()
 
 int testPOSI_NonPlayer()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/multiplayer/position/plane1_lat",
 		"sim/multiplayer/position/plane1_lon",

From f17844565beb90e9c7cc85ef0a87bbed0ea5f9c5 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sat, 18 Apr 2020 22:35:09 -0700
Subject: [PATCH 12/19] Changed drefs to const char* to fix compiler warnings

Also fixed compiler warning related to doGETDTEST on line 108
---
 TestScripts/C Tests/DrefTests.h | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/TestScripts/C Tests/DrefTests.h b/TestScripts/C Tests/DrefTests.h
index c64ce6d..586b408 100644
--- a/TestScripts/C Tests/DrefTests.h	
+++ b/TestScripts/C Tests/DrefTests.h	
@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doGETDTest(char* drefs[], float* expected[], int count, int sizes[])
+int doGETDTest(const char* drefs[], float* expected[], int count, int sizes[])
 {
 	// Setup memory
 	int* asizes = (int*)malloc(sizeof(int) * count);
@@ -37,7 +37,7 @@ int doGETDTest(char* drefs[], float* expected[], int count, int sizes[])
 	return result;
 }
 
-int doDREFTest(char* drefs[], float* values[], float* expected[], int count, int sizes[])
+int doDREFTest(const char* drefs[], float* values[], float* expected[], int count, int sizes[])
 {
 	// Setup memory
 	int* asizes = (int*)malloc(sizeof(int) * count);
@@ -74,7 +74,7 @@ int doDREFTest(char* drefs[], float* values[], float* expected[], int count, int
 
 int testGETD_Basic()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float
@@ -99,20 +99,20 @@ int testGETD_Basic()
 
 int testGETD_TestFloat()
 {
-	char* dref = "sim/test/test_float";
+	const char* dref = "sim/test/test_float";
 	int size = 1;
 	float* expected[1];
 	expected[0] = (float*)malloc(sizeof(float));
 	expected[0][0] = 0.0F;
 
-	int result = doGETDTest(&dref, &expected, 1, &size);
+	int result = doGETDTest(&dref, expected, 1, &size);
 	free(expected[0]);
 	return result;
 }
 
 int testGETD_Types()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float
@@ -173,7 +173,7 @@ int testGETD_Types()
 
 int testDREF()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float

From ab9d0b7ea795a3cd20ec7d578b55135676058b2b Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 00:34:46 -0700
Subject: [PATCH 13/19] Added getTERR function

---
 C/src/xplaneConnect.h | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/C/src/xplaneConnect.h b/C/src/xplaneConnect.h
index 4a62b17..9fa5faa 100644
--- a/C/src/xplaneConnect.h
+++ b/C/src/xplaneConnect.h
@@ -216,6 +216,24 @@ int getPOSI(XPCSocket sock, double values[7], char ac);
 /// \returns      0 if successful, otherwise a negative value.
 int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 
+// Terrain
+
+/// Gets the terrain information of the specified aircraft.
+///
+/// \param sock   The socket to use to send the command.
+/// \param posi   A double array representing position data about the aircraft. The format of values is
+///               [Lat, Lon, Alt].
+///               -998 used for [Lat, Lon, Alt] to request terrain info at the current aircraft position.
+/// \param values A double array with the information for the terrain output. The format of values is
+///               [Lat, Lon, Alt, Nx, Ny, Nz, Vx, Vy, Vz, wet, result]. The first three are for output of
+///               the Lat and Lon of the aircraft with the terrain height directly below. The next three
+///               represent the terrain normal. The next three represent the velocity of the terrain.
+///               The wet variable is 0.0 if the terrain is dry and 1.0 if wet.
+///               The last output is the terrain probe result parameter.
+/// \param ac     The aircraft number to set the position of. 0 for the main/user's aircraft.
+/// \returns      0 if successful, otherwise a negative value.
+int getTERR(XPCSocket sock, double posi[3], double values[11], char ac);
+
 // Controls
 
 /// Gets the control surface information for the specified aircraft.

From 377e19f4c416e6d4936032ca804491722125fc31 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 01:04:20 -0700
Subject: [PATCH 14/19] Added getTERR function

---
 C/src/xplaneConnect.c | 111 ++++++++++++++++++++++++++++++++++++------
 1 file changed, 95 insertions(+), 16 deletions(-)

diff --git a/C/src/xplaneConnect.c b/C/src/xplaneConnect.c
index 9425c94..3aa34cb 100755
--- a/C/src/xplaneConnect.c
+++ b/C/src/xplaneConnect.c
@@ -58,6 +58,8 @@ int sendUDP(XPCSocket sock, char buffer[], int len);
 int readUDP(XPCSocket sock, char buffer[], int len);
 int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count);
 int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int sizes[]);
+int sendTERRRequest(XPCSocket sock, double posi[3], char ac);
+int getTERRResponse(XPCSocket sock, double values[11], char ac);
 
 void printError(char *functionName, char *format, ...)
 {
@@ -314,7 +316,7 @@ int sendDATA(XPCSocket sock, float data[][9], int rows)
 	char buffer[4829] = "DATA";
 	int len = 5 + rows * 9 * sizeof(float);
 	unsigned short step = 9 * sizeof(float);
-    int i; // iterator
+	int i; // iterator
 	for (i = 0; i < rows; i++)
 	{
 		buffer[5 + i * step] = (char)data[i][0];
@@ -363,7 +365,7 @@ int readDATA(XPCSocket sock, float data[][9], int rows)
 	}
 
