1725 lines
43 KiB
XML
1725 lines
43 KiB
XML
<?xml version="1.0"?>
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<!-- Airbus A320 FBW -->
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<!-- Copyright (c) 2021 Josh Davidson (Octal450) -->
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<system name="A320: FBW">
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<property value="0">fbw/roll/pid</property>
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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="0">fbw/spoiler-output</property>
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<!-- Default gains for tuning -->
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<property value="0">fbw/roll/p-gain</property>
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<property value="0">fbw/roll/i-gain</property>
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<property value="0">fbw/roll/d-gain</property>
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<property value="0">fbw/pitch/p-gain</property>
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<property value="0">fbw/pitch/i-gain</property>
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<property value="0">fbw/pitch/d-gain</property>
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<property value="0">fbw/yaw/yd-p-gain</property>
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<property value="0">fbw/yaw/tc-p-gain</property>
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<property value="0">fbw/yaw/tc-d-gain</property>
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<!-- FMGC stuff -->
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<property value="0">fbw/fmgc/roll-cmd</property>
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<property value="0">fbw/fmgc/pitch-cmd</property>
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<property value="0">fbw/fmgc/yaw-cmd</property>
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<channel name="Libraries">
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<switch name="fbw/roll/gain-switch">
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<default value="0"/>
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<test logic="OR" value="1">
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position/wow eq 1
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/it-fbw/law ne 0
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</test>
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</switch>
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<switch name="fbw/pitch/gain-switch">
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<default value="0"/>
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<test logic="OR" value="1">
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position/wow eq 1
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/it-fbw/law eq 2
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/it-fbw/law eq 3
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</test>
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</switch>
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<switch name="fbw/yaw/gain-switch"> <!-- disable auto-trim -->
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<default value="0"/>
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<test logic="OR" value="1">
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position/wow eq 1
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<test logic="AND">
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/it-fbw/yaw-law eq 2
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/it-fbw/law ne 0
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</test>
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</test>
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</switch>
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<switch name="fbw/fmgc/enabled">
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<default value="0"/>
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<test logic="OR" value="1">
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/it-autoflight/output/ap1 eq 1
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/it-autoflight/output/ap2 eq 1
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</test>
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</switch>
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<fcs_function name="fbw/roll/p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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140 -20.0 0.0
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350 -5.0 0.0
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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/roll/i-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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140 -35.0 0.0
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350 -10.0 0.0
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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/roll/d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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140 -2.5 0.0
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350 -0.5 0.0
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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/p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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140 28 0
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350 20 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/i-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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140 60 0
