2158 lines
53 KiB
XML
2158 lines
53 KiB
XML
<!-- Airbus A320 FCS/FBW -->
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<!-- Copyright (c) 2019 Joshua Davidson (Octal450) -->
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<system name="A320: FCS">
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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="0">fbw/spoiler-output</property>
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<property value="1">fbw/mixer/sidestick-gain-feedback</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="position/wow">
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<default value="0"/>
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<test logic="OR" value="1">
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gear/unit[0]/WOW eq 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/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">
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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/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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</channel>
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<channel name="FBW: Roll">
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<switch name="fbw/roll/a-i-f">
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<default value="/controls/flight/aileron"/>
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<test value="0">
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fbw/fmgc/enabled eq 1
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</test>
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</switch>
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<kinematic name="fbw/roll/a-i-k">
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<input>fbw/roll/a-i-f</input>
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<traverse>
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<setting>
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<position>-1</position>
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<time>0</time>
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</setting>
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<setting>
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<position>1</position>
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<time>0.7</time>
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</setting>
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</traverse>
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<output>/controls/flight/aileron-input-fast</output>
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</kinematic>
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<fcs_function name="fbw/roll/aileron-nul">
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<function>
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<table>
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<independentVar lookup="row">/controls/flight/aileron</independentVar>
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<tableData>
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-1.00 -1
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-0.04 0
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0.04 0
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1.00 1
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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/roll/a-i-s">
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<default value="0"/>
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<test logic="AND" value="fbw/roll/aileron-nul">
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fbw/fmgc/enabled eq 0
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</test>
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<test logic="AND" value="fbw/fmgc/roll-cmd">
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position/wow eq 0
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fbw/fmgc/enabled eq 1
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</test>
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</switch>
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<kinematic name="fbw/roll/a-i">
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<input>fbw/roll/a-i-s</input>
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<traverse>
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<setting>
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<position>-1</position>
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<time>0</time>
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</setting>
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<setting>
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<position>1</position>