 	// Parse data
-    int i; // iterator
+	int i; // iterator
 	for (i = 0; i < rows; ++i)
 	{
 		data[i][0] = buffer[5 + i * 36];
@@ -389,7 +391,7 @@ int sendDREFs(XPCSocket sock, const char* drefs[], float* values[], int sizes[],
 	// Max size is technically unlimited.
 	char buffer[65536] = "DREF";
 	int pos = 5;
-    int i; // Iterator
+	int i; // Iterator
 	for (i = 0; i < count; ++i)
 	{
 		int drefLen = strnlen(drefs[i], 256);
@@ -436,7 +438,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 	char buffer[65536] = "GETD";
 	buffer[5] = count;
 	int len = 6;
-    int i; // iterator
+	int i; // iterator
 	for (i = 0; i < count; ++i)
 	{
 		size_t drefLen = strnlen(drefs[i], 256);
@@ -463,15 +465,15 @@ int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int si
 	char buffer[65536];
 	int result = readUDP(sock, buffer, 65536);
 
-    if (result < 0)
-    {
+	if (result < 0)
+	{
 #ifdef _WIN32
-        printError("getDREFs", "Read operation failed. (%d)", WSAGetLastError());
+		printError("getDREFs", "Read operation failed. (%d)", WSAGetLastError());
 #else
-        printError("getDREFs", "Read operation failed.");
+		printError("getDREFs", "Read operation failed.");
 #endif
-        return -1;
-    }
+		return -1;
+	}
 
 	if (result < 6)
 	{
@@ -485,7 +487,7 @@ int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int si
 	}
 
 	int cur = 6;
-    int i; // Iterator
+	int i; // Iterator
 	for (i = 0; i < count; ++i)
 	{
 		int l = buffer[cur++];
@@ -607,8 +609,8 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 	char buffer[46] = "POSI";
 	buffer[4] = 0xff; //Placeholder for message length
 	buffer[5] = ac;
-    int i; // iterator
-
+	
+	int i; // iterator
 	for (i = 0; i < 7; i++) // double for lat/lon/h
 	{
 		double val = -998;
@@ -623,8 +625,8 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 		}
 		else /* attitude and gear */
 		{
-            float f = (float)val;
-            memcpy(&buffer[18 + i*4], &f, sizeof(float));
+			float f = (float)val;
+		memcpy(&buffer[18 + i*4], &f, sizeof(float));
 		}
 	}
 
@@ -640,6 +642,83 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 /****                        End POSI functions                           ****/
 /*****************************************************************************/
 
+/*****************************************************************************/
+/****                          TERR functions                             ****/
+/*****************************************************************************/
+int sendTERRRequest(XPCSocket sock, double posi[3], char ac)
+{
+	// Setup send command
+	char buffer[30] = "GETT";
+	buffer[5] = ac;
+	memcpy(&buffer[6], posi, 3 * sizeof(double));
+
+	// Send command
+	if (sendUDP(sock, buffer, 30) < 0)
+	{
+		printError("getTERR", "Failed to send command.");
+		return -1;
+	}
+	return 0;
+}
+
+int getTERRResponse(XPCSocket sock, double values[11], char ac)
+{
+	// Get response
+	char readBuffer[62];
+	int readResult = readUDP(sock, readBuffer, 62);
+	if (readResult < 0)
+	{
+		printError("getTERR", "Failed to read response.");
+		return -2;
+	}
+	if (readResult != 62)
+	{
+		printError("getTERR", "Unexpected response length.");
+		return -3;
+	}
+
+	// Copy response into outputs
+	float f[8];
+	ac = readBuffer[5];
+	memcpy(values, readBuffer + 6, 3 * sizeof(double));
+	memcpy(f, readBuffer + 30, 8 * sizeof(float));
+	values[ 3] = (double)f[0];
+	values[ 4] = (double)f[1];
+	values[ 5] = (double)f[2];
+	values[ 6] = (double)f[3];
+	values[ 7] = (double)f[4];
+	values[ 8] = (double)f[5];
+	values[ 9] = (double)f[6];
+	values[10] = (double)f[7];
+
+	return 0;
+}
+
+int getTERR(XPCSocket sock, double posi[3], double values[11], char ac)
+{
+	// Send Command
+	int result = sendTERRRequest(sock, posi, ac);
+	if (result < 0)
+	{
+		// An error ocurred while sending.
+		// sendTERRRequest will print an error message, so just return.
+		return result;
+	}
+
+	// Read Response
+	result = getTERRResponse(sock, values, ac);
+	if (result < 0)
+	{
+		// An error ocurred while reading the response.
+		// getTERRResponse will print an error message, so just return.
+		return result;
+	}
+	return 0;
+}
+/*****************************************************************************/
+/****                        End TERR functions                           ****/
+/*****************************************************************************/
+
 /*****************************************************************************/
 /****                          CTRL functions                             ****/
 /*****************************************************************************/
@@ -696,7 +775,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac)
 	// 5 byte header + 5 float values * 4 + 2 byte values
 	char buffer[31] = "CTRL";
 	int cur = 5;
-    int i; // iterator
+	int i; // iterator
 	for (i = 0; i < 6; i++)
 	{
 		float val = -998;

