2017-06-26 04:34:18 +00:00
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<?xml version="1.0"?>
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2017-07-13 17:30:33 +00:00
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<!--
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2017-08-16 20:53:35 +00:00
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#########################################
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# Copyright (c) it0uchpods Design Group #
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#########################################
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2017-07-13 17:30:33 +00:00
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-->
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2017-06-09 22:27:30 +00:00
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<!-- Airbus A3XX FBW System by Joshua Davidson (it0uchpods) -->
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2017-06-26 04:34:18 +00:00
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<!-- For Roll, Pitch, and Yaw -->
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2017-04-17 19:44:59 +00:00
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2017-06-26 04:34:18 +00:00
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<PropertyList>
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2017-04-06 19:06:35 +00:00
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2017-06-26 04:34:18 +00:00
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<!-- =============================================================== -->
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<!-- Surface Position Feeding -->
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<!-- =============================================================== -->
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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2017-09-21 01:09:20 +00:00
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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2017-10-08 19:56:15 +00:00
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</input>
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2017-06-26 04:34:18 +00:00
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<input>/controls/flight/aileron</input>
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<output>/controls/flight/aileron-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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2017-09-21 01:09:20 +00:00
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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2017-10-08 19:56:15 +00:00
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</input>
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2017-06-26 04:34:18 +00:00
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<input>/controls/flight/elevator</input>
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<output>/controls/flight/elevator-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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2017-09-21 01:09:20 +00:00
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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2017-06-28 18:50:39 +00:00
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<property>/it-autoflight/internal/aileron-cmd</property>
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</input>
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2017-08-05 19:46:37 +00:00
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<input>
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<expression>
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<table>
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<property>/controls/flight/aileron</property>
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<entry><ind>-1.00</ind><dep>-1</dep></entry>
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<entry><ind>-0.04</ind><dep> 0</dep></entry>
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
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<entry><ind> 0.04</ind><dep> 0</dep></entry>
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
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</table>
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</expression>
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</input>
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2017-06-26 04:34:18 +00:00
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<output>/controls/flight/aileron-input</output>
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2017-06-26 23:38:04 +00:00
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<max-rate-of-change>2.0</max-rate-of-change>
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2017-06-26 04:34:18 +00:00
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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2017-09-21 01:09:20 +00:00
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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2017-06-26 04:34:18 +00:00
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<less-than>
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<property>/position/gear-agl-ft</property>
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<value>50</value>
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</less-than>
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<greater-than-equals>
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<property>/controls/flight/flap-pos</property>
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<value>4</value>
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</greater-than-equals>
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<less-than>
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<property>/controls/engines/engine[0]/throttle</property>
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<value>0.65</value>
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</less-than>
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<less-than>
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<property>/controls/engines/engine[1]/throttle</property>
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<value>0.65</value>
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</less-than>
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<equals>
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<property>/FMGC/status/to-state</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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2017-07-01 23:18:57 +00:00
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<equals>
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<property>/gear/gear[0]/wow</property>
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<value>0</value>
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</equals>
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2017-07-04 00:34:54 +00:00
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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2017-06-26 04:34:18 +00:00
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</and>
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</condition>
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<expression>
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<sum>
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<property>/controls/flight/elevator</property>
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2017-07-01 23:18:57 +00:00
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<table>