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350 40 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/d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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140 2.0 0.0
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350 0.4 0.0
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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/yaw/yd-p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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140 -7.0 0.0
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350 -1.2 0.0
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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/yaw/tc-p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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140 3.0 0.0
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350 1.5 0.0
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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/yaw/tc-d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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140 6.0 0.0
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350 3.0 0.0
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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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<pid name="fbw/pitch/vc-kts-rate">
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<descripton>Use D only to calculate rate of IAS</descripton>
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<input>velocities/vc-kts</input>
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<kp>0.0</kp>
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<ki>0.0</ki>
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<kd>1.0</kd>
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</pid>
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<lag_filter name="fbw/pitch/vc-kts-rate-lag">
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<input>fbw/pitch/vc-kts-rate</input>
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<c1>1.0</c1>
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</lag_filter>
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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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position/wow eq 1
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fbw/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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</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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</test>
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</switch>
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<actuator name="fbw/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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</actuator>
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<fcs_function name="fbw/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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<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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<fcs_function name="fbw/sidestick/roll-input">
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<function>
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<sum>
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<product>
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<property>/controls/flight/aileron[0]</property>
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<property>fbw/sidestick/active[0]</property>
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</product>
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<product>
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<property>/controls/flight/aileron[1]</property>
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<property>fbw/sidestick/active[1]</property>
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</product>
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</sum>
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</function>
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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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</clipto>
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</fcs_function>
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<fcs_function name="fbw/sidestick/pitch-input">
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<function>
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<sum>
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<product>
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<property>/controls/flight/elevator[0]</property>
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<property>fbw/sidestick/active[0]</property>
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</product>
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<product>
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<property>/controls/flight/elevator[1]</property>
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<property>fbw/sidestick/active[1]</property>
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</product>
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</sum>
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</function>
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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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</clipto>
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</fcs_function>