From d61f70faad6e72774c8eb6769ca45da4b3720bac Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 10:03:58 -0700
Subject: [PATCH 15/19] Improved HandleGetT accuracy

Also added the ground velocity output to TERR message so can handle landing on aircraft carrier (moving ground).
---
 xpcPlugin/MessageHandlers.cpp | 90 ++++++++++++++++++++++-------------
 1 file changed, 56 insertions(+), 34 deletions(-)

diff --git a/xpcPlugin/MessageHandlers.cpp b/xpcPlugin/MessageHandlers.cpp
index 5163edc..05879d7 100644
--- a/xpcPlugin/MessageHandlers.cpp
+++ b/xpcPlugin/MessageHandlers.cpp
@@ -642,81 +642,103 @@ namespace XPC
 		unsigned char aircraft = buffer[5];
 		Log::FormatLine(LOG_TRACE, "GETT", "Getting terrain information for aircraft %u", aircraft);
 		
-		double loc[3];
-		double X;
-		double Y;
-		double Z;
-		memcpy(loc, buffer + 6, 24);
+		double pos[3];
+		memcpy(pos, buffer + 6, 24);
 		
-		if(loc[0] == -998 || loc[1] == -998 || loc[2] == -998)
+		if(pos[0] == -998 || pos[1] == -998 || pos[2] == -998)
 		{
 			// get terrain properties at aircraft location
-			// probe needs to be below terrain to work...
-			X = DataManager::GetDouble(DREF_LocalX, aircraft);
-			Z = DataManager::GetDouble(DREF_LocalZ, aircraft);
-			Y = -100.0;
-		}
-		else
-		{
-			// terrain probe at specified location
-			XPLMWorldToLocal(loc[0], loc[1], loc[2], &X, &Y, &Z);
+			pos[0] = DataManager::GetDouble(DREF_Latitude, aircraft);
+			pos[1] = DataManager::GetDouble(DREF_Longitude, aircraft);
+			pos[2] = 0.0;
 		}
+		MessageHandlers::SendTerr(pos, aircraft);
+	}
+
+	void MessageHandlers::SendTerr(double pos[3], char aircraft)
+	{
+		double lat, lon, alt, X, Y, Z;
 		
 		// Init terrain probe (if required) and probe data struct
-		XPLMProbeInfo_t probe_data;
+		static XPLMProbeInfo_t probe_data;
 		probe_data.structSize = sizeof(XPLMProbeInfo_t);
 		
 		if(Terrain_probe == nullptr)
 		{
-			Log::FormatLine(LOG_TRACE, "GETT", "Create terrain probe for aircraft %u", aircraft);
+			Log::FormatLine(LOG_TRACE, "TERR", "Create terrain probe for aircraft %u", aircraft);
 			Terrain_probe = XPLMCreateProbe(0);
 		}
 		
+		// terrain probe at specified location
+		// Follow the process in the following post to get accurate results
+		// https://forums.x-plane.org/index.php?/forums/topic/38688-how-do-i-use-xplmprobeterrainxyz/&page=2
+		
+		// transform probe location to local coordinates
+		// Step 1. Convert initial lat/lon/alt to XYZ
+		XPLMWorldToLocal(pos[0], pos[1], pos[2], &X, &Y, &Z);
+		
 		// query probe
+		// Step 2. Probe XYZ to get a new Y
 		int rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
-		
+		if(rc > 0)
+		{
+			Log::FormatLine(LOG_ERROR, "TERR", "Probe failed. Return Value %u", rc);
+			XPLMDestroyProbe(Terrain_probe);
+			return;
+		}
+
 		// transform probe location to world coordinates
-		double lat;
-		double lon;
-		double alt;
-		
+		// Step 3. Convert that new XYZ back to LLE
+		XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
+		Log::FormatLine(LOG_TRACE, "TERR", "Conv LLA=%f, %f, %f", lat, lon, alt);
+
+		// transform probe location to local coordinates
+		// Step 4. NOW convert your origina lat/lon with the elevation from step 3 to XYZ
+		XPLMWorldToLocal(pos[0], pos[1], alt, &X, &Y, &Z);
+
+		// query probe
+		// Step 5. Re-probe with the NEW XYZ
+		rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
 		if(rc == 0)
 		{
+		// transform probe location to world coordinates
+		// Step 6. You now have a new Y, and your XYZ will be closer to correct for high elevations far from the origin.
 			XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
-			
-			Log::FormatLine(LOG_TRACE, "GETT", "Probe LLA %lf %lf %lf", lat, lon, alt);
+			Log::FormatLine(LOG_TRACE, "TERR", "Probe LLA %lf %lf %lf", lat, lon, alt);
 		}
 		else
 		{
 			lat = -998;
 			lon = -998;
 			alt = -998;
-			
-			Log::FormatLine(LOG_TRACE, "GETT", "Probe failed. Return Value %u", rc);
+			Log::FormatLine(LOG_TRACE, "TERR", "Probe failed. Return Value %u", rc);
 		}
 		