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<property>/position/gear-agl-ft</property>
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2017-08-05 19:46:37 +00:00
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<entry><ind> 5</ind><dep>0.13</dep></entry>
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<entry><ind>50</ind><dep>0.08</dep></entry>
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2017-07-01 23:18:57 +00:00
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</table>
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2017-06-26 04:34:18 +00:00
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</sum>
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</expression>
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</input>
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<input>
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2017-06-28 18:50:39 +00:00
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<condition>
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2017-07-04 00:34:54 +00:00
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<and>
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2017-06-28 18:50:39 +00:00
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<equals>
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<property>/it-autoflight/output/ap1</property>
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2017-07-04 00:34:54 +00:00
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<value>0</value>
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2017-06-28 18:50:39 +00:00
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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2017-07-04 00:34:54 +00:00
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<value>0</value>
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2017-06-28 18:50:39 +00:00
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</equals>
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2017-07-04 00:34:54 +00:00
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<less-than>
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<property>/position/gear-agl-ft</property>
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<value>50</value>
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</less-than>
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<greater-than-equals>
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<property>/controls/flight/flap-pos</property>
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<value>4</value>
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</greater-than-equals>
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<less-than>
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<property>/controls/engines/engine[0]/throttle</property>
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<value>0.65</value>
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</less-than>
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<less-than>
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<property>/controls/engines/engine[1]/throttle</property>
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<value>0.65</value>
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</less-than>
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<equals>
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<property>/FMGC/status/to-state</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[0]/wow</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>1</value>
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</equals>
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</or>
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</and>
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2017-06-28 18:50:39 +00:00
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</condition>
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2017-07-04 00:34:54 +00:00
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<expression>
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<sum>
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<property>/controls/flight/elevator</property>
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<value>0.15</value>
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</sum>
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</expression>
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2017-06-26 04:34:18 +00:00
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</input>
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2017-07-04 02:32:33 +00:00
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<input>
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<condition>
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2017-10-08 19:56:15 +00:00
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<and>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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2017-07-04 02:32:33 +00:00
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<equals>
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2017-10-08 19:56:15 +00:00
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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2017-07-04 02:32:33 +00:00
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</equals>
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<equals>
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2017-10-08 19:56:15 +00:00
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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2017-07-04 02:32:33 +00:00
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</equals>
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2017-10-08 19:56:15 +00:00
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</and>
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2017-07-04 02:32:33 +00:00
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</condition>
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<property>/it-autoflight/internal/elevator-cmd</property>
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</input>
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2017-10-08 19:56:15 +00:00
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<input>
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<condition>
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<and>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>1</value>
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</equals>
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</or>
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</and>
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</condition>
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<value>0.05</value>
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</input>
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2017-08-05 19:46:37 +00:00
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<input>
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<expression>
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<table>
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<property>/controls/flight/elevator</property>
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<entry><ind>-1.00</ind><dep>-1</dep></entry>
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<entry><ind>-0.04</ind><dep> 0</dep></entry>
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
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<entry><ind> 0.04</ind><dep> 0</dep></entry>
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
