Control: Improve ground-flight and flight-flare FBW kinematics
This commit is contained in:
Josh Davidson
parent
69582e626d
commit
19dc123358
1 changed files with 54 additions and 73 deletions
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@ -213,25 +213,9 @@
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<gain>1.0</gain>
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</pure_gain>
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<switch name="fbw/roll/mixer/rate-limit">
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<default value="fbw/roll/mixer/rate-limit"/>
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<test logic="AND" value="2"> <!-- 0.5 seconds -->
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position/wow eq 1
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fbw/roll/mixer/sidestick-gain-feedback eq 1
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</test>
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<test logic="AND" value="100"> <!-- Unlimited -->
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position/wow eq 1
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fbw/roll/mixer/sidestick-gain-feedback ne 1
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</test>
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<test logic="AND" value="100"> <!-- Unlimited -->
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position/wow eq 0
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fbw/roll/mixer/sidestick-gain-feedback eq 0
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</test>
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</switch>
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<actuator name="fbw/roll/mixer/sidestick-gain">
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<input>position/wow</input>
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<rate_limit>fbw/roll/mixer/rate-limit</rate_limit>
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<rate_limit>2</rate_limit> <!-- 0.5 seconds -->
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<output>fbw/roll/mixer/sidestick-gain-feedback</output>
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</actuator>
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@ -247,25 +231,9 @@
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</function>
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</fcs_function>
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<switch name="fbw/pitch/mixer/rate-limit">
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<default value="fbw/pitch/mixer/rate-limit"/>
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<test logic="AND" value="0.2"> <!-- 5 seconds -->
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position/wow eq 1
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fbw/pitch/mixer/sidestick-gain-feedback eq 1
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</test>
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<test logic="AND" value="100"> <!-- Unlimited -->
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position/wow eq 1
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fbw/pitch/mixer/sidestick-gain-feedback ne 1
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</test>
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<test logic="AND" value="100"> <!-- Unlimited -->
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position/wow eq 0
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fbw/pitch/mixer/sidestick-gain-feedback eq 0
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</test>
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</switch>
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<actuator name="fbw/pitch/mixer/sidestick-gain-linear">
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<input>position/wow</input>
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<rate_limit>fbw/pitch/mixer/rate-limit</rate_limit>
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<rate_limit>0.2</rate_limit> <!-- 5 seconds -->
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<output>fbw/pitch/mixer/sidestick-gain-feedback</output>
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</actuator>
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@ -273,10 +241,13 @@
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<function>
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<table>
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<independentVar lookup="row">fbw/pitch/mixer/sidestick-gain-linear</independentVar>
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<independentVar lookup="column">position/wow</independentVar>
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<tableData>
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0.0 0.0
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0.6 0.3
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1.0 1.0
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0 1
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0.0 0.0 0.0
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0.4 0.2 0.7
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0.6 0.3 0.8
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1.0 1.0 1.0
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</tableData>
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</table>
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</function>
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@ -916,7 +887,7 @@
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<switch name="fbw/aileron-output">
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<default value="0"/>
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<test logic="AND" value="fbw/roll/mixer/output"> <!-- Mix stick and control law for transition from ground law -->
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<test logic="AND" value="fbw/roll/mixer/output"> <!-- Mix stick and control law for transition -->
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position/wow eq 0
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/it-fbw/law eq 0
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</test>
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@ -1164,10 +1135,49 @@
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</function>
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</fcs_function>
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<switch name="fbw/pitch/flare-active">
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<default value="0"/>
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<test logic="AND" value="1">
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fbw/fmgc/enabled eq 0
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/position/gear-agl-ft le 30
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/controls/flight/flaps-pos ge 4
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/FMGC/internal/to-state eq 0
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/it-fbw/law eq 0
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gear/unit[0]/WOW eq 0
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fbw/detent-1-feedback le 2
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fbw/detent-2-feedback le 2
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fadec/eng-out ne 1
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</test>
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<test logic="AND" value="1">
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fbw/fmgc/enabled eq 0
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/position/gear-agl-ft le 30
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/controls/flight/flaps-pos ge 4
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/FMGC/internal/to-state eq 0