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<time>2.0</time>
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</setting>
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</traverse>
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<output>/controls/flight/aileron-input</output>
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</kinematic>
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<fcs_function name="fbw/roll/r-r-33">
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<function>
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<sum>
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<product>
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<property>fbw/roll/a-i</property>
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<value>0.261799</value>
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</product>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<independentVar lookup="column">fbw/roll/a-i</independentVar>
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<tableData>
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-1 0 1
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-0.575959 0.261799 0.000000 0.000000
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-0.488692 0.000000 0.000000 0.000000
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0.488692 0.000000 0.000000 0.000000
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0.575959 0.000000 0.000000 -0.261799
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</tableData>
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</table>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<tableData>
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-0.750492 0.261799
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-0.575959 0.000000
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0.575959 0.000000
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0.750492 -0.261799
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</tableData>
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</table>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="fbw/roll/r-r-67">
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<function>
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<sum>
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<product>
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<property>fbw/roll/a-i</property>
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<value>0.261799</value>
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</product>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<independentVar lookup="column">fbw/roll/a-i</independentVar>
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<tableData>
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-1.0 0.0 1.0
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-1.169370 0.261799 0.000000 0.000000
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-1.082100 0.000000 0.000000 0.000000
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1.082100 0.000000 0.000000 0.000000
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1.169370 0.000000 0.000000 -0.261799
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</tableData>
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</table>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<tableData>
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-1.343900 0.261799
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-1.169370 0.000000
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1.169370 0.000000
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1.343900 -0.261799
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</tableData>
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</table>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="fbw/roll/r-r-rb-f">
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<function>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<tableData>
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-1.169370 0.436332
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-0.698132 0.174533
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-0.575959 0.000000
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0.575959 0.000000
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0.698132 -0.174533
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1.169370 -0.436332
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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/roll/r-r-rb">
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<default value="fbw/roll/r-r-rb-f"/>
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<test logic="AND" value="fbw/roll/r-r-33">
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attitude/roll-rad lt 0