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<fcs_function name="fbw/sidestick/yaw-input">
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<function>
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<sum>
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<product>
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<property>/controls/flight/rudder[0]</property>
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<property>fbw/sidestick/active[0]</property>
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</product>
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<product>
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<property>/controls/flight/rudder[1]</property>
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<property>fbw/sidestick/active[1]</property>
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</product>
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</sum>
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</function>
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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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</clipto>
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</fcs_function>
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</channel>
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<channel name="Computers">
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<switch name="/systems/fctl/lights/elac1-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/elac1 eq 1
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/systems/fctl/elac1 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/elac1">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/elac1 eq 1
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/systems/failures/fctl/elac1 eq 0
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<test logic="OR">
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/systems/electrical/bus/dc-ess ge 25
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/systems/electrical/bus/dc-hot-1 ge 25
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</test>
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</test>
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</switch>
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<switch name="/systems/fctl/lights/elac2-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/elac2 eq 1
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/systems/fctl/elac2 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/elac2">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/elac2 eq 1
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/systems/failures/fctl/elac2 eq 0
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<test logic="OR">
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/systems/electrical/bus/dc-2 ge 25
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/systems/electrical/bus/dc-hot-2 ge 25
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</test>
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</test>
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</switch>
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<switch name="/systems/fctl/lights/sec1-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec1 eq 1
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/systems/fctl/sec1 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/sec1">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec1 eq 1
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/systems/failures/fctl/sec1 eq 0
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<test logic="OR">
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/systems/electrical/bus/dc-ess ge 25
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/systems/electrical/bus/dc-hot-1 ge 25
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</test>
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</test>
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</switch>
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<switch name="/systems/fctl/lights/sec2-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec2 eq 1
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/systems/fctl/sec2 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/sec2">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec2 eq 1
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/systems/failures/fctl/sec2 eq 0
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/systems/electrical/bus/dc-2 ge 25
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</test>
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</switch>
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<switch name="/systems/fctl/lights/sec3-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec3 eq 1
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/systems/fctl/sec3 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/sec3">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/sec3 eq 1
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/systems/failures/fctl/sec3 eq 0
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/systems/electrical/bus/dc-2 ge 25
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</test>
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</switch>
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<switch name="/systems/fctl/fac1-healthy-inp">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac1 eq 1
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/systems/failures/fctl/fac1 eq 0
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<test logic="OR">