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/it-fbw/law eq 0
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gear/unit[0]/WOW eq 0
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fbw/detent-1-feedback le 4
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fbw/detent-2-feedback le 4
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fadec/eng-out eq 1
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</test>
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</switch>
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<switch name="fbw/pitch/flare-decr">
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<default value="1"/>
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<test logic="AND" value="100"> <!-- Instant -->
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fbw/fmgc/enabled eq 1
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</test>
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</switch>
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<actuator name="fbw/pitch/flare-gain">
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<input>fbw/pitch/flare-active</input>
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<rate_limit sense="incr">1</rate_limit>
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<rate_limit sense="decr">fbw/pitch/flare-decr</rate_limit>
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</actuator>
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<fcs_function name="fbw/pitch/e-i-flare">
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<function>
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<sum>
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<property>fbw/sidestick/pitch-input</property>
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<product>
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<property>fbw/pitch/flare-gain</property>
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<table>
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<independentVar lookup="row">/position/gear-agl-ft</independentVar>
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<tableData>
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@ -1175,18 +1185,10 @@
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30 0.1
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</tableData>
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</table>
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</sum>
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</product>
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</function>
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</fcs_function>
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<switch name="fbw/pitch/flare-gear-switch">
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<default value="0"/>
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<test logic="OR" value="1">
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gear/unit[1]/WOW eq 1
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gear/unit[2]/WOW eq 1
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</test>
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</switch>
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<switch name="fbw/pitch/max-rad">
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<default value="0.523599"/>
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<test value="3.14159"> <!-- So its irrelevant -->
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@ -1243,28 +1245,6 @@
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fbw/protections/overspeed eq 1
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position/wow eq 0
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</test>
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<test logic="AND" value="fbw/pitch/e-i-flare">
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fbw/fmgc/enabled eq 0
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/position/gear-agl-ft le 30
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/controls/flight/flaps-pos ge 4
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/FMGC/internal/to-state eq 0
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/it-fbw/law eq 0
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position/wow eq 0
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fbw/detent-1-feedback le 2
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fbw/detent-2-feedback le 2
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fadec/eng-out ne 1
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</test>
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<test logic="AND" value="fbw/pitch/e-i-flare">
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fbw/fmgc/enabled eq 0
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/position/gear-agl-ft le 30
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/controls/flight/flaps-pos ge 4
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/FMGC/internal/to-state eq 0
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/it-fbw/law eq 0
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position/wow eq 0
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fbw/detent-1-feedback le 4
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fbw/detent-2-feedback le 4
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fadec/eng-out eq 1
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</test>
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<test logic="AND" value="fbw/fmgc/pitch-cmd">
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fbw/fmgc/enabled eq 1
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position/wow eq 0
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@ -1307,6 +1287,7 @@
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<summer name="fbw/pitch/e-i-sum">
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<input>fbw/pitch/e-i-cmd</input>
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<input>fbw/pitch/e-i-flare</input>
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<input>fbw/pitch/over-max</input>
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<input>fbw/pitch/over-min</input>
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<clipto>
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@ -1420,7 +1401,7 @@
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<switch name="fbw/elevator-output">
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<default value="0"/>
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<test logic="AND" value="fbw/pitch/mixer/output"> <!-- Mix stick and control law for transition from ground law -->
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<test logic="AND" value="fbw/pitch/mixer/output"> <!-- Mix stick and control law for transition -->
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position/wow eq 0
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fbw/pitch/law-switch eq 1
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</test>
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@ -1740,7 +1721,7 @@
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<input>fbw/yaw/fmgc-cmd</input>
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</summer>
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<switch name="fbw/yaw/law-switch"> <!-- Is the yaw damper active or not? -->
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<switch name="fbw/yaw/law-switch">
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<default value="0"/>
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<test logic="AND" value="1">
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/it-fbw/law ne 3
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