 		// keep probe for next query
-		// XPLMDestroyProbe(probe);
+		// XPLMDestroyProbe(Terrain_probe);
 		
 		// Assemble response message
-		unsigned char response[50] = "TERR";
+		unsigned char response[62] = "TERR";
 		response[5] = aircraft;
 		// terrain height over msl at lat/lon point
 		memcpy(response + 6,  &lat, 8);
 		memcpy(response + 14, &lon, 8);
 		memcpy(response + 22, &alt, 8);
-		// terrain incidence
+		// terrain normal vector
 		memcpy(response + 30, &probe_data.normalX, 4);
 		memcpy(response + 34, &probe_data.normalY, 4);
 		memcpy(response + 38, &probe_data.normalZ, 4);
+		// terrain velocity
+		memcpy(response + 42, &probe_data.velocityX, 4);
+		memcpy(response + 46, &probe_data.velocityY, 4);
+		memcpy(response + 50, &probe_data.velocityZ, 4);
 		// terrain type
-		memcpy(response + 42, &probe_data.is_wet, 4);
+		memcpy(response + 54, &probe_data.is_wet, 4);
 		// probe status
-		memcpy(response + 46, &rc, 4);
-		
-		sock->SendTo(response, 50, &connection.addr);
-	}
+		memcpy(response + 58, &rc, 4);
 
+		sock->SendTo(response, 62, &connection.addr);
+	}
 
 	void MessageHandlers::HandleSimu(const Message& msg)
 	{

From 6a483db8cc4a94415a84e43d1eb1a78756e7f265 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 10:46:59 -0700
Subject: [PATCH 16/19] Python3 demos using Python2 syntax were run through
 2to3, fixes nasa#191

---
 Python3/src/basicExample.py    | 30 ++++++++++-----------
 Python3/src/monitorExample.py  |  4 +--
 Python3/src/playbackExample.py | 48 +++++++++++++++++-----------------
 3 files changed, 41 insertions(+), 41 deletions(-)

diff --git a/Python3/src/basicExample.py b/Python3/src/basicExample.py
index f381e5d..b42f2c1 100644
--- a/Python3/src/basicExample.py
+++ b/Python3/src/basicExample.py
@@ -2,8 +2,8 @@ from time import sleep
 import xpc
 
 def ex():
-    print "X-Plane Connect example script"
-    print "Setting up simulation"
+    print("X-Plane Connect example script")
+    print("Setting up simulation")
     with xpc.XPlaneConnect() as client:
         # Verify connection
         try:
@@ -11,24 +11,24 @@ def ex():
             # will be raised.
             client.getDREF("sim/test/test_float")
         except:
-            print "Error establishing connection to X-Plane."
-            print "Exiting..."
+            print("Error establishing connection to X-Plane.")
+            print("Exiting...")
             return
 
         # Set position of the player aircraft
-        print "Setting position"
+        print("Setting position")
         #       Lat     Lon         Alt   Pitch Roll Yaw Gear
         posi = [37.524, -122.06899, 2500, 0,    0,   0,  1]
         client.sendPOSI(posi)
         
         # Set position of a non-player aircraft
-        print "Setting NPC position"
+        print("Setting NPC position")
         #       Lat       Lon         Alt   Pitch Roll Yaw Gear
         posi = [37.52465, -122.06899, 2500, 0,    20,   0,  1]
         client.sendPOSI(posi, 1)
 
         # Set angle of attack, velocity, and orientation using the DATA command
-        print "Setting orientation"
+        print("Setting orientation")
         data = [\
             [18,   0, -998,   0, -998, -998, -998, -998, -998],\
             [ 3, 130,  130, 130,  130, -998, -998, -998, -998],\
@@ -37,21 +37,21 @@ def ex():
         client.sendDATA(data)
 
         # Set control surfaces and throttle of the player aircraft using sendCTRL
-        print "Setting controls"
+        print("Setting controls")
         ctrl = [0.0, 0.0, 0.0, 0.8]
         client.sendCTRL(ctrl)
 
         # Pause the sim
-        print "Pausing"
+        print("Pausing")
         client.pauseSim(True)
         sleep(2)
 
         # Toggle pause state to resume
-        print "Resuming"
+        print("Resuming")
         client.pauseSim(False)
 
         # Stow landing gear using a dataref
-        print "Stowing gear"
+        print("Stowing gear")
         gear_dref = "sim/cockpit/switches/gear_handle_status"
         client.sendDREF(gear_dref, 0)
 
@@ -61,12 +61,12 @@ def ex():
         # Make sure gear was stowed successfully
         gear_status = client.getDREF(gear_dref)
         if gear_status[0] == 0:
-            print "Gear stowed"
+            print("Gear stowed")
         else:
-            print "Error stowing gear"
+            print("Error stowing gear")
 