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fbw/roll/r-r-33 ge fbw/roll/r-r-rb-f
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</test>
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<test logic="AND" value="fbw/roll/r-r-33">
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attitude/roll-rad gt 0
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fbw/roll/r-r-33 le fbw/roll/r-r-rb-f
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</test>
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</switch>
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<fcs_function name="fbw/roll/r-r-os-nrb">
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<function>
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<sum>
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<product>
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<property>fbw/roll/a-i</property>
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<value>0.261799</value>
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</product>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<independentVar lookup="column">fbw/roll/a-i</independentVar>
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<tableData>
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-1 0 1
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-0.698132 0.261799 0.000000 0.000000
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-0.610865 0.000000 0.000000 0.000000
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0.610865 0.000000 0.000000 0.000000
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0.698132 0.000000 0.000000 -0.261799
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</tableData>
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</table>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="fbw/roll/r-r-os-rb">
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<function>
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<table>
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<independentVar lookup="row">attitude/roll-rad</independentVar>
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<tableData>
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-0.698132 0.436332
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-0.261799 0.174533
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0.000000 0.000000
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0.261799 -0.174533
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0.698132 -0.436332
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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/roll/rate-demand"> <!-- 15 deg/0.261799 rad per second -->
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<default value="0"/>
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<test logic="AND" value="fbw/roll/r-r-33">
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/it-fbw/roll-lim eq 33
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/it-fbw/roll-back ne 1
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/it-fbw/protections/overspeed ne 1
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</test>
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<test logic="AND" value="fbw/roll/r-r-67">
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/it-fbw/roll-lim eq 67
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/it-fbw/protections/overspeed ne 1
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</test>
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<test logic="AND" value="fbw/roll/r-r-rb">
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/it-fbw/roll-back eq 1
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/it-fbw/protections/overspeed ne 1
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</test>
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<test logic="AND" value="fbw/roll/r-r-os-nrb">
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/it-fbw/protections/overspeed eq 1
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/it-fbw/protections/overspeed-roll-back ne 1
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</test>
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<test logic="AND" value="fbw/roll/r-r-os-rb">
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/it-fbw/protections/overspeed eq 1
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/it-fbw/protections/overspeed-roll-back eq 1
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</test>
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</switch>
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<lag_filter name="fbw/roll/rate-demand-lag">
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<input>fbw/roll/rate-demand</input>
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<c1>16.4</c1>