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/systems/electrical/bus/ac-ess ge 110
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/systems/electrical/bus/dc-ess-shed ge 25
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</test>
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</test>
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</switch>
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<actuator name="/systems/fctl/fac1-healthy">
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<input>/systems/fctl/fac1-healthy-inp</input>
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<rate_limit sense="incr">100</rate_limit>
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<rate_limit sense="decr">10</rate_limit>
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</actuator>
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<switch name="/systems/fctl/fac1-healthy-latch-set">
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<default value="0"/>
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<test logic="AND" value="1">
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/gear/gear[0]/wow eq 0
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/controls/fctl/switches/fac1 eq 1
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/systems/fctl/fac1-healthy eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/fac1-healthy-latch-reset">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac1 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/fac1-healthy-latch">
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<default value="/systems/fctl/fac1-healthy-latch"/>
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<test value="1">
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/systems/fctl/fac1-healthy-latch-set eq 1
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</test>
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<test value="0">
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/systems/fctl/fac1-healthy-latch-reset eq 1
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</test>
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</switch>
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<switch name="/systems/fctl/fac1-healthy-signal">
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<default value="0"/>
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<test logic="AND" value="1">
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/systems/fctl/fac1-healthy ne 0
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<test logic="OR">
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/systems/fctl/fac1-healthy-latch eq 0
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/gear/gear[0]/wow eq 1
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</test>
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</test>
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</switch>
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<switch name="/systems/fctl/lights/fac1-fault">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac1 eq 1
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/systems/fctl/fac1-healthy-signal eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/fac1">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac1 eq 1
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/systems/fctl/fac1-healthy-signal eq 1
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</test>
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</switch>
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<switch name="/systems/fctl/fac2-healthy-inp">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac2 eq 1
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/systems/failures/fctl/fac2 eq 0
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<test logic="OR">
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/systems/electrical/bus/ac-2 ge 110
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/systems/electrical/bus/dc-2 ge 25
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</test>
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</test>
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</switch>
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<actuator name="/systems/fctl/fac2-healthy">
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<input>/systems/fctl/fac2-healthy-inp</input>
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<rate_limit sense="incr">100</rate_limit>
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<rate_limit sense="decr">10</rate_limit>
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</actuator>
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<switch name="/systems/fctl/fac2-healthy-latch-set">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac2 eq 1
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/systems/fctl/fac2-healthy eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/fac2-healthy-latch-reset">
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<default value="0"/>
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<test logic="AND" value="1">
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/controls/fctl/switches/fac2 eq 0
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</test>
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</switch>
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<switch name="/systems/fctl/fac2-healthy-latch">
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<default value="/systems/fctl/fac2-healthy-latch"/>
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<test value="1">
