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A320-family/Systems/a320-fbw.xml

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<?xml version="1.0"?>
<!-- Airbus A320 FBW -->
<!-- Copyright (c) 2021 Josh Davidson (Octal450) -->
<system name="A320: FBW">
<property value="0">fbw/detent-1-feedback</property>
<property value="0">fbw/detent-2-feedback</property>
<property value="0">fbw/roll/pid</property>
<property value="0">fbw/pitch/g-pi</property>
<property value="0">fbw/pitch/pid</property>
<property value="0">fbw/yaw/tc-pd</property>
<property value="1">fbw/mixer/sidestick-gain-feedback</property>
<property value="0">fbw/spoiler-output</property>
<property value="3">fbw/rate-c1</property>
<property value="0">fbw/pitch/ias-input</property>
<!-- Default gains for tuning -->
<property value="0">fbw/roll/p-gain</property>
<property value="0">fbw/roll/i-gain</property>
<property value="0">fbw/roll/d-gain</property>
<property value="0">fbw/pitch/p-gain</property>
<property value="0">fbw/pitch/i-gain</property>
<property value="0">fbw/pitch/d-gain</property>
<property value="0">fbw/yaw/yd-p-gain</property>
<property value="0">fbw/yaw/tc-p-gain</property>
<property value="0">fbw/yaw/tc-d-gain</property>
<!-- FMGC stuff -->
<property value="0">fbw/fmgc/roll-cmd</property>
<property value="0">fbw/fmgc/pitch-cmd</property>
<property value="0">fbw/fmgc/yaw-cmd</property>
<channel name="Libraries">
<switch name="fbw/roll/gain-switch">
<default value="0"/>
<test logic="OR" value="1">
position/wow eq 1
/it-fbw/law ne 0
</test>
</switch>
<switch name="fbw/pitch/gain-switch">
<default value="0"/>
<test logic="OR" value="1">
position/wow eq 1
/it-fbw/law eq 2
/it-fbw/law eq 3
</test>
</switch>
<switch name="fbw/yaw/gain-switch"> <!-- disable auto-trim -->
<default value="0"/>
<test logic="OR" value="1">
position/wow eq 1
<test logic="AND">
/it-fbw/yaw-law eq 2
/it-fbw/law ne 0
</test>
</test>
</switch>
<switch name="fbw/fmgc/enabled">
<default value="0"/>
<test logic="OR" value="1">
/it-autoflight/output/ap1 eq 1
/it-autoflight/output/ap2 eq 1
</test>
</switch>
<switch name="fbw/protections/overspeed">
<default value="fbw/protections/overspeed"/>
<test logic="OR" value="0">
position/wow eq 1
/it-fbw/law ne 0
/instrumentation/airspeed-indicator/indicated-speed-kt le /FMGC/internal/vmo-mmo
</test>
<test value="1">
/instrumentation/airspeed-indicator/indicated-speed-kt ge /FMGC/internal/vmo-mmo-plus-6
</test>
</switch>
<fcs_function name="fbw/roll/p-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData>
0 1
140 -20.0 0.0
350 -5.0 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/roll/i-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData>
0 1
140 -35.0 0.0
350 -10.0 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/roll/d-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData>
0 1
140 -1.9 0.0
350 -0.4 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/p-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData>
0 1
140 28 0
350 20 0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/i-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData>
0 1
140 60 0
350 40 0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/d-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData>
0 1
140 2.0 0.0
350 0.3 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/yaw/yd-p-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData>
0 1
140 -7.0 0.0
350 -1.2 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/yaw/tc-p-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData>
0 1
140 3.0 0.0
350 1.5 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/yaw/tc-d-gain">
<function>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData>
0 1
140 6.0 0.0
350 3.0 0.0
</tableData>
</table>
</function>
</fcs_function>
<pure_gain name="fbw/pitch/g-instrumented">
<input>/accelerations/pilot-g</input>
<gain>1.0</gain>
</pure_gain>
<fcs_function name="fbw/pitch/g-computed">
<function>
<sum>
<property>fbw/pitch/g-instrumented</property>
<quotient>
<value>-1</value>
<cos>
<property>attitude/roll-rad</property>
</cos>
</quotient>
<value>1</value>
</sum>
</function>
</fcs_function>
<switch name="fbw/mixer/rate-limit">
<default value="fbw/mixer/rate-limit"/>
<test logic="AND" value="0.5"> <!-- 2 seconds -->
position/wow eq 1
fbw/mixer/sidestick-gain-feedback eq 1
</test>