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</lag_filter>
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<fcs_function name="fbw/roll/p-rad_sec">
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<function>
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<toradians>
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<property>/orientation/roll-rate-degps</property>
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</toradians>
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</function>
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</fcs_function>
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<switch name="fbw/roll/p-r_s-s">
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<default value="fbw/roll/p-rad_sec"/>
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<test value="0">
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gear/unit[0]/WOW eq 1
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</test>
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</switch>
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<summer name="fbw/roll/rate-error">
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<input>fbw/roll/p-r_s-s</input>
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<input>-fbw/roll/rate-demand-lag</input>
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</summer>
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<switch name="fbw/roll/trigger">
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<default value="0"/>
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<test value="-1">
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fbw/roll/gain-switch gt 0
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</test>
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<test logic="OR" value="1">
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fbw/roll/pid le -0.999
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fbw/roll/pid ge 0.999
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</test>
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</switch>
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<pid name="fbw/roll/pid-v">
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<input>fbw/roll/rate-error</input>
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<kp>fbw/roll/p-gain</kp>
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<ki>fbw/roll/i-gain</ki>
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<kd>fbw/roll/d-gain</kd>
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<trigger>fbw/roll/trigger</trigger>
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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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<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>
|
|
<table>
|
|
<independentVar lookup="row">/orientation/roll-deg</independentVar>
|
|
<tableData>
|
|
-30 -30
|
|
-1 0
|
|
0 0
|
|
1 0
|
|
30 30
|
|
</tableData>
|
|
</table>
|
|
<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>/controls/flight/aileron</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="/controls/flight/elevator"/>
|
|
<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">/controls/flight/elevator</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/flap-pos ge 4
|
|
/controls/engines/engine[0]/throttle lt 0.65
|
|
/controls/engines/engine[1]/throttle lt 0.65
|
|
/FMGC/status/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/flap-pos ge 4
|
|
/controls/engines/engine[0]/throttle lt 0.65
|
|
/controls/engines/engine[1]/throttle lt 0.65
|
|
/FMGC/status/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/flap-pos ne 0
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="fbw/pitch/g-max">
|
|
<default value="2.5"/>
|
|
<test value="2.0">
|
|
/controls/flight/flap-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>/controls/flight/elevator</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">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">velocities/vc-kts</independentVar>
|
|
<tableData>
|
|
160.00 25.000
|
|
162.15 23.649
|
|
165.02 22.226
|
|
168.64 21.015
|
|
172.25 19.734
|
|
176.59 18.595
|
|
181.67 17.525
|
|
186.75 16.385
|
|
191.83 15.316
|
|
197.65 14.318
|
|
205.65 13.247
|
|
212.93 12.318
|
|
219.48 11.462
|
|
227.48 10.533
|
|
236.96 9.7450
|
|
246.43 8.8863
|
|
255.18 8.0990
|
|
266.12 7.4525
|
|
277.06 6.7704
|
|
288.00 6.0884
|
|
299.67 5.5124
|
|
311.35 5.0075
|
|
323.03 4.5736
|
|
335.44 4.2104
|
|
347.13 3.9186
|
|
358.81 3.6979
|
|
370.50 3.5482
|
|
380.00 3.4000
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fbw/yaw/max-deg-switch">
|
|
<default value="25"/>
|
|
<test logic="AND" value="fbw/yaw/max-deg-fac">
|
|
/systems/fctl/fac1 eq 1
|
|