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/gear/gear[0]/wow eq 0
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/systems/fctl/fac2-healthy-latch-set eq 1
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</test>
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<test value="0">
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/systems/fctl/fac2-healthy-latch-reset eq 1
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</test>
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</switch>
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<switch name="/systems/fctl/fac2-healthy-signal">
|
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<default value="0"/>
|
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<test logic="AND" value="1">
|
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/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>
|
|
|
|
<kinematic name="fbw/roll/a-i-k">
|
|
<input>fbw/roll/a-i-f</input>
|
|
<traverse>
|
|
<setting>
|
|
<position>-1</position>
|
|
<time>0</time>
|
|
</setting>
|
|
<setting>
|
|
<position>1</position>
|
|
<time>0.7</time>
|
|
</setting>
|
|
</traverse>
|
|
<output>/controls/flight/aileron-input-fast</output>
|
|
</kinematic>
|
|
|
|
<fcs_function name="fbw/roll/aileron-nul">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">fbw/sidestick/roll-input</independentVar>
|
|
<tableData>
|
|
-1.00 -1
|
|
-0.04 0
|
|
0.04 0
|
|
1.00 1
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/roll/a-i-s">
|
|
<default value="0"/>
|
|
<test logic="AND" value="fbw/roll/aileron-nul">
|
|
fbw/fmgc/enabled eq 0
|
|
</test>
|
|
<test logic="AND" value="fbw/fmgc/roll-cmd">
|
|
position/wow eq 0
|
|
fbw/fmgc/enabled eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<kinematic name="fbw/roll/a-i">
|
|
<input>fbw/roll/a-i-s</input>
|
|
<traverse>
|
|
<setting>
|
|
<position>-1</position>
|
|
<time>0</time>
|
|
</setting>
|
|
<setting>
|
|
<position>1</position>
|
|
<time>2.0</time>
|
|
</setting>
|
|
</traverse>
|
|
<output>/controls/flight/aileron-input</output>
|
|
</kinematic>
|
|
|
|
<fcs_function name="fbw/roll/r-r-33">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<property>fbw/roll/a-i</property>
|
|
<value>0.261799</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<independentVar lookup="column">fbw/roll/a-i</independentVar>
|
|
<tableData>
|
|
-1 0 1
|
|
-0.575959 0.261799 0.000000 0.000000
|
|
-0.488692 0.000000 0.000000 0.000000
|
|
0.488692 0.000000 0.000000 0.000000
|
|
0.575959 0.000000 0.000000 -0.261799
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<tableData>
|
|
-0.750492 0.261799
|
|
-0.575959 0.000000
|
|
0.575959 0.000000
|
|
0.750492 -0.261799
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/roll/r-r-67">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<property>fbw/roll/a-i</property>
|
|
<value>0.261799</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<independentVar lookup="column">fbw/roll/a-i</independentVar>
|
|
<tableData>
|
|
-1.0 0.0 1.0
|
|
-1.169370 0.261799 0.000000 0.000000
|
|
-1.082100 0.000000 0.000000 0.000000
|
|
1.082100 0.000000 0.000000 0.000000
|
|
1.169370 0.000000 0.000000 -0.261799
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<tableData>
|
|
-1.343900 0.261799
|
|
-1.169370 0.000000
|
|
1.169370 0.000000
|
|
1.343900 -0.261799
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/roll/r-r-rb-f">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<tableData>
|
|
-1.169370 0.436332
|
|
-0.698132 0.174533
|
|
-0.575959 0.000000
|
|
0.575959 0.000000
|
|
0.698132 -0.174533
|
|
1.169370 -0.436332
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/roll/r-r-rb">
|
|
<default value="fbw/roll/r-r-rb-f"/>
|
|
<test logic="AND" value="fbw/roll/r-r-33">
|
|
attitude/roll-rad lt 0
|
|
fbw/roll/r-r-33 ge fbw/roll/r-r-rb-f
|
|
</test>
|
|
<test logic="AND" value="fbw/roll/r-r-33">
|
|
attitude/roll-rad gt 0
|
|
fbw/roll/r-r-33 le fbw/roll/r-r-rb-f
|
|
</test>
|
|
</switch>
|
|
|
|
<fcs_function name="fbw/roll/r-r-os-nrb">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<property>fbw/roll/a-i</property>
|
|
<value>0.261799</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<independentVar lookup="column">fbw/roll/a-i</independentVar>
|
|
<tableData>
|
|
-1 0 1
|
|
-0.698132 0.261799 0.000000 0.000000
|
|
-0.610865 0.000000 0.000000 0.000000
|
|
0.610865 0.000000 0.000000 0.000000
|
|
0.698132 0.000000 0.000000 -0.261799
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/roll/r-r-os-rb">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">attitude/roll-rad</independentVar>
|
|
<tableData>
|
|
-0.698132 0.436332
|
|
-0.261799 0.174533
|
|
0.000000 0.000000
|
|
0.261799 -0.174533
|
|
0.698132 -0.436332
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/roll/rate-demand"> <!-- 15 deg/0.261799 rad per second -->
|
|
<default value="0"/>
|
|
<test logic="AND" value="fbw/roll/r-r-33">
|
|
/it-fbw/roll-lim eq 33
|
|
/it-fbw/roll-back ne 1
|
|
/it-fbw/protections/overspeed ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/roll/r-r-67">
|
|
/it-fbw/roll-lim eq 67
|
|
/it-fbw/protections/overspeed ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/roll/r-r-rb">
|
|
/it-fbw/roll-back eq 1
|
|
/it-fbw/protections/overspeed ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/roll/r-r-os-nrb">
|
|
/it-fbw/protections/overspeed eq 1
|
|
/it-fbw/protections/overspeed-roll-back ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/roll/r-r-os-rb">
|
|
/it-fbw/protections/overspeed eq 1
|
|
/it-fbw/protections/overspeed-roll-back eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<lag_filter name="fbw/roll/rate-demand-lag">