<test logic="AND" value="100"> <!-- Unlimited -->
position/wow eq 1
fbw/mixer/sidestick-gain-feedback ne 1
</test>
<test logic="AND" value="100"> <!-- Unlimited -->
position/wow eq 0
fbw/mixer/sidestick-gain-feedback eq 0
</test>
</switch>
<actuator name="fbw/mixer/sidestick-gain">
<input>position/wow</input>
<rate_limit>fbw/mixer/rate-limit</rate_limit>
<output>fbw/mixer/sidestick-gain-feedback</output>
</actuator>
<fcs_function name="fbw/mixer/computer-gain">
<function>
<table>
<independentVar lookup="row">fbw/mixer/sidestick-gain</independentVar>
<tableData>
0 1
1 0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/sidestick/roll-input-cmd">
<function>
<sum>
<product>
<property>/controls/flight/aileron[0]</property>
<property>fbw/sidestick/active[0]</property>
</product>
<product>
<property>/controls/flight/aileron[1]</property>
<property>fbw/sidestick/active[1]</property>
</product>
</sum>
</function>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</fcs_function>
<fcs_function name="fbw/sidestick/roll-input">
<function>
<table>
<independentVar lookup="row">fbw/sidestick/roll-input-cmd</independentVar>
<tableData>
-1.00 -1
-0.02 0
0.02 0
1.00 1
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/sidestick/pitch-input-cmd">
<function>
<sum>
<product>
<property>/controls/flight/elevator[0]</property>
<property>fbw/sidestick/active[0]</property>
</product>
<product>
<property>/controls/flight/elevator[1]</property>
<property>fbw/sidestick/active[1]</property>
</product>
</sum>
</function>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</fcs_function>
<fcs_function name="fbw/sidestick/pitch-input">
<function>
<table>
<independentVar lookup="row">fbw/sidestick/pitch-input-cmd</independentVar>
<tableData>
-1.00 -1
-0.02 0
0.02 0
1.00 1
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/sidestick/yaw-input-cmd">
<function>
<sum>
<product>
<property>/controls/flight/rudder[0]</property>
<property>fbw/sidestick/active[0]</property>
</product>
<product>
<property>/controls/flight/rudder[1]</property>
<property>fbw/sidestick/active[1]</property>
</product>
</sum>
</function>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</fcs_function>
<fcs_function name="fbw/sidestick/yaw-input">
<function>
<table>
<independentVar lookup="row">fbw/sidestick/yaw-input-cmd</independentVar>
<independentVar lookup="column">fbw/fmgc/enabled</independentVar>
<tableData>
0 1
-1.00 -1 0
-0.02 0 0
0.02 0 0
1.00 1 0
</tableData>
</table>
</function>
</fcs_function>
</channel>
<channel name="Computers">
<switch name="/systems/fctl/lights/elac1-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/elac1 eq 1
/systems/fctl/elac1 eq 0
</test>
</switch>
<switch name="/systems/fctl/elac1">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/elac1 eq 1
/systems/failures/fctl/elac1 eq 0
<test logic="OR">
/systems/electrical/bus/dc-ess ge 25
/systems/electrical/bus/dc-hot-1 ge 25
</test>
</test>
</switch>
<switch name="/systems/fctl/lights/elac2-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/elac2 eq 1
/systems/fctl/elac2 eq 0
</test>
</switch>
<switch name="/systems/fctl/elac2">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/elac2 eq 1
/systems/failures/fctl/elac2 eq 0
<test logic="OR">
/systems/electrical/bus/dc-2 ge 25
/systems/electrical/bus/dc-hot-2 ge 25
</test>
</test>
</switch>
<switch name="/systems/fctl/lights/sec1-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec1 eq 1
/systems/fctl/sec1 eq 0
</test>
</switch>
<switch name="/systems/fctl/sec1">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec1 eq 1
/systems/failures/fctl/sec1 eq 0
<test logic="OR">
/systems/electrical/bus/dc-ess ge 25
/systems/electrical/bus/dc-hot-1 ge 25
</test>
</test>
</switch>
<switch name="/systems/fctl/lights/sec2-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec2 eq 1
/systems/fctl/sec2 eq 0
</test>
</switch>
<switch name="/systems/fctl/sec2">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec2 eq 1
/systems/failures/fctl/sec2 eq 0
/systems/electrical/bus/dc-2 ge 25
</test>
</switch>
<switch name="/systems/fctl/lights/sec3-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec3 eq 1
/systems/fctl/sec3 eq 0
</test>
</switch>
<switch name="/systems/fctl/sec3">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/sec3 eq 1
/systems/failures/fctl/sec3 eq 0
/systems/electrical/bus/dc-2 ge 25
</test>