-        print "End of Python client example"
-        raw_input("Press any key to exit...")
+        print("End of Python client example")
+        input("Press any key to exit...")
 
 if __name__ == "__main__":
     ex()
\ No newline at end of file
diff --git a/Python3/src/monitorExample.py b/Python3/src/monitorExample.py
index c4cdb48..562ac53 100644
--- a/Python3/src/monitorExample.py
+++ b/Python3/src/monitorExample.py
@@ -8,8 +8,8 @@ def monitor():
             posi = client.getPOSI();
             ctrl = client.getCTRL();
 
-            print "Loc: (%4f, %4f, %4f) Aileron:%2f Elevator:%2f Rudder:%2f\n"\
-               % (posi[0], posi[1], posi[2], ctrl[1], ctrl[0], ctrl[2])
+            print("Loc: (%4f, %4f, %4f) Aileron:%2f Elevator:%2f Rudder:%2f\n"\
+               % (posi[0], posi[1], posi[2], ctrl[1], ctrl[0], ctrl[2]))
 
 
 if __name__ == "__main__":
diff --git a/Python3/src/playbackExample.py b/Python3/src/playbackExample.py
index dfa4f52..17eb2f1 100644
--- a/Python3/src/playbackExample.py
+++ b/Python3/src/playbackExample.py
@@ -5,78 +5,78 @@ def record(path, interval = 0.1, duration = 60):
     try:
         fd = open(path, "w")
     except:
-        print "Unable to open file."
+        print("Unable to open file.")
         return
 
     count = int(duration / interval)
     if count < 1:
-        print "duration is less than a single frame."
+        print("duration is less than a single frame.")
         return
 
     with xpc.XPlaneConnect("localhost", 49009, 0, 1000) as client:
-        print "Recording..."
+        print("Recording...")
         for i in range(0, count):
             try:
                 posi = client.getPOSI()
                 fd.write("{0}, {1}, {2}, {3}, {4}, {5}, {6}\n".format(*posi))
             except:
-                print "Error reading position"
+                print("Error reading position")
                 continue
             sleep(interval);
-        print "Recording Complete"
+        print("Recording Complete")
     fd.close()
 
 def playback(path, interval):
     try:
         fd = open(path, "r")
     except:
-        print "Unable to open file."
+        print("Unable to open file.")
         return
 
     with xpc.XPlaneConnect("localhost", 49009, 0, 1000) as client: 
-        print "Starting Playback..."
+        print("Starting Playback...")
         for line in fd:
             try:
                 posi = [ float(x) for x in line.split(',') ]
                 posi = client.sendPOSI(posi)
             except:
-                print "Error sending position"
+                print("Error sending position")
                 continue
             sleep(interval);
-        print "Playback Complete"
+        print("Playback Complete")
     fd.close()
 
 def printMenu(title, opts):
-    print "\n+---------------------------------------------- +"
-    print "|  {0:42}   |\n".format(title)
-    print "+---------------------------------------------- +"
+    print("\n+---------------------------------------------- +")
+    print("|  {0:42}   |\n".format(title))
+    print("+---------------------------------------------- +")
     for i in range(0,len(opts)):
-        print "| {0:2}. {1:40} |".format(i + 1, opts[i])
-    print "+---------------------------------------------- +"
-    return int(raw_input("Please select and option: "))
+        print("| {0:2}. {1:40} |".format(i + 1, opts[i]))
+    print("+---------------------------------------------- +")
+    return int(input("Please select and option: "))
 
 def ex():
-    print "X-Plane Connect Playback Example  [Version 1.2.0]"
-    print "(c) 2013-2015 United States Government as represented by the Administrator"
-    print "of the National Aeronautics and Space Administration. All Rights Reserved."
+    print("X-Plane Connect Playback Example  [Version 1.2.0]")
+    print("(c) 2013-2015 United States Government as represented by the Administrator")
+    print("of the National Aeronautics and Space Administration. All Rights Reserved.")
 
     mainOpts = [ "Record X-Plane", "Playback File", "Exit" ]
 
     while True:
         opt = printMenu("What would you like to do?", mainOpts)
         if opt == 1:
-            path = raw_input("Enter save file path: ")
-            interval = float(raw_input("Enter interval between frames (seconds): "))
-            duration = float(raw_input("Enter duration to record for (seconds): "))
+            path = input("Enter save file path: ")
+            interval = float(input("Enter interval between frames (seconds): "))
+            duration = float(input("Enter duration to record for (seconds): "))
             record(path, interval, duration)
         elif opt == 2:
-            path = raw_input("Enter save file path: ")
-            interval = float(raw_input("Enter interval between frames (seconds): "))
+            path = input("Enter save file path: ")
+            interval = float(input("Enter interval between frames (seconds): "))
             playback(path, interval)
         elif opt == 3:
             return;
         else:
-            print "Unrecognized option."
+            print("Unrecognized option.")
 