/systems/fctl/fac2 eq 1
|
|
/gear/gear[1]/wow eq 0
|
|
/gear/gear[2]/wow eq 0
|
|
</test>
|
|
<test logic="AND" value="fbw/yaw/max-deg-fac">
|
|
/controls/flight/slats eq 0
|
|
/gear/gear[1]/wow eq 0
|
|
/gear/gear[2]/wow eq 0
|
|
</test>
|
|
</switch>
|
|
|
|
<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">/controls/flight/rudder</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">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/it-fbw/law eq 0
|
|
/it-fbw/law eq 1
|
|
</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>/controls/flight/rudder</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
</channel>
|
|
|
|
<channel name="Surface Droop">
|
|
|
|
<fcs_function name="hydraulics/aileron-droop">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
|
|
<tableData>
|
|
62 1.0
|
|
116 0.0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydraulics/elevator-droop">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
|
|
<tableData>
|
|
72 1.0
|
|
121 0.0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<actuator name="spoilers/anti-droop-cmd">
|
|
<input>fbw/spoiler-output</input>
|
|
<rate_limit sense="incr">0.9</rate_limit>
|
|
<rate_limit sense="decr">2.5</rate_limit>
|
|
</actuator>
|
|
|
|
<fcs_function name="spoilers/anti-droop-final">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">spoilers/anti-droop-cmd</independentVar>
|
|
<tableData>
|
|
0.5 0.0
|
|
1.0 1.0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name="Aileron L">
|
|
|
|
<fcs_function name="hydraulics/aileron-l/extended">
|
|
<function>
|
|
<sum>
|
|
<value>-1</value>
|
|
<property>fbw/aileron-output</property>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydraulics/aileron-l/retracted">
|
|
<function>
|
|
<sum>
|
|
<property>fbw/aileron-output</property>
|
|
<table>
|
|
<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
|
|
<tableData>
|
|
1 0.00
|
|
5 0.26
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="hydraulics/aileron-l/pressure-switch-or">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/aileron-l/switch">
|
|
<default value="hydraulics/aileron-droop"/>
|
|
<test logic="AND" value="hydraulics/aileron-l/extended">
|
|
hydraulics/aileron-l/pressure-switch-or eq 1
|
|
spoilers/anti-droop-final ne 0
|
|
/gear/gear[1]/wow eq 1
|
|
/gear/gear[2]/wow eq 1
|
|
/systems/failures/aileron-left eq 0
|
|
</test>
|
|
<test logic="AND" value="hydraulics/aileron-l/retracted">
|
|
hydraulics/aileron-l/pressure-switch-or eq 1
|
|
/systems/failures/aileron-left eq 0
|
|
</test>
|
|
<clipto>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/aileron-l/cmd-deg">
|
|
<input>hydraulics/aileron-l/switch</input>
|
|
<range>
|
|
<min>-25</min>
|
|
<max>25</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/aileron-l/final-actuator">
|
|
<input>hydraulics/aileron-l/cmd-deg</input>
|
|
<rate_limit>82</rate_limit>
|
|
<lag>26.5</lag>
|
|
<output>hydraulics/aileron-l/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="Aileron R">
|
|
|
|
<fcs_function name="hydraulics/aileron-r/extended">
|
|
<function>
|
|
<product>
|
|
<sum>
|
|
<value>1</value>
|
|
<property>fbw/aileron-output</property>
|
|
</sum>
|
|
<value>-1.0</value>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydraulics/aileron-r/retracted">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<property>fbw/aileron-output</property>
|
|
<value>-1.0</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
|
|
<tableData>
|
|
1 0.00
|
|
5 0.26
|
|
</tableData>
|
|
</table>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="hydraulics/aileron-r/pressure-switch-or">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/aileron-r/switch">
|
|
<default value="hydraulics/aileron-droop"/>
|
|
<test logic="AND" value="hydraulics/aileron-r/extended">
|
|
hydraulics/aileron-r/pressure-switch-or eq 1
|
|
spoilers/anti-droop-final ne 0
|
|
/gear/gear[1]/wow eq 1
|
|
/gear/gear[2]/wow eq 1
|
|
/systems/failures/aileron-right eq 0
|
|
</test>
|
|
<test logic="AND" value="hydraulics/aileron-r/retracted">
|
|
hydraulics/aileron-r/pressure-switch-or eq 1
|
|
/systems/failures/aileron-right eq 0
|
|
</test>
|
|
<clipto>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/aileron-r/cmd-deg">
|
|
<input>hydraulics/aileron-r/switch</input>
|
|
<range>
|
|
<min>-25</min>
|
|
<max>25</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/aileron-r/final-actuator">
|
|
<input>hydraulics/aileron-r/cmd-deg</input>
|
|
<rate_limit>82</rate_limit>
|
|
<lag>26.5</lag>
|
|
<output>hydraulics/aileron-r/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="Elevator Common">
|
|
|
|
<aerosurface_scale name="hydraulics/elevator-output-scale">
|
|
<input>fbw/elevator-output</input>
|
|
<range>
|
|
<min>-0.6666666666666666666666666666666</min>
|
|