</switch>
<switch name="/systems/fctl/fac1-healthy-inp">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac1 eq 1
/systems/failures/fctl/fac1 eq 0
<test logic="OR">
/systems/electrical/bus/ac-ess ge 110
/systems/electrical/bus/dc-ess-shed ge 25
</test>
</test>
</switch>
<actuator name="/systems/fctl/fac1-healthy">
<input>/systems/fctl/fac1-healthy-inp</input>
<rate_limit sense="incr">100</rate_limit>
<rate_limit sense="decr">10</rate_limit>
</actuator>
<switch name="/systems/fctl/fac1-healthy-latch-set">
<default value="0"/>
<test logic="AND" value="1">
/gear/gear[0]/wow eq 0
/controls/fctl/switches/fac1 eq 1
/systems/fctl/fac1-healthy eq 0
</test>
</switch>
<switch name="/systems/fctl/fac1-healthy-latch-reset">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac1 eq 0
</test>
</switch>
<switch name="/systems/fctl/fac1-healthy-latch">
<default value="/systems/fctl/fac1-healthy-latch"/>
<test value="1">
/systems/fctl/fac1-healthy-latch-set eq 1
</test>
<test value="0">
/systems/fctl/fac1-healthy-latch-reset eq 1
</test>
</switch>
<switch name="/systems/fctl/fac1-healthy-signal">
<default value="0"/>
<test logic="AND" value="1">
/systems/fctl/fac1-healthy ne 0
<test logic="OR">
/systems/fctl/fac1-healthy-latch eq 0
/gear/gear[0]/wow eq 1
</test>
</test>
</switch>
<switch name="/systems/fctl/lights/fac1-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac1 eq 1
/systems/fctl/fac1-healthy-signal eq 0
</test>
</switch>
<switch name="/systems/fctl/fac1">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac1 eq 1
/systems/fctl/fac1-healthy-signal eq 1
</test>
</switch>
<switch name="/systems/fctl/fac2-healthy-inp">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac2 eq 1
/systems/failures/fctl/fac2 eq 0
<test logic="OR">
/systems/electrical/bus/ac-2 ge 110
/systems/electrical/bus/dc-2 ge 25
</test>
</test>
</switch>
<actuator name="/systems/fctl/fac2-healthy">
<input>/systems/fctl/fac2-healthy-inp</input>
<rate_limit sense="incr">100</rate_limit>
<rate_limit sense="decr">10</rate_limit>
</actuator>
<switch name="/systems/fctl/fac2-healthy-latch-set">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac2 eq 1
/systems/fctl/fac2-healthy eq 0
</test>
</switch>
<switch name="/systems/fctl/fac2-healthy-latch-reset">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac2 eq 0
</test>
</switch>
<switch name="/systems/fctl/fac2-healthy-latch">
<default value="/systems/fctl/fac2-healthy-latch"/>
<test value="1">
/gear/gear[0]/wow eq 0
/systems/fctl/fac2-healthy-latch-set eq 1
</test>
<test value="0">
/systems/fctl/fac2-healthy-latch-reset eq 1
</test>
</switch>
<switch name="/systems/fctl/fac2-healthy-signal">
<default value="0"/>
<test logic="AND" value="1">
/systems/fctl/fac2-healthy ne 0
<test logic="OR">
/systems/fctl/fac2-healthy-latch eq 0
/gear/gear[0]/wow eq 1
</test>
</test>
</switch>
<switch name="/systems/fctl/lights/fac2-fault">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac2 eq 1
/systems/fctl/fac2-healthy-signal eq 0
</test>
</switch>
<switch name="/systems/fctl/fac2">
<default value="0"/>
<test logic="AND" value="1">
/controls/fctl/switches/fac2 eq 1
/systems/fctl/fac2-healthy-signal eq 1
</test>
</switch>
</channel>
<channel name="FBW: Roll">
<switch name="fbw/roll/a-i-f">
<default value="fbw/sidestick/roll-input"/>
<test value="0">
fbw/fmgc/enabled eq 1
</test>
</switch>
<actuator name="fbw/roll/a-i-m">
<input>fbw/roll/a-i-f</input>
<rate_limit>3.0</rate_limit>
</actuator>
<lag_filter name="fbw/roll/a-i-pfd">
<input>fbw/roll/a-i-m</input>
<c1>20.0</c1>
</lag_filter>
<fcs_function name="fbw/roll/max-rad-i-n">
<function>
<abs>
<table>
<independentVar lookup="row">fbw/roll/a-i-f</independentVar>
<tableData>
-1.00 -1
-0.25 0
0.25 0
1.00 1
</tableData>
</table>
</abs>
</function>
</fcs_function>
<fcs_function name="fbw/roll/max-rad-i-o">
<function>
<abs>
<property>fbw/roll/a-i-f</property>
</abs>
</function>
</fcs_function>
<lag_filter name="fbw/roll/max-rad-l-n">
<input>fbw/roll/max-rad-i-n</input>
<c1>fbw/rate-c1</c1>
</lag_filter>
<lag_filter name="fbw/roll/max-rad-l-o">
<input>fbw/roll/max-rad-i-o</input>
<c1>fbw/rate-c1</c1>
</lag_filter>
<switch name="fbw/roll/overspeed-overbank">
<default value="0"/>
<test value="0">
fbw/protections/overspeed ne 1
</test>
<test logic="OR" value="1">
attitude/roll-rad lt -0.584685
attitude/roll-rad gt 0.584685
</test>
