A320-family/Systems/fmgc-pitch.xml

<?xml version="1.0"?>

<!-- IT-AUTOFLIGHT -->
<!-- Copyright (c) 2022 Josh Davidson (Octal450) -->

<PropertyList>
	
	<!-- Pitch Axis -->
	<filter>
		<name>IT-CONTROLLER: Altitude Capture/Hold</name>
		<type>gain</type>
		<gain>-5</gain>
		<input>
			<expression>
				<sum>
					<property>/instrumentation/altimeter/indicated-altitude-ft</property>
					<value>-2</value>
				</sum>
			</expression>
		</input>
		<reference>/it-autoflight/internal/alt</reference>
		<output>/it-autoflight/internal/target-fpm-alt</output>
		<min>/it-autoflight/internal/min-vs</min>
		<max>/it-autoflight/internal/max-vs</max>
	</filter>
	
	<logic>
		<input>
			<and>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
				</or>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/fd1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/fd2</property>
						<value>1</value>
					</equals>
				</or>
			</and>
		</input>
		<output>/it-autoflight/internal/flch-active</output>
	</logic>
	
	<pid-controller>
		<name>IT-CONTROLLER: Speed By Pitch</name>
		<enable>
			<condition>
				<property>/it-autoflight/internal/flch-active</property>
			</condition>
		</enable>
		<input>/it-autoflight/internal/kts-rate</input>
		<reference>/it-autoflight/internal/flch-kts-error</reference>
		<output>/it-autoflight/internal/target-fpm-flch</output>
		<config>
			<Kp>
				<expression>
					<table>
						<property>/velocities/airspeed-kt</property>
						<entry><ind>140</ind><dep>-390</dep></entry>
						<entry><ind>360</ind><dep>-430</dep></entry>
					</table>
				</expression>
			</Kp>
			<Ti>1.3</Ti>
			<Td>0.0</Td>
			<u_min>
				<condition>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</condition>
				<value>0</value>
			</u_min>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>2</value>
					</equals>
				</condition>
				<expression>
					<max>
						<value>120</value>
						<difference>
							<property>/it-autoflight/internal/vert-speed-fpm</property>
							<value>2000</value>
						</difference>
					</max>
				</expression>
			</u_min>
			<u_min>
				<expression>
					<difference>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2000</value>
					</difference>
				</expression>
			</u_min>
			<u_max>
				<condition>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</condition>
				<value>1000</value>
			</u_max>
			<u_max>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>1</value>
					</equals>
				</condition>
				<expression>
					<min>
						<value>-120</value>
						<sum>
							<property>/it-autoflight/internal/vert-speed-fpm</property>
							<value>2000</value>
						</sum>
					</min>
				</expression>
			</u_max>
			<u_max>
				<expression>
					<sum>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2000</value>
					</sum>
				</expression>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>Speed By Pitch Inactive Sync</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<not><property>/it-autoflight/internal/flch-active</property></not>
			</condition>
		</enable>
		<input>/it-autoflight/internal/vert-speed-fpm</input>
		<output>/it-autoflight/internal/target-fpm-flch</output>
	</filter>
	
	<logic>
		<input>
			<and>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/fd1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/fd2</property>
						<value>1</value>
					</equals>
				</or>
			</and>
		</input>
		<output>/it-autoflight/internal/fpa-active</output>
	</logic>
	