 if __name__ == "__main__":
     ex()
\ No newline at end of file

From f37f4a4aaebd410065cf5d638fbdcc4a6cd59346 Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 11:36:51 -0700
Subject: [PATCH 17/19] Revert "Improved HandleGetT accuracy"

This reverts commit d61f70faad6e72774c8eb6769ca45da4b3720bac.
---
 xpcPlugin/MessageHandlers.cpp | 90 +++++++++++++----------------------
 1 file changed, 34 insertions(+), 56 deletions(-)

diff --git a/xpcPlugin/MessageHandlers.cpp b/xpcPlugin/MessageHandlers.cpp
index 05879d7..5163edc 100644
--- a/xpcPlugin/MessageHandlers.cpp
+++ b/xpcPlugin/MessageHandlers.cpp
@@ -642,104 +642,82 @@ namespace XPC
 		unsigned char aircraft = buffer[5];
 		Log::FormatLine(LOG_TRACE, "GETT", "Getting terrain information for aircraft %u", aircraft);
 		
-		double pos[3];
-		memcpy(pos, buffer + 6, 24);
+		double loc[3];
+		double X;
+		double Y;
+		double Z;
+		memcpy(loc, buffer + 6, 24);
 		
-		if(pos[0] == -998 || pos[1] == -998 || pos[2] == -998)
+		if(loc[0] == -998 || loc[1] == -998 || loc[2] == -998)
 		{
 			// get terrain properties at aircraft location
-			pos[0] = DataManager::GetDouble(DREF_Latitude, aircraft);
-			pos[1] = DataManager::GetDouble(DREF_Longitude, aircraft);
-			pos[2] = 0.0;
+			// probe needs to be below terrain to work...
+			X = DataManager::GetDouble(DREF_LocalX, aircraft);
+			Z = DataManager::GetDouble(DREF_LocalZ, aircraft);
+			Y = -100.0;
+		}
+		else
+		{
+			// terrain probe at specified location
+			XPLMWorldToLocal(loc[0], loc[1], loc[2], &X, &Y, &Z);
 		}
-		MessageHandlers::SendTerr(pos, aircraft);
-	}
-
-	void MessageHandlers::SendTerr(double pos[3], char aircraft)
-	{
-		double lat, lon, alt, X, Y, Z;
 		
 		// Init terrain probe (if required) and probe data struct
-		static XPLMProbeInfo_t probe_data;
+		XPLMProbeInfo_t probe_data;
 		probe_data.structSize = sizeof(XPLMProbeInfo_t);
 		
 		if(Terrain_probe == nullptr)
 		{
-			Log::FormatLine(LOG_TRACE, "TERR", "Create terrain probe for aircraft %u", aircraft);
+			Log::FormatLine(LOG_TRACE, "GETT", "Create terrain probe for aircraft %u", aircraft);
 			Terrain_probe = XPLMCreateProbe(0);
 		}
 		
-		// terrain probe at specified location
-		// Follow the process in the following post to get accurate results
-		// https://forums.x-plane.org/index.php?/forums/topic/38688-how-do-i-use-xplmprobeterrainxyz/&page=2
-		
-		// transform probe location to local coordinates
-		// Step 1. Convert initial lat/lon/alt to XYZ
-		XPLMWorldToLocal(pos[0], pos[1], pos[2], &X, &Y, &Z);
-		
 		// query probe
-		// Step 2. Probe XYZ to get a new Y
 		int rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
-		if(rc > 0)
-		{
-			Log::FormatLine(LOG_ERROR, "TERR", "Probe failed. Return Value %u", rc);
-			XPLMDestroyProbe(Terrain_probe);
-			return;
-		}
-
+		
 		// transform probe location to world coordinates
-		// Step 3. Convert that new XYZ back to LLE
-		XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
-		Log::FormatLine(LOG_TRACE, "TERR", "Conv LLA=%f, %f, %f", lat, lon, alt);
-
-		// transform probe location to local coordinates
-		// Step 4. NOW convert your origina lat/lon with the elevation from step 3 to XYZ
-		XPLMWorldToLocal(pos[0], pos[1], alt, &X, &Y, &Z);
-
-		// query probe
-		// Step 5. Re-probe with the NEW XYZ
-		rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
+		double lat;
+		double lon;
+		double alt;
+		
 		if(rc == 0)
 		{
-		// transform probe location to world coordinates
-		// Step 6. You now have a new Y, and your XYZ will be closer to correct for high elevations far from the origin.
 			XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
-			Log::FormatLine(LOG_TRACE, "TERR", "Probe LLA %lf %lf %lf", lat, lon, alt);
+			
+			Log::FormatLine(LOG_TRACE, "GETT", "Probe LLA %lf %lf %lf", lat, lon, alt);
 		}
 		else
 		{
 			lat = -998;
 			lon = -998;
 			alt = -998;
-			Log::FormatLine(LOG_TRACE, "TERR", "Probe failed. Return Value %u", rc);
+			
+			Log::FormatLine(LOG_TRACE, "GETT", "Probe failed. Return Value %u", rc);
 		}
 		
 		// keep probe for next query
-		// XPLMDestroyProbe(Terrain_probe);
+		// XPLMDestroyProbe(probe);
 		