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</table>
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</expression>
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</input>
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2017-06-26 04:34:18 +00:00
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|
|
<output>/controls/flight/elevator-input</output>
|
2017-06-26 23:38:04 +00:00
|
|
|
<max-rate-of-change>2.0</max-rate-of-change>
|
2017-06-26 04:34:18 +00:00
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
<!-- Lateral -->
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-CONTROLLER: ROLL</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-lim</property>
|
|
|
|
|
<value>33</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-back</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<sum>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>-1</ind><dep>-12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind> 1</ind><dep> 12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
<product>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<entry><ind>-33.00000</ind><dep>1</dep></entry>
|
|
|
|
|
<entry><ind>-32.99999</ind><dep>0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>-1</ind><dep>12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
<product>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<entry><ind>32.99999</ind><dep>0</dep></entry>
|
|
|
|
|
<entry><ind>33.00000</ind><dep>1</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
|
|
|
|
<entry><ind>0</ind><dep> 0.0</dep></entry>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>1</ind><dep>-12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
</sum>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-lim</property>
|
|
|
|
|
<value>67</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<sum>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>-1</ind><dep>-12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind> 1</ind><dep> 12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
<product>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<entry><ind>-67.00000</ind><dep>1</dep></entry>
|
|
|
|
|
<entry><ind>-66.99999</ind><dep>0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>-1</ind><dep>12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
<product>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<entry><ind>66.99999</ind><dep>0</dep></entry>
|
|
|
|
|
<entry><ind>67.00000</ind><dep>1</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
|
|
|
|
<entry><ind>0</ind><dep> 0.0</dep></entry>
|
2017-06-28 22:45:38 +00:00
|
|
|
<entry><ind>1</ind><dep>-12.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
</sum>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-10-08 16:03:56 +00:00
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-back</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<entry><ind>-67</ind><dep> 25.0</dep></entry>
|
|
|
|
|
<entry><ind>-40</ind><dep> 10.0</dep></entry>
|
|
|
|
|
<entry><ind>-33</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 33</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 40</ind><dep>-10.0</dep></entry>
|
|
|
|
|
<entry><ind> 67</ind><dep>-25.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/it-fbw/roll-rate</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
2017-08-01 23:29:44 +00:00
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: ROLL KP (P Gain)</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/velocities/mach</property>
|
|
|
|
|
<entry><ind>0.2</ind><dep>0.11</dep></entry>
|
2017-09-29 00:45:05 +00:00
|
|
|
<entry><ind>0.9</ind><dep>0.06</dep></entry>
|
2017-08-01 23:29:44 +00:00
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/it-fbw/roll-kp</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
2017-06-26 04:34:18 +00:00
|
|
|
<pid-controller>
|
|
|
|
|
<name>IT-FBW: ROLL</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<property>/orientation/roll-rate-degps</property>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<property>/it-fbw/roll-rate</property>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/aileron-fbw-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
2017-08-01 23:29:44 +00:00
|
|
|
<Kp>
|
|
|
|
|
<property>/it-fbw/roll-kp</property>
|
|
|
|
|
</Kp>
|
2017-06-26 04:34:18 +00:00
|
|
|
<beta>1</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0</gamma>
|
|
|
|
|
<Ti>0.45</Ti>
|
|
|
|
|
<Td>0.002</Td>
|
|
|
|
|
<u_min>-1</u_min>
|
|
|
|
|
<u_max>1</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: ROLL OPTION</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
|
|
|
<initialize-to>output</initialize-to>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
2017-10-08 19:56:15 +00:00
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap1</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap2</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</and>
|
|
|
|
|
</or>
|
2017-06-26 04:34:18 +00:00
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
<property>/controls/flight/aileron-fbw-cmd</property>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-10-08 19:56:15 +00:00
|
|
|
<and>
|
2017-06-26 04:34:18 +00:00
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap1</property>
|
|
|
|
|
<value>0</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap2</property>
|
|
|
|
|
<value>0</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>2</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
2017-09-17 13:51:39 +00:00
|
|
|
<property>/controls/flight/aileron-input-fast</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</condition>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/controls/flight/roll-fbw</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: SPOILER</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-06-28 18:50:39 +00:00
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-back</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<product>
|
|
|
|
|
<property>/controls/flight/aileron-input</property>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/instrumentation/airspeed-indicator/indicated-mach</property>
|
|
|
|
|
<entry><ind>0.2</ind><dep>1.00</dep></entry>
|
|
|
|
|
<entry><ind>0.9</ind><dep>0.25</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-06-28 18:50:39 +00:00
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/roll-back</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/controls/flight/spoiler-input</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: LEFT SPOILER</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-07-14 21:22:17 +00:00
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/systems/failures/aileron-left</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/spoiler-input</property>
|
|
|
|
|
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
|
|
|
|
<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-07-14 21:22:17 +00:00
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/systems/failures/aileron-left</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/roll-fbw</property>
|
|
|
|
|
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
2017-07-14 21:22:17 +00:00
|
|
|
<input>0</input>
|
2017-06-26 04:34:18 +00:00
|
|
|
<output>/controls/flight/spoiler-left-fbw-cmd</output>
|
|
|
|
|
<min>-1</min>
|
|
|
|
|
<max>1</max>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: RIGHT SPOILER</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-07-14 21:22:17 +00:00
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/systems/failures/aileron-right</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/spoiler-input</property>