|
|
<input>fbw/roll/rate-demand</input>
|
|
<c1>16.4</c1>
|
|
</lag_filter>
|
|
|
|
<fcs_function name="fbw/roll/p-rad_sec">
|
|
<function>
|
|
<toradians>
|
|
<property>/orientation/roll-rate-degps</property>
|
|
</toradians>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/roll/p-r_s-s">
|
|
<default value="fbw/roll/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-lag</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">
|
|
<function>
|
|
<product>
|
|
<table>
|
|
<independentVar lookup="row">fbw/roll/s-i-f-i</independentVar>
|
|
<tableData>
|
|
-1.0 -1.0
|
|
-0.2 0.0
|
|
0.2 0.0
|
|
1.0 1.0
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">velocities/vc-kts</independentVar>
|
|
<independentVar lookup="column">position/wow</independentVar>
|
|
<tableData>
|
|
0 1
|
|
140 0.5 1.0
|
|
350 0.1 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">
|
|
<default value="0"/>
|
|
<test value="fbw/roll/s-i">
|
|
/it-fbw/law ne 3
|
|
/systems/failures/aileron-left eq 0
|
|
</test>
|
|
<test value="fbw/aileron-output">
|
|
/it-fbw/law ne 3
|
|
/systems/failures/aileron-left eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="fbw/roll/s-r">
|
|
<default value="0"/>
|
|
<test value="fbw/roll/s-i">
|
|
/it-fbw/law ne 3
|
|
/systems/failures/aileron-right eq 0
|
|
</test>
|
|
<test value="fbw/aileron-output">
|
|
/it-fbw/law ne 3
|
|
/systems/failures/aileron-right eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<lag_filter name="fbw/aileron-sidestick">
|
|
<input>fbw/sidestick/roll-input</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
</channel>
|
|
|
|
<channel name="FBW: Pitch">
|
|
|
|
<switch name="fbw/pitch/elevator-max"> <!-- Prevent pitch down -->
|
|
<default value="1"/>
|
|
<test logic="AND" value="0">
|
|
/it-fbw/law eq 0
|
|
/it-fbw/protections/overspeed eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="fbw/pitch/e-i-f">
|
|
<default value="fbw/sidestick/pitch-input"/>
|
|
<test value="0">
|
|
fbw/fmgc/enabled eq 1
|
|
</test>
|
|
<clipto>
|
|
<min>-1.0</min>
|
|
<max>fbw/pitch/elevator-max</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<kinematic name="fbw/pitch/e-i-k">
|
|
<input>fbw/pitch/e-i-f</input>
|
|
<traverse>
|
|
<setting>
|
|
<position>-1</position>
|
|
<time>0</time>
|
|
</setting>
|
|
<setting>
|
|
<position>1</position>
|
|
<time>0.7</time>
|
|
</setting>
|
|
</traverse>
|
|
<output>/controls/flight/elevator-input-fast</output>
|
|
</kinematic>
|
|
|
|
<fcs_function name="fbw/pitch/elevator-nul">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">fbw/sidestick/pitch-input</independentVar>
|
|
<tableData>
|
|
-1.00 -1
|
|
-0.04 0
|
|
0.04 0
|
|
1.00 1
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/pitch/e-f-air">
|
|
<function>
|
|
<sum>
|
|
<property>fbw/pitch/elevator-nul</property>
|
|
<table>
|
|
<independentVar lookup="row">/position/gear-agl-ft</independentVar>
|
|
<tableData>
|
|
5 0.2
|
|
30 0.1
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/pitch/e-f-wow">
|
|
<function>
|
|
<sum>
|
|
<property>fbw/pitch/elevator-nul</property>
|
|
<value>-0.15</value>
|
|
</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/e-i-s">
|
|
<default value="fbw/pitch/elevator-nul"/>
|
|
<test logic="AND" value="fbw/pitch/e-f-air">
|
|
fbw/fmgc/enabled eq 0
|
|
/position/gear-agl-ft le 30
|
|
/controls/flight/flaps-pos ge 4
|
|
/controls/engines/engine[0]/throttle lt 0.65
|
|
/controls/engines/engine[1]/throttle lt 0.65
|
|
/FMGC/internal/to-state eq 0
|
|
/it-fbw/law eq 0
|
|
position/wow eq 0
|
|
</test>
|
|
<test logic="AND" value="fbw/pitch/e-f-wow">
|
|
fbw/fmgc/enabled eq 0
|
|
/position/gear-agl-ft le 30
|
|
/controls/flight/flaps-pos ge 4
|
|
/controls/engines/engine[0]/throttle lt 0.65
|
|
/controls/engines/engine[1]/throttle lt 0.65
|
|
/FMGC/internal/to-state eq 0
|
|
/it-fbw/law eq 0
|
|
gear/unit[0]/WOW eq 0
|
|
fbw/pitch/flare-gear-switch 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>-1.0</min>
|
|
<max>fbw/pitch/elevator-max</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<kinematic name="fbw/pitch/e-i">
|
|
<input>fbw/pitch/e-i-s</input>
|
|
<traverse>
|
|
<setting>
|
|
<position>-1</position>
|
|
<time>0</time>
|
|
</setting>
|
|
<setting>
|
|
<position>1</position>
|
|
<time>2.0</time>
|
|
</setting>
|
|
</traverse>
|
|
<output>/controls/flight/elevator-input</output>
|
|
</kinematic>
|
|
|
|
<switch name="fbw/pitch/g-min">
|
|
<default value="-1.0"/>
|
|
<test value="0.0">
|
|
/controls/flight/flaps-pos ne 0
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="fbw/pitch/g-max">
|
|
<default value="2.5"/>
|
|
<test value="2.0">
|
|
/controls/flight/flaps-pos ne 0
|
|
</test>
|
|
</switch>
|
|
|
|
<fcs_function name="fbw/pitch/g-demand">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">fbw/pitch/e-i</independentVar>
|
|
<tableData>
|
|
-1.0 2.5
|
|
0.0 1.0
|
|
1.0 -0.5
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
<clipto>
|
|
<min>fbw/pitch/g-min</min>
|
|
<max>fbw/pitch/g-max</max>
|
|
</clipto>
|
|
</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>
|
|
|
|
<summer name="fbw/pitch/g-error">
|
|
<input>fbw/pitch/g-computed</input>
|
|
<input>-fbw/pitch/g-demand</input>
|
|
</summer>
|
|
|
|
<!-- Goes to Systems/fbw-pitch.xml then back as fbw/pitch/g-pi -->
|
|
|
|
<pure_gain name="fbw/pitch/g-pi-inv">
|
|
<input>fbw/pitch/g-pi</input>
|
|
<gain>-1.0</gain>
|
|
</pure_gain>
|
|
|
|
<switch name="fbw/pitch/g-pi-switched">
|
|
<default value="fbw/pitch/g-pi"/>
|
|
<test logic="OR" value="fbw/pitch/g-pi-inv">
|
|
attitude/roll-rad lt -1.5708
|
|
attitude/roll-rad gt 1.5708
|
|
</test>
|
|
</switch>
|
|
|
|