 		// Assemble response message
-		unsigned char response[62] = "TERR";
+		unsigned char response[50] = "TERR";
 		response[5] = aircraft;
 		// terrain height over msl at lat/lon point
 		memcpy(response + 6,  &lat, 8);
 		memcpy(response + 14, &lon, 8);
 		memcpy(response + 22, &alt, 8);
-		// terrain normal vector
+		// terrain incidence
 		memcpy(response + 30, &probe_data.normalX, 4);
 		memcpy(response + 34, &probe_data.normalY, 4);
 		memcpy(response + 38, &probe_data.normalZ, 4);
-		// terrain velocity
-		memcpy(response + 42, &probe_data.velocityX, 4);
-		memcpy(response + 46, &probe_data.velocityY, 4);
-		memcpy(response + 50, &probe_data.velocityZ, 4);
 		// terrain type
-		memcpy(response + 54, &probe_data.is_wet, 4);
+		memcpy(response + 42, &probe_data.is_wet, 4);
 		// probe status
-		memcpy(response + 58, &rc, 4);
-
-		sock->SendTo(response, 62, &connection.addr);
+		memcpy(response + 46, &rc, 4);
+		
+		sock->SendTo(response, 50, &connection.addr);
 	}
 
+
 	void MessageHandlers::HandleSimu(const Message& msg)
 	{
 		// Update log

From 97c87b48b86d831a0e33c5e748c87f8eafdec2ce Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 11:37:07 -0700
Subject: [PATCH 18/19] Revert "Added getTERR function"

This reverts commit 377e19f4c416e6d4936032ca804491722125fc31.
---
 C/src/xplaneConnect.c | 111 ++++++------------------------------------
 1 file changed, 16 insertions(+), 95 deletions(-)

diff --git a/C/src/xplaneConnect.c b/C/src/xplaneConnect.c
index 3aa34cb..9425c94 100755
--- a/C/src/xplaneConnect.c
+++ b/C/src/xplaneConnect.c
@@ -58,8 +58,6 @@ int sendUDP(XPCSocket sock, char buffer[], int len);
 int readUDP(XPCSocket sock, char buffer[], int len);
 int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count);
 int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int sizes[]);
-int sendTERRRequest(XPCSocket sock, double posi[3], char ac);
-int getTERRResponse(XPCSocket sock, double values[11], char ac);
 
 void printError(char *functionName, char *format, ...)
 {
@@ -316,7 +314,7 @@ int sendDATA(XPCSocket sock, float data[][9], int rows)
 	char buffer[4829] = "DATA";
 	int len = 5 + rows * 9 * sizeof(float);
 	unsigned short step = 9 * sizeof(float);
-	int i; // iterator
+    int i; // iterator
 	for (i = 0; i < rows; i++)
 	{
 		buffer[5 + i * step] = (char)data[i][0];
@@ -365,7 +363,7 @@ int readDATA(XPCSocket sock, float data[][9], int rows)
 	}
 
 	// Parse data
-	int i; // iterator
+    int i; // iterator
 	for (i = 0; i < rows; ++i)
 	{
 		data[i][0] = buffer[5 + i * 36];
@@ -391,7 +389,7 @@ int sendDREFs(XPCSocket sock, const char* drefs[], float* values[], int sizes[],
 	// Max size is technically unlimited.
 	char buffer[65536] = "DREF";
 	int pos = 5;
-	int i; // Iterator
+    int i; // Iterator
 	for (i = 0; i < count; ++i)
 	{
 		int drefLen = strnlen(drefs[i], 256);
@@ -438,7 +436,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 	char buffer[65536] = "GETD";
 	buffer[5] = count;
 	int len = 6;
-	int i; // iterator
+    int i; // iterator
 	for (i = 0; i < count; ++i)
 	{
 		size_t drefLen = strnlen(drefs[i], 256);
@@ -465,15 +463,15 @@ int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int si
 	char buffer[65536];
 	int result = readUDP(sock, buffer, 65536);
 
-	if (result < 0)
-	{
+    if (result < 0)
+    {
 #ifdef _WIN32
-		printError("getDREFs", "Read operation failed. (%d)", WSAGetLastError());
+        printError("getDREFs", "Read operation failed. (%d)", WSAGetLastError());
 #else
-		printError("getDREFs", "Read operation failed.");
+        printError("getDREFs", "Read operation failed.");
 #endif
-		return -1;
-	}
+        return -1;
+    }
 
 	if (result < 6)
 	{
@@ -487,7 +485,7 @@ int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int si
 	}
 
 	int cur = 6;
-	int i; // Iterator
+    int i; // Iterator
 	for (i = 0; i < count; ++i)
 	{
 		int l = buffer[cur++];
@@ -609,8 +607,8 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 	char buffer[46] = "POSI";
 	buffer[4] = 0xff; //Placeholder for message length
 	buffer[5] = ac;
-	
-	int i; // iterator
+    int i; // iterator
+
 	for (i = 0; i < 7; i++) // double for lat/lon/h
 	{
 		double val = -998;
@@ -625,8 +623,8 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 		}
 		else /* attitude and gear */
 		{
-			float f = (float)val;
-		memcpy(&buffer[18 + i*4], &f, sizeof(float));
+            float f = (float)val;
+            memcpy(&buffer[18 + i*4], &f, sizeof(float));
 		}
 	}
 