	<filter>
		<name>IT-CONTROLLER: FPA</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<not><property>/it-autoflight/internal/fpa-active</property></not>
			</condition>
			<property>/it-autoflight/internal/vert-speed-fpm</property>
		</input>
		<input>
			<expression>
				<sum>
					<difference> <!-- Fix an issue with the calculation -->
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<product>
							<property>/velocities/vertical-speed-fps</property>
							<value>60</value>
						</product>
					</difference>
					<product>
						<sin>
							<deg2rad>
								<property>/it-autoflight/input/fpa</property>
							</deg2rad>
						</sin>
						<property>/instrumentation/airspeed-indicator/true-speed-kt</property>
						<value>101.26859142607174</value> <!-- FPM to Knot -->
					</product>
				</sum>
			</expression>
		</input>
		<output>/it-autoflight/internal/target-fpm-fpa-raw</output>
		<min>
			<expression>
				<difference>
					<property>/it-autoflight/internal/vert-speed-fpm</property>
					<value>2500</value>
				</difference>
			</expression>
		</min>
		<max>
			<expression>
				<sum>
					<property>/it-autoflight/internal/vert-speed-fpm</property>
					<value>2500</value>
				</sum>
			</expression>
		</max>
	</filter>
	
	<filter>
		<name>FPA FPM Filter</name>
		<type>noise-spike</type>
		<input>
			<condition>
				<property>/it-autoflight/internal/overspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/overspeed-vs</property>
		</input>
		<input>
			<condition>
				<property>/it-autoflight/internal/underspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/underspeed-vs</property>
		</input>
		<input>/it-autoflight/internal/target-fpm-fpa-raw</input>
		<output>/it-autoflight/internal/target-fpm-fpa</output>
		<max-rate-of-change>
			<condition>
				<or>
					<not><property>/it-autoflight/internal/fpa-active</property></not>
					<property>/it-autoflight/internal/overspeed-vs-prot</property>
					<property>/it-autoflight/internal/underspeed-vs-prot</property>
				</or>
			</condition>
			<value>10000</value>
		</max-rate-of-change>
		<max-rate-of-change>300</max-rate-of-change>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: Flare FD</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<max>
					<property>/it-autoflight/internal/nav-rate-of-climb-fpm</property>
					<sum>
						<difference> <!-- Fix an issue with the calculation -->
							<property>/it-autoflight/internal/vert-speed-fpm</property>
							<product>
								<property>/velocities/vertical-speed-fps</property>
								<value>60</value>
							</product>
						</difference>
						<product>
							<sin>
								<deg2rad>
									<table>
										<property>/position/gear-agl-ft</property>
										<entry><ind>50</ind><dep>-3.0</dep></entry>
										<entry><ind>45</ind><dep>-0.7</dep></entry>
									</table>
								</deg2rad>
							</sin>
							<property>/instrumentation/airspeed-indicator/true-speed-kt</property>
							<value>101.26859142607174</value> <!-- FPM to Knot -->
						</product>
					</sum>
				</max>
			</expression>
		</input>
		<output>/it-autoflight/internal/target-fpm-land-fd</output>
		<min>-1200</min>
		<max>0</max>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: Flare</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<max>
					<property>/it-autoflight/internal/nav-rate-of-climb-fpm</property>
					<sum>
						<difference> <!-- Fix an issue with the calculation -->
							<property>/it-autoflight/internal/vert-speed-fpm</property>
							<product>
								<property>/velocities/vertical-speed-fps</property>
								<value>60</value>
							</product>
						</difference>
						<product>
							<sin>
								<deg2rad>
									<table>
										<property>/position/gear-agl-ft</property>
										<entry><ind>50</ind><dep>-3.0</dep></entry>
										<entry><ind>40</ind><dep>-1.8</dep></entry>
										<entry><ind>30</ind><dep>-1.5</dep></entry>
										<entry><ind>20</ind><dep>-1.2</dep></entry>
										<entry><ind> 5</ind><dep>-0.7</dep></entry>
									</table>
								</deg2rad>
							</sin>
							<property>/instrumentation/airspeed-indicator/true-speed-kt</property>
							<value>101.26859142607174</value> <!-- FPM to Knot -->
						</product>
					</sum>
				</max>
			</expression>
		</input>
		<output>/it-autoflight/internal/target-fpm-land</output>
		<min>-1200</min>
		<max>0</max>
	</filter>
	
