Control: Fix transition from ground to flight
This commit is contained in:
Josh Davidson
parent
c3f7c6413e
commit
b612f6ff86
1 changed files with 75 additions and 28 deletions
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@ -11,7 +11,7 @@
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<property value="0">fbw/pitch/g-pi</property>
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<property value="0">fbw/pitch/pid</property>
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<property value="0">fbw/yaw/tc-pd</property>
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<property value="1">fbw/mixer/sidestick-gain-feedback</property>
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<property value="1">fbw/pitch/mixer/sidestick-gain-feedback</property>
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<property value="0">fbw/spoiler-output</property>
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<property value="3">fbw/rate-c1</property>
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<property value="0">fbw/pitch/ias-input</property>
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@ -213,32 +213,79 @@
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<gain>1.0</gain>
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</pure_gain>
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<switch name="fbw/mixer/rate-limit">
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<default value="fbw/mixer/rate-limit"/>
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<test logic="AND" value="0.5"> <!-- 2 seconds -->
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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/mixer/sidestick-gain-feedback 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/mixer/sidestick-gain-feedback ne 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/mixer/sidestick-gain-feedback 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/mixer/sidestick-gain">
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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/mixer/rate-limit</rate_limit>
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<output>fbw/mixer/sidestick-gain-feedback</output>
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<rate_limit>fbw/roll/mixer/rate-limit</rate_limit>
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<output>fbw/roll/mixer/sidestick-gain-feedback</output>
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</actuator>
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<fcs_function name="fbw/mixer/computer-gain">
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<fcs_function name="fbw/roll/mixer/computer-gain">
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<function>
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<table>
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<independentVar lookup="row">fbw/mixer/sidestick-gain</independentVar>
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<independentVar lookup="row">fbw/roll/mixer/sidestick-gain</independentVar>
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<tableData>
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0 1
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1 0
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</tableData>
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</table>
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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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<output>fbw/pitch/mixer/sidestick-gain-feedback</output>
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</actuator>
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<fcs_function name="fbw/pitch/mixer/sidestick-gain">
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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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<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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</tableData>
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</table>
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</function>
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</fcs_function>
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<fcs_function name="fbw/pitch/mixer/computer-gain">
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<function>
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<table>
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<independentVar lookup="row">fbw/pitch/mixer/sidestick-gain</independentVar>
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<tableData>
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0 1
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1 0
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@ -848,19 +895,19 @@
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</function>
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</fcs_function>
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<pure_gain name="fbw/mixer/roll/computer-demand">
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<pure_gain name="fbw/roll/mixer/computer-demand">
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<input>fbw/roll/pid</input>
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<gain>fbw/mixer/computer-gain</gain>
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<gain>fbw/roll/mixer/computer-gain</gain>
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</pure_gain>
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<pure_gain name="fbw/mixer/roll/sidestick-demand">
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<pure_gain name="fbw/roll/mixer/sidestick-demand">
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<input>fbw/roll/a-i-f</input>
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<gain>fbw/mixer/sidestick-gain</gain>
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<gain>fbw/roll/mixer/sidestick-gain</gain>
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</pure_gain>
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<summer name="fbw/mixer/roll/output">
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<input>fbw/mixer/roll/computer-demand</input>
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<input>fbw/mixer/roll/sidestick-demand</input>
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<summer name="fbw/roll/mixer/output">
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<input>fbw/roll/mixer/computer-demand</input>
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<input>fbw/roll/mixer/sidestick-demand</input>
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<clipto>
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<min>-1.0</min>
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<max>1.0</max>
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@ -869,7 +916,7 @@
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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/mixer/roll/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 from ground law -->
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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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@ -1352,19 +1399,19 @@
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</test>
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</switch>
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<pure_gain name="fbw/mixer/pitch/computer-demand">
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<pure_gain name="fbw/pitch/mixer/computer-demand">
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<input>fbw/pitch/pid-switched</input>
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<gain>fbw/mixer/computer-gain</gain>
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<gain>fbw/pitch/mixer/computer-gain</gain>
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</pure_gain>
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<pure_gain name="fbw/mixer/pitch/sidestick-demand">
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<pure_gain name="fbw/pitch/mixer/sidestick-demand">
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<input>fbw/pitch/e-i-f</input>
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<gain>fbw/mixer/sidestick-gain</gain>
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<gain>fbw/pitch/mixer/sidestick-gain</gain>
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</pure_gain>
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<summer name="fbw/mixer/pitch/output">
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<input>fbw/mixer/pitch/computer-demand</input>
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<input>fbw/mixer/pitch/sidestick-demand</input>
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<summer name="fbw/pitch/mixer/output">
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<input>fbw/pitch/mixer/computer-demand</input>
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<input>fbw/pitch/mixer/sidestick-demand</input>
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<clipto>
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<min>-1.0</min>
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<max>1.0</max>
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@ -1373,7 +1420,7 @@
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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/mixer/pitch/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 from ground law -->
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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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