<max>1.0</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<switch name="hydraulics/elevator-output-switch">
|
|
<default value="hydraulics/elevator-output-scale"/>
|
|
<test value="fbw/elevator-output">
|
|
/velocities/groundspeed-kt lt 75
|
|
</test>
|
|
</switch>
|
|
|
|
</channel>
|
|
|
|
<channel name="Elevator L">
|
|
|
|
<switch name="hydraulics/elevator-l/pressure-switch-or">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/elevator-l/switch">
|
|
<default value="hydraulics/elevator-droop"/>
|
|
<test logic="AND" value="hydraulics/elevator-output-switch">
|
|
hydraulics/elevator-l/pressure-switch-or eq 1
|
|
/systems/failures/elevator-left eq 0
|
|
</test>
|
|
<clipto>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/elevator-l/cmd-deg">
|
|
<input>hydraulics/elevator-l/switch</input>
|
|
<range>
|
|
<min>-30</min>
|
|
<max>17</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/elevator-l/final-actuator">
|
|
<input>hydraulics/elevator-l/cmd-deg</input>
|
|
<rate_limit>82</rate_limit>
|
|
<lag>26.5</lag>
|
|
<output>hydraulics/elevator-l/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="Elevator R">
|
|
|
|
<switch name="hydraulics/elevator-r/pressure-switch-or">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/elevator-r/switch">
|
|
<default value="hydraulics/elevator-droop"/>
|
|
<test logic="AND" value="hydraulics/elevator-output-switch">
|
|
hydraulics/elevator-r/pressure-switch-or eq 1
|
|
/systems/failures/elevator-right eq 0
|
|
</test>
|
|
<clipto>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/elevator-r/cmd-deg">
|
|
<input>hydraulics/elevator-r/switch</input>
|
|
<range>
|
|
<min>-30</min>
|
|
<max>17</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/elevator-r/final-actuator">
|
|
<input>hydraulics/elevator-r/cmd-deg</input>
|
|
<rate_limit>82</rate_limit>
|
|
<lag>26.5</lag>
|
|
<output>hydraulics/elevator-r/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="Pitch Trim">
|
|
|
|
<switch name="hydraulics/elevator-trim/rate">
|
|
<default value="0.125"/>
|
|
<test value="0.25">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/elevator-trim/cmd-deg">
|
|
<input>/controls/flight/elevator-trim</input>
|
|
<domain>
|
|
<min>-1.00</min>
|
|
<max>0.32</max>
|
|
</domain>
|
|
<range>
|
|
<min>-12.5</min>
|
|
<max>4.0</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/elevator-trim/final-actuator">
|
|
<input>hydraulics/elevator-trim/cmd-deg</input>
|
|
<rate_limit>hydraulics/elevator-trim/rate</rate_limit>
|
|
<lag>22.5</lag>
|
|
<output>hydraulics/elevator-trim/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="Rudder">
|
|
|
|
<switch name="hydraulics/rudder/pressure-switch-or">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/rudder/trim-cmd-deg">
|
|
<input>/controls/flight/rudder-trim</input>
|
|
<domain>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
</domain>
|
|
<range>
|
|
<min>-20.0</min>
|
|
<max>20.0</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="hydraulics/rudder/trim-norm">
|
|
<input>/controls/flight/rudder-trim</input>
|
|
<range>
|
|
<min>-0.8</min>
|
|
<max>0.8</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<summer name="hydraulics/rudder/summer">
|
|
<input>fbw/rudder-output</input>
|
|
<input>hydraulics/rudder/trim-norm</input>
|
|
<clipto>
|
|
<min>-1</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<switch name="hydraulics/rudder/switch">
|
|
<default value="0"/>
|
|
<test logic="AND" value="hydraulics/rudder/summer">
|
|
hydraulics/rudder/pressure-switch-or eq 1
|
|
/systems/failures/rudder eq 0
|
|
</test>
|
|
<clipto>
|
|
<min>fbw/yaw/max-deg-scale-neg</min>
|
|
<max>fbw/yaw/max-deg-scale</max>
|
|
</clipto>
|
|
</switch>
|
|
|
|
<aerosurface_scale name="hydraulics/rudder/cmd-deg">
|
|
<input>hydraulics/rudder/switch</input>
|
|
<range>
|
|
<min>-25</min>
|
|
<max>25</max>
|
|
</range>
|
|
</aerosurface_scale>
|
|
|
|
<actuator name="hydraulics/rudder/final-actuator">
|
|
<input>hydraulics/rudder/cmd-deg</input>
|
|
<rate_limit>80</rate_limit>
|
|
<lag>25.5</lag>
|
|
<output>hydraulics/rudder/final-deg</output>
|
|
</actuator>
|
|
|
|
</channel>
|
|
|
|
<channel name="FADEC">
|
|
|
|
<lag_filter name="fcs/throttle1">
|
|
<input>/controls/engines/engine[0]/throttle-output</input>
|
|
<c1>0.95</c1>
|
|
<output>fcs/throttle-pos-norm[0]</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/throttle2">
|
|
<input>/controls/engines/engine[1]/throttle-output</input>
|
|
<c1>0.95</c1>
|
|
<output>fcs/throttle-pos-norm[1]</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/n1-actual1">
|
|
<input>/engines/engine[0]/n1</input>
|
|
<c1>2.25</c1>
|
|
<output>/engines/engine[0]/n1-actual</output>
|
|
<output>/engines/engine[3]/n1</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/n1-actual2">