</switch>
<fcs_function name="fbw/roll/max-rad">
<function>
<ifthen>
<eq>
<property>fbw/protections/overspeed</property>
<value>1</value>
</eq>
<table>
<independentVar lookup="row">fbw/roll/max-rad-l-o</independentVar>
<tableData>
0 0.000000
1 0.785398
</tableData>
</table>
<table>
<independentVar lookup="row">fbw/roll/max-rad-l-n</independentVar>
<tableData>
0 0.575959
1 1.169370
</tableData>
</table>
</ifthen>
</function>
</fcs_function>
<pure_gain name="fbw/roll/min-rad">
<input>fbw/roll/max-rad</input>
<gain>-1.0</gain>
</pure_gain>
<summer name="fbw/roll/max-rad-error">
<input>attitude/roll-rad</input>
<input>-fbw/roll/max-rad</input>
</summer>
<summer name="fbw/roll/min-rad-error">
<input>attitude/roll-rad</input>
<input>-fbw/roll/min-rad</input>
</summer>
<fcs_function name="fbw/roll/a-i-max">
<function>
<table>
<independentVar lookup="row">fbw/roll/max-rad-error</independentVar>
<tableData>
-0.087266 1.0
-0.034907 0.1
0.000000 0.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/roll/a-i-min">
<function>
<table>
<independentVar lookup="row">fbw/roll/min-rad-error</independentVar>
<tableData>
0.000000 0.0
0.034907 -0.1
0.087266 -1.0
</tableData>
</table>
</function>
</fcs_function>
<switch name="fbw/roll/a-i-cmd">
<default value="0"/>
<test logic="AND" value="fbw/sidestick/roll-input">
fbw/fmgc/enabled eq 0
</test>
<test logic="AND" value="fbw/fmgc/roll-cmd">
position/wow eq 0
fbw/fmgc/enabled eq 1
</test>
<clipto>
<min>fbw/roll/a-i-min</min>
<max>fbw/roll/a-i-max</max>
</clipto>
</switch>
<fcs_function name="fbw/roll/over-max">
<function>
<table>
<independentVar lookup="row">fbw/roll/max-rad-error</independentVar>
<independentVar lookup="column">fbw/roll/overspeed-overbank</independentVar>
<tableData>
0 1
0.000000 0.00 0.00
0.034907 -0.10 -0.10
0.087266 -0.67 -1.00
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/roll/over-min">
<function>
<table>
<independentVar lookup="row">fbw/roll/min-rad-error</independentVar>
<independentVar lookup="column">fbw/roll/overspeed-overbank</independentVar>
<tableData>
0 1
-0.087266 0.67 1.00
-0.034907 0.10 0.10
0.000000 0.00 0.00
</tableData>
</table>
</function>
</fcs_function>
<summer name="fbw/roll/a-i-sum">
<input>fbw/roll/a-i-cmd</input>
<input>fbw/roll/over-max</input>
<input>fbw/roll/over-min</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<lag_filter name="fbw/roll/a-i">
<input>fbw/roll/a-i-sum</input>
<c1>fbw/rate-c1</c1>
</lag_filter>
<pure_gain name="fbw/roll/rate-demand">
<input>fbw/roll/a-i</input>
<gain>0.261799</gain>
</pure_gain>
<switch name="fbw/roll/p-r_s-s">
<default value="velocities/p-rad_sec"/>
<test value="0">
gear/unit[0]/WOW eq 1
</test>
</switch>
<summer name="fbw/roll/rate-error">
<input>fbw/roll/p-r_s-s</input>
<input>-fbw/roll/rate-demand</input>
</summer>
<switch name="fbw/roll/trigger">
<default value="0"/>
<test value="-1">
fbw/roll/gain-switch gt 0
</test>
<test logic="OR" value="1">
fbw/roll/pid le -0.999
fbw/roll/pid ge 0.999
</test>
</switch>
<pid name="fbw/roll/pid-v">
<input>fbw/roll/rate-error</input>
<kp>fbw/roll/p-gain</kp>
<ki>fbw/roll/i-gain</ki>
<kd>fbw/roll/d-gain</kd>
<trigger>fbw/roll/trigger</trigger>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
<output>fbw/roll/pid</output>
</pid>
<switch name="fbw/roll/gear-law-switch">
<default value="0"/>
<test logic="OR" value="1">
position/wow eq 1
/it-fbw/law eq 1
/it-fbw/law eq 2
</test>
</switch>
<fcs_function name="fbw/roll/rollout-cmd">
<function>
<product>
<property>/orientation/roll-deg</property>
<value>-0.1</value>
</product>
</function>
</fcs_function>
<pure_gain name="fbw/mixer/roll/computer-demand">
<input>fbw/roll/pid</input>
<gain>fbw/mixer/computer-gain</gain>
</pure_gain>
<pure_gain name="fbw/mixer/roll/sidestick-demand">
<input>fbw/roll/a-i-f</input>
<gain>fbw/mixer/sidestick-gain</gain>
</pure_gain>
<summer name="fbw/mixer/roll/output">
<input>fbw/mixer/roll/computer-demand</input>
<input>fbw/mixer/roll/sidestick-demand</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<switch name="fbw/aileron-output">
<default value="0"/>
<test logic="AND" value="fbw/mixer/roll/output"> <!-- Mix stick and control law for transition from ground law -->
position/wow eq 0
/it-fbw/law eq 0
</test>
<test logic="AND" value="fbw/roll/a-i-f">
fbw/fmgc/enabled eq 0
fbw/roll/gear-law-switch eq 1
</test>
<test logic="AND" value="fbw/roll/rollout-cmd">