@@ -642,83 +640,6 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 /****                        End POSI functions                           ****/
 /*****************************************************************************/
 
-/*****************************************************************************/
-/****                          TERR functions                             ****/
-/*****************************************************************************/
-int sendTERRRequest(XPCSocket sock, double posi[3], char ac)
-{
-	// Setup send command
-	char buffer[30] = "GETT";
-	buffer[5] = ac;
-	memcpy(&buffer[6], posi, 3 * sizeof(double));
-
-	// Send command
-	if (sendUDP(sock, buffer, 30) < 0)
-	{
-		printError("getTERR", "Failed to send command.");
-		return -1;
-	}
-	return 0;
-}
-
-int getTERRResponse(XPCSocket sock, double values[11], char ac)
-{
-	// Get response
-	char readBuffer[62];
-	int readResult = readUDP(sock, readBuffer, 62);
-	if (readResult < 0)
-	{
-		printError("getTERR", "Failed to read response.");
-		return -2;
-	}
-	if (readResult != 62)
-	{
-		printError("getTERR", "Unexpected response length.");
-		return -3;
-	}
-
-	// Copy response into outputs
-	float f[8];
-	ac = readBuffer[5];
-	memcpy(values, readBuffer + 6, 3 * sizeof(double));
-	memcpy(f, readBuffer + 30, 8 * sizeof(float));
-	values[ 3] = (double)f[0];
-	values[ 4] = (double)f[1];
-	values[ 5] = (double)f[2];
-	values[ 6] = (double)f[3];
-	values[ 7] = (double)f[4];
-	values[ 8] = (double)f[5];
-	values[ 9] = (double)f[6];
-	values[10] = (double)f[7];
-
-	return 0;
-}
-
-int getTERR(XPCSocket sock, double posi[3], double values[11], char ac)
-{
-	// Send Command
-	int result = sendTERRRequest(sock, posi, ac);
-	if (result < 0)
-	{
-		// An error ocurred while sending.
-		// sendTERRRequest will print an error message, so just return.
-		return result;
-	}
-
-	// Read Response
-	result = getTERRResponse(sock, values, ac);
-	if (result < 0)
-	{
-		// An error ocurred while reading the response.
-		// getTERRResponse will print an error message, so just return.
-		return result;
-	}
-	return 0;
-}
-/*****************************************************************************/
-/****                        End TERR functions                           ****/
-/*****************************************************************************/
-
 /*****************************************************************************/
 /****                          CTRL functions                             ****/
 /*****************************************************************************/
@@ -775,7 +696,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac)
 	// 5 byte header + 5 float values * 4 + 2 byte values
 	char buffer[31] = "CTRL";
 	int cur = 5;
-	int i; // iterator
+    int i; // iterator
 	for (i = 0; i < 6; i++)
 	{
 		float val = -998;

From ba9e8b0eee1c06b3c5e0326527f06293db87b60b Mon Sep 17 00:00:00 2001
From: Norman Princen <63923352+NPrincen@users.noreply.github.com>
Date: Sun, 19 Apr 2020 11:37:14 -0700
Subject: [PATCH 19/19] Revert "Added getTERR function"

This reverts commit ab9d0b7ea795a3cd20ec7d578b55135676058b2b.
---
 C/src/xplaneConnect.h | 18 ------------------
 1 file changed, 18 deletions(-)

diff --git a/C/src/xplaneConnect.h b/C/src/xplaneConnect.h
index 9fa5faa..4a62b17 100644
--- a/C/src/xplaneConnect.h
+++ b/C/src/xplaneConnect.h
@@ -216,24 +216,6 @@ int getPOSI(XPCSocket sock, double values[7], char ac);
 /// \returns      0 if successful, otherwise a negative value.
 int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 
-// Terrain
-
-/// Gets the terrain information of the specified aircraft.
-///
-/// \param sock   The socket to use to send the command.
-/// \param posi   A double array representing position data about the aircraft. The format of values is
-///               [Lat, Lon, Alt].
-///               -998 used for [Lat, Lon, Alt] to request terrain info at the current aircraft position.
-/// \param values A double array with the information for the terrain output. The format of values is
-///               [Lat, Lon, Alt, Nx, Ny, Nz, Vx, Vy, Vz, wet, result]. The first three are for output of
-///               the Lat and Lon of the aircraft with the terrain height directly below. The next three
-///               represent the terrain normal. The next three represent the velocity of the terrain.
-///               The wet variable is 0.0 if the terrain is dry and 1.0 if wet.
-///               The last output is the terrain probe result parameter.
-/// \param ac     The aircraft number to set the position of. 0 for the main/user's aircraft.
-/// \returns      0 if successful, otherwise a negative value.
-int getTERR(XPCSocket sock, double posi[3], double values[11], char ac);
-
 // Controls
 
 /// Gets the control surface information for the specified aircraft.