<!--pure_gain name="fbw/pitch/g-pi-switched">
|
|
<input>fbw/pitch/e-i</input>
|
|
<gain>1.0</gain>
|
|
</pure_gain--> <!-- Tuning G Bypass -->
|
|
|
|
<fcs_function name="fbw/pitch/p-r-norm">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<property>fbw/pitch/g-pi-switched</property>
|
|
<value>-0.087266</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">attitude/pitch-rad</independentVar>
|
|
<independentVar lookup="column">fbw/pitch/g-pi-switched</independentVar>
|
|
<tableData>
|
|
-1 0 1
|
|
-0.261799 0.000000 0.000000 0.087266
|
|
-0.174533 0.000000 0.000000 0.000000
|
|
0.436332 0.000000 0.000000 0.000000
|
|
0.523599 -0.087266 0.000000 0.000000
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">attitude/pitch-rad</independentVar>
|
|
<tableData>
|
|
-0.436332 0.087266
|
|
-0.261799 0.000000
|
|
0.523599 0.000000
|
|
0.698132 -0.087266
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<pure_gain name="fbw/pitch/p-r-altn">
|
|
<input>fbw/pitch/g-pi-switched</input>
|
|
<gain>-0.087266</gain>
|
|
</pure_gain>
|
|
|
|
<fcs_function name="fbw/pitch/p-r-norm-os">
|
|
<function>
|
|
<sum>
|
|
<table>
|
|
<independentVar lookup="row">fbw/pitch/g-pi-switched</independentVar>
|
|
<independentVar lookup="column">fbw/pitch/vc-kts-rate-lag</independentVar>
|
|
<tableData>
|
|
-2 -1
|
|
-1.0 0.087266 0.087266
|
|
0.0 0.000000 0.026180
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">attitude/pitch-rad</independentVar>
|
|
<independentVar lookup="column">fbw/pitch/g-pi-switched</independentVar>
|
|
<tableData>
|
|
-1 0
|
|
0.436332 -0.026180 0.000000
|
|
0.523599 -0.087266 0.000000
|
|
</tableData>
|
|
</table>
|
|
<table>
|
|
<independentVar lookup="row">attitude/pitch-rad</independentVar>
|
|
<tableData>
|
|
0.523599 0.000000
|
|
0.698132 -0.087266
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/pitch/p-r-altn-os">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">fbw/pitch/g-pi-switched</independentVar>
|
|
<independentVar lookup="column">fbw/pitch/vc-kts-rate-lag</independentVar>
|
|
<tableData>
|
|
-2 -1
|
|
-1.0 0.087266 0.087266
|
|
0.0 0.000000 0.026180
|
|
1.0 -0.061086 -0.087266
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/pitch/rate-demand"> <!-- 5 deg/0.087266 rad per second -->
|
|
<default value="0"/>
|
|
<test logic="AND" value="fbw/pitch/p-r-norm">
|
|
/it-fbw/law eq 0
|
|
/it-fbw/protections/overspeed ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/pitch/p-r-altn">
|
|
/it-fbw/law ne 0
|
|
/it-fbw/protections/overspeed ne 1
|
|
</test>
|
|
<test logic="AND" value="fbw/pitch/p-r-norm-os">
|
|
/it-fbw/law eq 0
|
|
/it-fbw/protections/overspeed eq 1
|
|
</test>
|
|
<test logic="AND" value="fbw/pitch/p-r-altn-os">
|
|
/it-fbw/law ne 0
|
|
/it-fbw/protections/overspeed eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<lag_filter name="fbw/pitch/rate-demand-lag">
|
|
<input>fbw/pitch/rate-demand</input>
|
|
<c1>10.1</c1>
|
|
</lag_filter>
|
|
|
|
<fcs_function name="fbw/pitch/thetadot-rad_sec">
|
|
<function>
|
|
<toradians>
|
|
<property>/orientation/pitch-rate-degps</property>
|
|
</toradians>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/pitch/t-r_s-s">
|
|
<default value="fbw/pitch/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-lag</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>
|
|
|
|
<lag_filter name="fbw/elevator-sidestick">
|
|
<input>fbw/sidestick/pitch-input</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<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
|
|
/it-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
|
|
/it-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">
|
|
|
|
<fcs_function name="fbw/yaw/max-deg-fac-1">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">/systems/fmgc/active-airspeed-1</independentVar>
|
|
<tableData>
|
|
160 25.0
|
|
410 3.5
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<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>
|
|
|
|
<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
|
|
<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
|
|
<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"/>
|
|
<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>
|
|
<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>
|
|
|
|
<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>
|
|
<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>
|
|
|
|
<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/yaw/rudder-nul">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">fbw/sidestick/yaw-input</independentVar>
|
|
<independentVar lookup="column">fbw/fmgc/enabled</independentVar>
|
|
<tableData>
|
|
0 1
|
|
-1.00 -1 0
|
|
-0.04 0 0
|
|
0.04 0 0
|
|
1.00 1 0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="fbw/yaw/rudder-nul-scheduled">
|
|
<function>
|
|
<quotient>
|
|
<product>
|
|
<property>fbw/yaw/rudder-nul</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 logic="OR" value="0">
|
|
position/wow eq 1
|
|
fbw/yaw/rudder-nul gt 0
|
|
fbw/yaw/rudder-nul lt 0
|
|
</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 logic="OR" value="0">
|
|
position/wow eq 1
|
|
fbw/yaw/rudder-nul gt 0
|
|
fbw/yaw/rudder-nul lt 0
|
|
</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/rudder-output">
|
|
<default value="fbw/yaw/rudder-nul-scheduled"/>
|
|
<test logic="AND" value="fbw/yaw/output-sum">
|
|
fbw/yaw/law-switch eq 1
|
|
fbw/yaw/rudder-nul eq 0
|
|
</test>
|
|
<output>/controls/flight/rudder-fbw</output>
|
|
</switch>
|
|
|
|
<lag_filter name="fbw/rudder-pedal">
|
|
<input>fbw/sidestick/yaw-input</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
</channel>
|
|
|
|
</system>
|