fbw/fmgc/enabled eq 1
position/wow eq 1
/it-fbw/law eq 0
</test>
<test logic="AND" value="0">
/it-fbw/law eq 3
</test>
</switch>
<switch name="fbw/roll/s-i-f-i">
<default value="0"/>
<test logic="AND" value="fbw/roll/a-i">
position/wow eq 0
/it-fbw/law eq 0
</test>
<test value="fbw/roll/a-i-f">
fbw/roll/gear-law-switch eq 1
</test>
<test logic="AND" value="0">
/it-fbw/law eq 3
</test>
</switch>
<fcs_function name="fbw/roll/s-i-f-cmd">
<function>
<table>
<independentVar lookup="row">fbw/roll/s-i-f-i</independentVar>
<tableData>
-1.00 -1.0
-0.05 0.0
0.05 0.0
1.00 1.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/roll/s-i-f">
<function>
<product>
<pow>
<abs><property>fbw/roll/s-i-f-i</property></abs>
<value>1.7</value>
</pow>
<ifthen>
<lt>
<property>fbw/roll/s-i-f-i</property>
<value>0</value>
</lt>
<value>-1</value>
<value>1</value>
</ifthen>
<table>
<independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">position/wow</independentVar>
<tableData>
0 1
140 0.7 1.0
350 0.3 1.0
</tableData>
</table>
</product>
</function>
</fcs_function>
<switch name="fbw/roll/s-i">
<default value="0"/>
<test value="fbw/roll/s-i-f">
/it-fbw/roll-back eq 0
</test>
</switch>
<switch name="fbw/roll/s-l-2">
<default value="0"/>
<test logic="OR" value="0">
/it-fbw/law eq 3
</test>
<test logic="OR" value="fbw/roll/s-i">
/it-fbw/law eq 0
position/wow eq 1
/systems/failures/aileron-left eq 1
</test>
</switch>
<switch name="fbw/roll/s-l-3">
<default value="0"/>
<test logic="OR" value="0">
/it-fbw/law eq 3
</test>
<test logic="OR" value="fbw/roll/s-i">
/it-fbw/law eq 0
position/wow eq 1
/systems/failures/aileron-left eq 1
/systems/failures/spoilers/spoiler-l4 eq 1
</test>
</switch>
<switch name="fbw/roll/s-l-4">
<default value="0"/>
<test value="fbw/roll/s-i">
/it-fbw/law ne 3
</test>
</switch>
<switch name="fbw/roll/s-l-5">
<default value="0"/>
<test value="fbw/roll/s-i">
/it-fbw/law ne 3
</test>
</switch>
<switch name="fbw/roll/s-r-2">
<default value="0"/>
<test logic="OR" value="0">
/it-fbw/law eq 3
</test>
<test logic="OR" value="fbw/roll/s-i">
/it-fbw/law eq 0
position/wow eq 1
/systems/failures/aileron-right eq 1
</test>
</switch>
<switch name="fbw/roll/s-r-3">
<default value="0"/>
<test logic="OR" value="0">
/it-fbw/law eq 3
</test>
<test logic="OR" value="fbw/roll/s-i">
/it-fbw/law eq 0
position/wow eq 1
/systems/failures/aileron-right eq 1
/systems/failures/spoilers/spoiler-r4 eq 1
</test>
</switch>
<switch name="fbw/roll/s-r-4">
<default value="0"/>
<test value="fbw/roll/s-i">
/it-fbw/law ne 3
</test>
</switch>
<switch name="fbw/roll/s-r-5">
<default value="0"/>
<test value="fbw/roll/s-i">
/it-fbw/law ne 3
</test>
</switch>
</channel>
<channel name="FBW: Pitch">
<switch name="fbw/pitch/e-i-f">
<default value="fbw/sidestick/pitch-input"/>
<test value="0">
fbw/fmgc/enabled eq 1
</test>
</switch>
<actuator name="fbw/pitch/e-i-m">
<input>fbw/pitch/e-i-f</input>
<rate_limit>3.0</rate_limit>
</actuator>
<lag_filter name="fbw/pitch/e-i-pfd">
<input>fbw/pitch/e-i-m</input>
<c1>20.0</c1>
</lag_filter>
<pid name="fbw/pitch/vc-kts-rate">
<descripton>Use D only to calculate rate of IAS</descripton>
<input>velocities/vc-kts</input>
<kp>0.0</kp>
<ki>0.0</ki>
<kd>1.0</kd>
</pid>
<lag_filter name="fbw/pitch/vc-kts-rate-lag">
<input>fbw/pitch/vc-kts-rate</input>
<c1>10.0</c1>
</lag_filter>
<summer name="fbw/pitch/vmo-mmo-error">
<input>fbw/pitch/ias-input</input>
<input>-/FMGC/internal/vmo-mmo</input>
</summer>
<fcs_function name="fbw/pitch/e-i-overspeed">
<function>
<table>
<independentVar lookup="row">fbw/sidestick/pitch-input</independentVar>
<independentVar lookup="column">fbw/pitch/vc-kts-rate</independentVar>
<independentVar lookup="table">fbw/pitch/vmo-mmo-error</independentVar>
<tableData breakPoint="6"> <!-- Engage point, reduced forwards authority -->
-1 1 3
-1 -1.0 -1.0 -1.0
0 0.0 -0.5 -0.7
1 0.3 0.3 0.3
</tableData>
<tableData breakPoint="16"> <!-- VMO + 16, no forwards authority allowed -->
-2 0 2
-1 -1.0 -1.0 -1.0
0 0.0 -0.5 -0.7
1 0.0 0.0 0.0
</tableData>
<tableData breakPoint="31"> <!-- Full forward stabilizes just below VD -->
-3 -1 0 2 4
-1 -1.0 -1.0 -1.0 -1.0 -1.0
0 0.0 -0.5 -0.5 -1.0 -1.0
1 0.0 0.0 0.0 -0.5 -1.0
</tableData>
<tableData breakPoint="36"> <!-- Get under VD at all costs -->
-3 1
-1 -1.0 -1.0
0 0.0 -1.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/e-i-flare">