|
|
<input>/engines/engine[1]/n1</input>
|
|
<c1>2.25</c1>
|
|
<output>/engines/engine[1]/n1-actual</output>
|
|
<output>/engines/engine[4]/n1</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/n2-actual1">
|
|
<input>/engines/engine[0]/n2</input>
|
|
<c1>2.25</c1>
|
|
<output>/engines/engine[0]/n2-actual</output>
|
|
<output>/engines/engine[3]/n2</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/n2-actual2">
|
|
<input>/engines/engine[1]/n2</input>
|
|
<c1>2.25</c1>
|
|
<output>/engines/engine[1]/n2-actual</output>
|
|
<output>/engines/engine[4]/n2</output>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/throttle-lever[0]">
|
|
<input>/controls/engines/engine[0]/throttle-lever</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/throttle-lever[1]">
|
|
<input>/controls/engines/engine[1]/throttle-lever</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/reverse-lever[0]">
|
|
<input>/controls/engines/engine[0]/reverser</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/reverse-lever[1]">
|
|
<input>/controls/engines/engine[1]/reverser</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/reverse-thr-lever[0]">
|
|
<input>/controls/engines/engine[0]/throttle-rev</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/reverse-thr-lever[1]">
|
|
<input>/controls/engines/engine[1]/throttle-rev</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/engine-cutoff[0]">
|
|
<input>/controls/engines/engine[0]/cutoff-switch</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<lag_filter name="fcs/engine-cutoff[1]">
|
|
<input>/controls/engines/engine[1]/cutoff-switch</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
</channel>
|
|
|
|
<channel name="SFCC">
|
|
|
|
<lag_filter name="fcs/flap-lever">
|
|
<input>/controls/flight/flap-lever</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<switch name="fcs/sfcc/unit1-avail">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/electrical/bus/dc-ess ge 25
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="fcs/sfcc/unit2-avail">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/electrical/bus/dc-2 ge 25
|
|
</test>
|
|
</switch>
|
|
|
|
</channel>
|
|
|
|
<channel name="Flaps">
|
|
|
|
<pure_gain name="fcs/flap-pos-gain">
|
|
<input>/controls/flight/flaps</input>
|
|
<gain>35.0</gain>
|
|
</pure_gain>
|
|
|
|
<switch name="fcs/flap-pos-rate">
|
|
<default value="0.0"/>
|
|
<test value="100">
|
|
/systems/acconfig/autoconfig-running eq 1
|
|
</test>
|
|
<test logic="AND" value="1.16666666">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 1
|
|
fcs/sfcc/unit2-avail eq 1
|
|
</test>
|
|
<test logic="AND" value="0.58333333">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 1
|
|
fcs/sfcc/unit2-avail eq 0
|
|
</test>
|
|
<test logic="AND" value="0.58333333">
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 0
|
|
fcs/sfcc/unit2-avail eq 1
|
|
</test>
|
|
<test logic="AND" value="0.58333333">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
/systems/hydraulic/yellow-psi lt 1500
|
|
</test>
|
|
<test logic="AND" value="0.58333333">
|
|
/systems/hydraulic/green-psi lt 1500
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<actuator name="rubbish/flap-pos-deg">
|
|
<input>fcs/flap-pos-gain</input>
|
|
<rate_limit>fcs/flap-pos-rate</rate_limit>
|
|
<output>fcs/flap-pos-deg</output>
|
|
</actuator>
|
|
|
|
<aerosurface_scale name="rubbish/flap-pos-norm">
|
|
<input>fcs/flap-pos-deg</input>
|
|
<domain>
|
|
<min>0</min>
|
|
<max>35</max>
|
|
</domain>
|
|
<range>
|
|
<min>0</min>
|
|
<max>1</max>
|
|
</range>
|
|
<output>fcs/flap-pos-norm</output>
|
|
</aerosurface_scale>
|
|
|
|
</channel>
|
|
|
|
<channel name="Slats">
|
|
|
|
<pure_gain name="fcs/slat-pos-gain">
|
|
<input>/controls/flight/slats</input>
|
|
<gain>27.0</gain>
|
|
</pure_gain>
|
|
|
|
<switch name="fcs/slat-pos-rate">
|
|
<default value="0.0"/>
|
|
<test value="100">
|
|
/systems/acconfig/autoconfig-running eq 1
|
|
</test>
|
|
<test logic="AND" value="1.35">
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
/systems/hydraulic/green-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 1
|
|
fcs/sfcc/unit2-avail eq 1
|
|
</test>
|
|
<test logic="AND" value="0.675">
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 1
|
|
fcs/sfcc/unit2-avail eq 0
|
|
</test>
|
|
<test logic="AND" value="0.675">
|
|
/systems/hydraulic/green-psi ge 1500
|
|
fcs/sfcc/unit1-avail eq 0
|
|
fcs/sfcc/unit2-avail eq 1
|
|
</test>
|
|
<test logic="AND" value="0.675">
|
|
/systems/hydraulic/blue-psi ge 1500
|
|
/systems/hydraulic/green-psi lt 1500
|
|
</test>
|
|
<test logic="AND" value="0.675">
|
|
/systems/hydraulic/blue-psi lt 1500
|
|
/systems/hydraulic/green-psi ge 1500
|
|
</test>
|
|
</switch>
|
|
|
|
<actuator name="rubbish/slat-pos-deg">
|
|