	<filter>
		<name>Vertical Speed FD Input</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<property>/it-autoflight/internal/overspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/overspeed-vs</property>
		</input>
		<input>
			<condition>
				<property>/it-autoflight/internal/underspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/underspeed-vs</property>
		</input>
		<input>/it-autoflight/input/vs</input>
		<output>/it-autoflight/internal/vs-fd</output>
	</filter>
	
	<filter>
		<name>FPA FD Input</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<property>/it-autoflight/internal/overspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/overspeed-vs</property>
		</input>
		<input>
			<condition>
				<property>/it-autoflight/internal/underspeed-vs-prot</property>
			</condition>
			<property>/it-autoflight/internal/underspeed-vs</property>
		</input>
		<input>/it-autoflight/internal/target-fpm-fpa-raw</input>
		<output>/it-autoflight/internal/fpa-fd</output>
	</filter>
	
	<filter>
		<name>Target FPM</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-alt</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/vs-fd</property>
		</input>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fpm-flch</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>6</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-land-fd</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/fpa-fd</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>2</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/nav-rate-of-climb-fpm</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>9</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/vert-speed-fpm</property>
		</input>
		<output>/it-autoflight/internal/target-common-fpm</output>
	</filter>
	
	<pid-controller>
		<name>IT-CONTROLLER: FPM Hold</name>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>9</value>
					</not-equals>
				</and>
			</condition>
		</enable>
		<input>/it-autoflight/internal/vert-speed-fpm</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/vs</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-fpa</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>6</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-land</property>
		</reference>
		<reference>/it-autoflight/internal/target-common-fpm</reference>
		<output>/it-autoflight/internal/target-pitch-deg</output>
		<config>
			<Kp>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</not-equals>
				</condition>
				<expression>
					<table>
						<property>/velocities/airspeed-kt</property>
						<entry><ind>140</ind><dep>0.0029</dep></entry>
						<entry><ind>360</ind><dep>0.0009</dep></entry>
					</table>
				</expression>
			</Kp>
			<Kp>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</equals>
				</condition>
				<value>0.0055</value>
			</Kp>
			<Ti>2.5</Ti>
			<Td>0.0001</Td>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</equals>
				</condition>
				<value>0</value>
			</u_min>
			<u_min>
				<expression>
					<max>
						<dif>
							<property>/orientation/pitch-deg</property>
							<value>5</value>
						</dif>
						<value>-15</value>
					</max>
				</expression>
			</u_min>
			<u_max>
				<condition>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</condition>
				<value>10</value>
			</u_max>
			<u_max>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
				</condition>
				<expression>
					<min>
						<sum>
							<property>/orientation/pitch-deg</property>
							<value>5</value>
						</sum>
						<value>18</value>
					</min>
				</expression>
			</u_max>
			<u_max>
				<expression>
					<min>
						<sum>
							<property>/orientation/pitch-deg</property>
							<value>5</value>
						</sum>
						<value>30</value>
					</min>
				</expression>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>System Command: Pitch Target Inactive Sync</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<not>
					<and>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>0</value>
						</equals>
						<or>
							<equals>
								<property>/it-autoflight/output/ap1</property>
								<value>1</value>
							</equals>
							<equals>
								<property>/it-autoflight/output/ap2</property>
								<value>1</value>
							</equals>
						</or>
						<not-equals>
							<property>/it-autoflight/output/vert</property>
							<value>9</value>
						</not-equals>
					</and>
				</not>
			</condition>
		</enable>
		<input>/orientation/pitch-deg</input>
		<output>/it-autoflight/internal/target-pitch-deg</output>
		<min>-15</min>
		<max>30</max>
	</filter>
	
	<filter>
		<name>System Command: Pitch Rate Target</name>
		<type>gain</type>
		<gain>0.12</gain>
		<input>/orientation/pitch-deg</input>
		<reference>/it-autoflight/internal/target-pitch-deg</reference>
		<output>/fdm/jsbsim/fbw/fmgc/pitch-cmd</output> <!-- Inputs to the FBW Pitch -->
		<min>-0.3</min>
		<max>0.3</max>
	</filter>

</PropertyList>