<function>
<sum>
<property>fbw/sidestick/pitch-input</property>
<table>
<independentVar lookup="row">/position/gear-agl-ft</independentVar>
<tableData>
5 0.2
30 0.1
</tableData>
</table>
</sum>
</function>
</fcs_function>
<switch name="fbw/pitch/flare-gear-switch">
<default value="0"/>
<test logic="OR" value="1">
gear/unit[1]/WOW eq 1
gear/unit[2]/WOW eq 1
</test>
</switch>
<switch name="fbw/pitch/max-rad">
<default value="0.523599"/>
<test value="3.14159"> <!-- So its irrelevant -->
/it-fbw/law gt 0
</test>
</switch>
<switch name="fbw/pitch/min-rad">
<default value="-0.261799"/>
<test value="-3.14159"> <!-- So its irrelevant -->
/it-fbw/law gt 0
</test>
</switch>
<summer name="fbw/pitch/max-rad-error">
<input>attitude/pitch-rad</input>
<input>-fbw/pitch/max-rad</input>
</summer>
<summer name="fbw/pitch/min-rad-error">
<input>attitude/pitch-rad</input>
<input>-fbw/pitch/min-rad</input>
</summer>
<fcs_function name="fbw/pitch/e-i-max">
<function>
<table>
<independentVar lookup="row">fbw/pitch/min-rad-error</independentVar>
<tableData>
0.000000 0.0
0.034907 0.1
0.087266 1.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/e-i-min">
<function>
<table>
<independentVar lookup="row">fbw/pitch/max-rad-error</independentVar>
<tableData>
-0.087266 -1.0
-0.034907 -0.1
0.000000 0.0
</tableData>
</table>
</function>
</fcs_function>
<switch name="fbw/pitch/e-i-cmd">
<default value="fbw/sidestick/pitch-input"/>
<test logic="AND" value="fbw/pitch/e-i-overspeed">
fbw/protections/overspeed eq 1
position/wow eq 0
</test>
<test logic="AND" value="fbw/pitch/e-i-flare">
fbw/fmgc/enabled eq 0
/position/gear-agl-ft le 30
/controls/flight/flaps-pos ge 4
/FMGC/internal/to-state eq 0
/it-fbw/law eq 0
position/wow eq 0
fbw/detent-1-feedback le 2
fbw/detent-2-feedback le 2
fadec/eng-out ne 1
</test>
<test logic="AND" value="fbw/pitch/e-i-flare">
fbw/fmgc/enabled eq 0
/position/gear-agl-ft le 30
/controls/flight/flaps-pos ge 4
/FMGC/internal/to-state eq 0
/it-fbw/law eq 0
position/wow eq 0
fbw/detent-1-feedback le 4
fbw/detent-2-feedback le 4
fadec/eng-out eq 1
</test>
<test logic="AND" value="fbw/fmgc/pitch-cmd">
fbw/fmgc/enabled eq 1
position/wow eq 0
</test>
<test logic="AND" value="0">
fbw/fmgc/enabled eq 1
position/wow eq 1
</test>
<clipto>
<min>fbw/pitch/e-i-min</min>
<max>fbw/pitch/e-i-max</max>
</clipto>
</switch>
<fcs_function name="fbw/pitch/over-max">
<function>
<table>
<independentVar lookup="row">fbw/pitch/max-rad-error</independentVar>
<tableData>
0.000000 0.0
0.034907 0.1
0.087266 1.0
</tableData>
</table>
</function>
</fcs_function>
<fcs_function name="fbw/pitch/over-min">
<function>
<table>
<independentVar lookup="row">fbw/pitch/min-rad-error</independentVar>
<tableData>
-0.087266 -1.0
-0.034907 -0.1
0.000000 0.0
</tableData>
</table>
</function>
</fcs_function>
<summer name="fbw/pitch/e-i-sum">
<input>fbw/pitch/e-i-cmd</input>
<input>fbw/pitch/over-max</input>
<input>fbw/pitch/over-min</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<lag_filter name="fbw/pitch/e-i">
<input>fbw/pitch/e-i-sum</input>
<c1>fbw/rate-c1</c1>
</lag_filter>
<pure_gain name="fbw/pitch/rate-demand">
<input>fbw/pitch/e-i</input>
<gain>-0.087266</gain>
</pure_gain>
<switch name="fbw/pitch/t-r_s-s">
<default value="velocities/thetadot-rad_sec"/>
<test value="0">
gear/unit[0]/WOW eq 1
</test>
</switch>
<summer name="fbw/pitch/rate-error">
<input>fbw/pitch/t-r_s-s</input>
<input>-fbw/pitch/rate-demand</input>
</summer>
<switch name="fbw/pitch/trigger">
<default value="0"/>
<test value="-1">
fbw/pitch/gain-switch gt 0
</test>
<test logic="OR" value="1">
fbw/pitch/pid le -0.999
fbw/pitch/pid ge 0.999
</test>
</switch>
<pid name="fbw/pitch/pid-v">
<input>fbw/pitch/rate-error</input>
<kp>fbw/pitch/p-gain</kp>
<ki>fbw/pitch/i-gain</ki>
<kd>fbw/pitch/d-gain</kd>
<trigger>fbw/pitch/trigger</trigger>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
<output>fbw/pitch/pid</output>
</pid>
<pure_gain name="fbw/pitch/pid-inv">
<input>fbw/pitch/pid</input>
<gain>-1.0</gain>
</pure_gain>
<switch name="fbw/pitch/pid-switched">
<default value="fbw/pitch/pid"/>
<test logic="OR" value="fbw/pitch/pid-inv">
attitude/roll-rad lt -1.5708
attitude/roll-rad gt 1.5708
</test>
</switch>
<switch name="fbw/pitch/law-switch">
<default value="0"/>
<test logic="OR" value="1">
/it-fbw/law eq 0
/it-fbw/law eq 1
</test>
</switch>