<input>fcs/slat-pos-gain</input>
|
|
<rate_limit>fcs/slat-pos-rate</rate_limit>
|
|
<output>fcs/slat-pos-deg</output>
|
|
</actuator>
|
|
|
|
<aerosurface_scale name="rubbish/slat-pos-norm">
|
|
<input>fcs/slat-pos-deg</input>
|
|
<domain>
|
|
<min>0</min>
|
|
<max>27</max>
|
|
</domain>
|
|
<range>
|
|
<min>0</min>
|
|
<max>1</max>
|
|
</range>
|
|
<output>fcs/slat-pos-norm</output>
|
|
</aerosurface_scale>
|
|
|
|
</channel>
|
|
|
|
<channel name="Landing Gear">
|
|
|
|
<kinematic name="rubbish/gear-pos-norm">
|
|
<input>gear/gear-cmd-norm</input>
|
|
<traverse>
|
|
<setting>
|
|
<position>0</position>
|
|
<time>0</time>
|
|
</setting>
|
|
<setting>
|
|
<position>1</position>
|
|
<time>10</time>
|
|
</setting>
|
|
</traverse>
|
|
<output>gear/gear-pos-norm</output>
|
|
</kinematic>
|
|
|
|
</channel>
|
|
|
|
<channel name="Tiller">
|
|
|
|
<switch name="hydraulics/tiller/switch">
|
|
<default value="/controls/flight/rudder"/>
|
|
<test logic="AND" value="/controls/flight/aileron">
|
|
fbw/fmgc/enabled eq 0
|
|
/controls/flight/aileron-drives-tiller eq 1
|
|
</test>
|
|
<test value="fbw/fmgc/yaw-cmd">
|
|
fbw/fmgc/enabled eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/tiller/elec-pwr">
|
|
<default value="0"/>
|
|
<test logic="OR" value="1">
|
|
/systems/electrical/bus/ac-1 ge 110
|
|
/systems/electrical/bus/ac-2 ge 110
|
|
/systems/electrical/bus/dc-1 ge 25
|
|
/systems/electrical/bus/dc-2 ge 25
|
|
</test>
|
|
</switch>
|
|
|
|
<switch name="hydraulics/tiller/hyd-pwr">
|
|
<default value="0"/>
|
|
<test logic="AND" value="1">
|
|
position/wow eq 1
|
|
hydraulics/tiller/elec-pwr eq 1
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
/sim/model/autopush/connected eq 0
|
|
/controls/gear/nws-switch eq 1
|
|
/engines/engine[0]/state eq 3
|
|
</test>
|
|
<test logic="AND" value="1">
|
|
position/wow eq 1
|
|
hydraulics/tiller/elec-pwr eq 1
|
|
/systems/hydraulic/yellow-psi ge 1500
|
|
/sim/model/autopush/connected eq 0
|
|
/controls/gear/nws-switch eq 1
|
|
/engines/engine[1]/state eq 3
|
|
</test>
|
|
</switch>
|
|
|
|
<fcs_function name="hydraulics/tiller/function">
|
|
<function>
|
|
<ifthen>
|
|
<eq>
|
|
<property>/sim/model/autopush/connected</property>
|
|
<value>1</value>
|
|
</eq>
|
|
<product>
|
|
<property>hydraulics/tiller/autopush-cmd</property>
|
|
<value>75</value>
|
|
</product>
|
|
<table>
|
|
<independentVar lookup="row">/velocities/groundspeed-kt</independentVar>
|
|
<independentVar lookup="column">hydraulics/tiller/switch</independentVar>
|
|
<tableData>
|
|
-1 0 1
|
|
0.500 0 0 0
|
|
1.000 -75 0 75
|
|
30.000 -47 0 47
|
|
30.001 -6 0 6
|
|
135.000 0 0 0
|
|
</tableData>
|
|
</table>
|
|
</ifthen>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<switch name="fcs/steer-rate">
|
|
<default value="0"/>
|
|
<test logic="OR" value="75">
|
|
hydraulics/tiller/hyd-pwr eq 1
|
|
/sim/model/autopush/connected eq 1
|
|
/systems/acconfig/autoconfig-running eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
<actuator name="fcs/steer-deg">
|
|
<input>hydraulics/tiller/function</input>
|
|
<rate_limit>fcs/steer-rate</rate_limit>
|
|
<output>fcs/steer-pos-deg[0]</output>
|
|
</actuator>
|
|
|
|
<switch name="fcs/pushback-steer-deg">
|
|
<default value="0"/>
|
|
<test value="fcs/steer-deg">
|
|
/sim/model/autopush/connected eq 1
|
|
</test>
|
|
</switch>
|
|
|
|
</channel>
|
|
|
|
<channel name="Brakes">
|
|
|
|
<lag_filter name="fcs/brake-lever">
|
|
<input>/controls/gear/brake-parking</input>
|
|
<c1>20</c1>
|
|
</lag_filter>
|
|
|
|
<pure_gain name="/services/chocks/nose-half">
|
|
<input>/services/chocks/nose</input>
|
|
<gain>0.5</gain>
|
|
</pure_gain>
|
|
|
|
<summer name="fcs/left-brake-summer">
|
|
<input>/controls/gear/brake-left</input>
|
|
<input>/controls/gear/brake-parking</input>
|
|
<input>/services/chocks/nose-half</input>
|
|
<input>/services/chocks/left</input>
|
|
<clipto>
|
|
<min>0</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<switch name="rubbish/left-brake-cmd-norm">
|
|
<default value="fcs/left-brake-summer"/>
|
|
<test value="/controls/autobrake/brake-left">
|
|
/controls/autobrake/active eq 1
|
|
</test>
|
|
<output>fcs/left-brake-cmd-norm</output>
|
|
</switch>
|
|
|
|
<summer name="fcs/right-brake-summer">
|
|
<input>/controls/gear/brake-right</input>
|
|
<input>/controls/gear/brake-parking</input>
|
|
<input>/services/chocks/nose-half</input>
|
|
<input>/services/chocks/right</input>
|
|
<clipto>
|
|
<min>0</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<switch name="rubbish/right-brake-cmd-norm">
|
|
<default value="fcs/right-brake-summer"/>
|
|
<test value="/controls/autobrake/brake-right">
|
|
/controls/autobrake/active eq 1
|
|
</test>
|
|
<output>fcs/right-brake-cmd-norm</output>
|
|
</switch>
|
|
|
|
</channel>
|
|
|
|
</system>
|