<switch name="fbw/pitch/law-gear-switch">
<default value="0"/>
<test logic="OR" value="1">
gear/unit[1]/WOW eq 1
gear/unit[2]/WOW eq 1
/it-fbw/law eq 2
</test>
</switch>
<pure_gain name="fbw/mixer/pitch/computer-demand">
<input>fbw/pitch/pid-switched</input>
<gain>fbw/mixer/computer-gain</gain>
</pure_gain>
<pure_gain name="fbw/mixer/pitch/sidestick-demand">
<input>fbw/pitch/e-i-f</input>
<gain>fbw/mixer/sidestick-gain</gain>
</pure_gain>
<summer name="fbw/mixer/pitch/output">
<input>fbw/mixer/pitch/computer-demand</input>
<input>fbw/mixer/pitch/sidestick-demand</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<switch name="fbw/elevator-output">
<default value="0"/>
<test logic="AND" value="fbw/mixer/pitch/output"> <!-- Mix stick and control law for transition from ground law -->
position/wow eq 0
fbw/pitch/law-switch eq 1
</test>
<test logic="AND" value="fbw/pitch/e-i-f">
fbw/fmgc/enabled eq 0
fbw/pitch/law-gear-switch eq 1
</test>
<test logic="AND" value="0.1">
fbw/fmgc/enabled eq 1
position/wow eq 1
gear/unit[0]/WOW eq 0
</test>
<test logic="AND" value="0.05">
fbw/fmgc/enabled eq 1
position/wow eq 1
</test>
<test logic="AND" value="0">
/it-fbw/law eq 3
</test>
</switch>
<switch name="fbw/pitch/autotrim-height">
<default value="50"/>
<test logic="AND" value="100">
fbw/fmgc/enabled eq 1
</test>
</switch>
<switch name="fbw/pitch/autotrim-switch">
<default value="0"/>
<test logic="AND" value="1">
fbw/pitch/gain-switch eq 0
/position/gear-agl-ft ge fbw/pitch/autotrim-height
attitude/roll-rad lt 0.628319
attitude/roll-rad gt -0.628319
fbw/pitch/pid-switched ge 0.01
fbw/pitch/g-instrumented ge 0.5
fbw/protections/overspeed ne 1
/controls/flight/elevator-trim le 0.32
position/wow eq 0
</test>
<test logic="AND" value="2">
fbw/pitch/gain-switch eq 0
/position/gear-agl-ft ge fbw/pitch/autotrim-height
attitude/roll-rad lt 0.628319
attitude/roll-rad gt -0.628319
fbw/pitch/pid-switched le -0.01
fbw/pitch/g-instrumented ge 0.5
fbw/protections/overspeed ne 1
/controls/flight/elevator-trim ge -1.0
position/wow eq 0
</test>
</switch>
<fcs_function name="fbw/pitch/autotrim-offset">
<function>
<sum>
<ifthen>
<eq>
<property>fbw/pitch/autotrim-switch</property>
<value>1</value>
</eq>
<table>
<independentVar lookup="row">fbw/pitch/pid-switched</independentVar>
<tableData>
0.05 0.00001
0.30 0.00015
</tableData>
</table>
<value>0.0</value>
</ifthen>
<ifthen>
<eq>
<property>fbw/pitch/autotrim-switch</property>
<value>2</value>
</eq>
<table>
<independentVar lookup="row">fbw/pitch/pid-switched</independentVar>
<tableData>
-0.30 -0.00015
-0.05 -0.00001
</tableData>
</table>
<value>0.0</value>
</ifthen>
</sum>
</function>
</fcs_function>
<fcs_function name="fbw/elevator-trim-output">
<function>
<sum>
<property>/controls/flight/elevator-trim</property>
<property>fbw/pitch/autotrim-offset</property>
</sum>
</function>
<clipto>
<min>-1.0</min>
<max>0.32</max>
</clipto>
<output>/controls/flight/elevator-trim</output>
</fcs_function>
</channel>
<channel name="FBW: Yaw">
2020-07-16 16:00:10 +00:00
<fcs_function name="fbw/yaw/max-deg-fac-1">
<function>
<table>
2020-07-16 16:00:10 +00:00
<independentVar lookup="row">/systems/fmgc/active-airspeed-1</independentVar>
<tableData>
160 25.0
410 3.5
</tableData>
</table>
</function>
</fcs_function>
2020-07-16 16:00:10 +00:00
<fcs_function name="fbw/yaw/max-deg-fac-2">
<function>
<table>
<independentVar lookup="row">/systems/fmgc/active-airspeed-2</independentVar>
<tableData>
160 25.0
410 3.5
</tableData>
</table>
</function>
</fcs_function>
2020-07-16 16:00:10 +00:00
<switch name="/systems/fctl/fac1-rtlu-avail">
<default value="0"/>
<test logic="AND" value="1">
/systems/failures/fctl/rtlu-1 eq 0
/systems/electrical/bus/dc-ess ge 25
/systems/fctl/fac1-healthy-signal eq 1
2020-07-16 16:00:10 +00:00
<test logic="OR">
<test logic="AND">
/systems/fmgc/cas-compare/cas-reject-1 eq 0
/systems/navigation/adr/operating-1 eq 1
</test>
<test logic="AND">
/systems/fmgc/cas-compare/cas-reject-3 eq 0
/systems/navigation/adr/operating-3 eq 1
</test>
</test>
</test>
</switch>
<switch name="/systems/fctl/fac2-rtlu-avail">
<default value="0"/>
<test logic="AND" value="1">
/systems/failures/fctl/rtlu-2 eq 0
/systems/electrical/bus/dc-2 ge 25
/systems/fctl/fac2-healthy-signal eq 1
2020-07-16 16:00:10 +00:00
<test logic="OR">
<test logic="AND">
/systems/fmgc/cas-compare/cas-reject-2 eq 0
/systems/navigation/adr/operating-2 eq 1
</test>
<test logic="AND">
/systems/fmgc/cas-compare/cas-reject-3 eq 0
/systems/navigation/adr/operating-3 eq 1
</test>
</test>
</test>
</switch>
<switch name="fbw/yaw/rtlu-emergency">
<default value="0"/>
<test logic="AND" value="1">
/systems/fctl/fac1-rtlu-avail eq 0
/systems/fctl/fac2-rtlu-avail eq 0
fcs/slat-pos-deg ne 0
</test>
</switch>
<switch name="fbw/yaw/max-deg-switch-cmd">
<default value="25"/>
2020-07-16 16:00:10 +00:00
<test logic="AND" value="fbw/yaw/max-deg-switch"> <!-- RTLU frozen with FAC 1 / 2 failure -->
/systems/fctl/fac1-rtlu-avail eq 0
/systems/fctl/fac2-rtlu-avail eq 0
fcs/slat-pos-deg eq 0
</test>
<test logic="AND" value="25"> <!-- Return to low speed control with slats extended -->
fbw/yaw/rtlu-emergency eq 1
</test>
2020-07-16 16:00:10 +00:00
<test logic="AND" value="fbw/yaw/max-deg-fac-1"> <!-- Side 1 has priority -->
/systems/fctl/fac1-rtlu-avail eq 1
</test>
<test logic="AND" value="fbw/yaw/max-deg-fac-2">
/systems/fctl/fac2-rtlu-avail eq 1
</test>
</switch>
2020-07-16 16:00:10 +00:00
<switch name="fbw/yaw/rtlu-power">
<default value="0"/>
<test logic="AND" value="25"> <!-- Main motor control -->
<test logic="OR">
/systems/electrical/bus/dc-ess-shed ge 25
/systems/electrical/bus/dc-2 ge 25
</test>
fbw/yaw/rtlu-emergency ne 1
</test>
2020-07-16 16:00:10 +00:00
<test logic="AND" value="3"> <!-- Emergency motor is slower -->
/systems/electrical/bus/ac-ess-26v ge 24.8
/systems/fctl/fac1-rtlu-avail eq 0
/systems/fctl/fac2-rtlu-avail eq 0
fcs/slat-pos-deg ne 0
fbw/yaw/max-deg-switch ne fbw/yaw/max-deg-switch-cmd
</test>
</switch>
2020-07-16 16:00:10 +00:00
<actuator name="rubbish/rudder-travel-limiter">
<input>fbw/yaw/max-deg-switch-cmd</input>
<rate_limit>fbw/yaw/rtlu-power</rate_limit>
<output>fbw/yaw/max-deg-switch</output>
</actuator>
<aerosurface_scale name="fbw/yaw/max-deg-scale">
<input>fbw/yaw/max-deg-switch</input>
<domain>
<min>-25</min>
<max>25</max>
</domain>
<range>
<min>-1</min>
<max>1</max>
</range>
</aerosurface_scale>
<pure_gain name="fbw/yaw/max-deg-scale-neg">
<input>fbw/yaw/max-deg-scale</input>
<gain>-1.0</gain>
</pure_gain>
<fcs_function name="fbw/sidestick/yaw-input-scheduled">
<function>
<quotient>
<product>
<property>fbw/sidestick/yaw-input</property>
<property>fbw/yaw/max-deg-switch</property>
</product>
<value>25.0</value>
</quotient>
</function>
</fcs_function>
<switch name="fbw/yaw/autoland-switch">
<default value="0"/>
<test logic="AND" value="1">
fbw/fmgc/enabled eq 1
/it-autoflight/output/lat eq 4
</test>
</switch>
<washout_filter name="fbw/yaw/r-washout">
<input>velocities/r-rad_sec</input>
<c1>0.5</c1>
</washout_filter>
<switch name="fbw/yaw/r-r_s-s">
<default value="fbw/yaw/r-washout"/>
<test logic="OR" value="0">
position/wow eq 1
/position/gear-agl-ft lt 50
fbw/yaw/autoland-switch eq 1
</test>
</switch>
<pure_gain name="fbw/yaw/yd-f">
<input>fbw/yaw/r-r_s-s</input>
<gain>fbw/yaw/yd-p-gain</gain>
<clipto>
<min>-0.5</min>
<max>0.5</max>
</clipto>
</pure_gain>
<switch name="fbw/yaw/slip-skid">
<default value="aero/beta-rad"/>
<test value="0">
position/wow eq 1
</test>
</switch>
<pid name="fbw/yaw/tc-pd-v">
<input>fbw/yaw/slip-skid</input>
<kp>fbw/yaw/tc-p-gain</kp>
<ki>0.0</ki>
<kd>fbw/yaw/tc-d-gain</kd>
<clipto>
<min>-0.4</min>
<max>0.4</max>
</clipto>
<output>fbw/yaw/tc-pd</output>
</pid>
<switch name="fbw/yaw/tc-pd-s">
<default value="fbw/yaw/tc-pd"/>
<test value="0">
position/wow eq 1
</test>
</switch>
<switch name="fbw/yaw/fmgc-cmd">
<default value="0"/>
<test value="fbw/fmgc/yaw-cmd">
fbw/yaw/autoland-switch eq 1
</test>
</switch>
<summer name="fbw/yaw/output-sum">
<input>fbw/yaw/yd-f</input>
<input>fbw/yaw/tc-pd-s</input>
<input>fbw/yaw/fmgc-cmd</input>
</summer>
<switch name="fbw/yaw/law-switch"> <!-- Is the yaw damper active or not? -->
<default value="0"/>
<test logic="AND" value="1">
/it-fbw/law ne 3
<test logic="OR">
/it-fbw/yaw-law eq 0
/it-fbw/yaw-law eq 1
</test>
</test>
</switch>
<switch name="fbw/yaw/output-switch">
<default value="fbw/yaw/fmgc-cmd"/> <!-- FMGC keeps working even if YD is unavail -->
<test value="fbw/yaw/output-sum">
fbw/yaw/law-switch eq 1
</test>
</switch>
<summer name="fbw/rudder-output">
<input>fbw/sidestick/yaw-input-scheduled</input>
<input>fbw/yaw/output-switch</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
</channel>
</system>