|
|
|
|
|
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
|
|
|
|
<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
2017-07-14 21:22:17 +00:00
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/systems/failures/aileron-right</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/roll-fbw</property>
|
|
|
|
|
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
|
|
|
|
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
|
|
|
|
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
2017-07-14 21:22:17 +00:00
|
|
|
<input>0</input>
|
2017-06-26 04:34:18 +00:00
|
|
|
<output>/controls/flight/spoiler-right-fbw-cmd</output>
|
|
|
|
|
<min>-1</min>
|
|
|
|
|
<max>1</max>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
<!-- Vertical -->
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-CONTROLLER: PITCH RATE CMD</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</condition>
|
|
|
|
|
<expression>
|
|
|
|
|
<sum>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind> 1</ind><dep>-5.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind>-1</ind><dep> 5.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
<product>
|
2017-04-17 04:10:36 +00:00
|
|
|
<table>
|
2017-06-26 04:34:18 +00:00
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<entry><ind>-15.00000</ind><dep>1</dep></entry>
|
|
|
|
|
<entry><ind>-14.99999</ind><dep>0</dep></entry>
|
2017-04-17 04:10:36 +00:00
|
|
|
</table>
|
2017-06-26 04:34:18 +00:00
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind>1</ind><dep>5.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
<entry><ind>0</ind><dep>0.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</product>
|
|
|
|
|
<product>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<entry><ind>29.99999</ind><dep>0</dep></entry>
|
|
|
|
|
<entry><ind>30.00000</ind><dep>1</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind>-1</ind><dep>-5.0</dep></entry>
|
2017-06-26 04:34:18 +00:00
|
|
|
</table>
|
|
|
|
|
</product>
|
2017-09-18 13:47:09 +00:00
|
|
|
<table>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<entry><ind>-18</ind><dep> 4</dep></entry>
|
|
|
|
|
<entry><ind>-15</ind><dep> 0</dep></entry>
|
|
|
|
|
<entry><ind> 30</ind><dep> 0</dep></entry>
|
|
|
|
|
<entry><ind> 33</ind><dep>-4</dep></entry>
|
|
|
|
|
</table>
|
2017-06-26 04:34:18 +00:00
|
|
|
</sum>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</condition>
|
|
|
|
|
<expression>
|
2017-07-10 23:53:47 +00:00
|
|
|
<sum>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind> 1</ind><dep>-5.0</dep></entry>
|
2017-07-10 23:53:47 +00:00
|
|
|
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
2017-08-01 17:44:39 +00:00
|
|
|
<entry><ind>-1</ind><dep> 5.0</dep></entry>
|
2017-07-10 23:53:47 +00:00
|
|
|
</table>
|
|
|
|
|
</sum>
|
2017-06-26 04:34:18 +00:00
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/it-fbw/pitch-rate</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
2017-09-18 13:47:09 +00:00
|
|
|
<!--filter>
|
|
|
|
|
<name>IT-FBW: LOAD FACTOR COMMAND</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<expression>
|
|
|
|
|
<sum>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<entry><ind> 1</ind><dep>0.0</dep></entry>
|
|
|
|
|
<entry><ind> 0</ind><dep>1.0</dep></entry>
|
|
|
|
|
<entry><ind>-1</ind><dep>2.0</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</sum>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/it-fbw/load-target</output>
|
|
|
|
|
</filter-->
|
|
|
|
|
|
2017-08-01 23:29:44 +00:00
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: PITCH KP (P Gain)</name>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<input>
|
|
|
|
|
<expression>
|
|
|
|
|
<table>
|
|
|
|
|
<property>/velocities/mach</property>
|
|
|
|
|
<entry><ind>0.2</ind><dep>-0.20</dep></entry>
|
|
|
|
|
<entry><ind>0.9</ind><dep>-0.13</dep></entry>
|
|
|
|
|
</table>
|
|
|
|
|
</expression>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/it-fbw/pitch-kp</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
2017-06-26 04:34:18 +00:00
|
|
|
<pid-controller>
|
|
|
|
|
<name>IT-FBW: PITCH</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
2017-09-18 13:47:09 +00:00
|
|
|
<!--or>
|
|
|
|
|
<and>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<value>-0.04</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
<less-than-equals>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<value>0.04</value>
|
|
|
|
|
</less-than-equals>
|
|
|
|
|
</and>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<value>30</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
<less-than-equals>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<value>-15</value>
|
|
|
|
|
</less-than-equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap1</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap2</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or-->
|
2017-06-26 04:34:18 +00:00
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/spd-hold</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
2017-04-17 04:10:36 +00:00
|
|
|
<value>0</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<property>/orientation/pitch-rate-degps</property>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<property>/it-fbw/pitch-rate</property>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/elevator-fbw-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
2017-08-01 23:29:44 +00:00
|
|
|
<Kp>
|
|
|
|
|
<property>/it-fbw/pitch-kp</property>
|
|
|
|
|
</Kp>
|
2017-06-26 04:34:18 +00:00
|
|
|
<beta>1</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0</gamma>
|
|
|
|
|
<Ti>0.45</Ti>
|
|
|
|
|
<Td>0.002</Td>
|
|
|
|
|
<u_min>-1</u_min>
|
|
|
|
|
<u_max>1</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller>
|
|
|
|
|
|
2017-09-18 13:47:09 +00:00
|
|
|
<!--pid-controller>
|
|
|
|
|
<name>IT-FBW: LOAD FACTOR PITCH</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<or>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<value>0.04</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/controls/flight/elevator-input</property>
|
|
|
|
|
<value>-0.04</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
</or>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<value>30</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/orientation/pitch-deg</property>
|
|
|
|
|
<value>-15</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap1</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/ap2</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/spd-hold</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<property>/accelerations/pilot-g</property>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<property>/it-fbw/load-target</property>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/elevator-fbw-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
|
|
|
|
<Kp>
|
|
|
|
|
<expression>
|
|
|
|
|
<sum>
|
|
|
|
|
<property>/it-fbw/pitch-kp</property>
|
|
|
|
|
<value>0.04</value>
|
|
|
|
|
</sum>
|
|
|
|
|
</expression>
|
|
|
|
|
</Kp>
|
|
|
|
|
<beta>1</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0</gamma>
|
|
|
|
|
<Ti>0.45</Ti>
|
|
|
|
|
<Td>0.02</Td>
|
|
|
|
|
<u_min>-1</u_min>
|
|
|
|
|
<u_max>1</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller-->
|
|
|
|
|
|
2017-06-26 04:34:18 +00:00
|
|
|
<filter>
|
2017-10-08 19:56:15 +00:00
|
|
|
<name>IT-FBW: PITCH OPTION</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<type>gain</type>
|
|
|
|
|
<gain>1</gain>
|
|
|
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
|
|
|
<initialize-to>output</initialize-to>
|
|
|
|
|
<input>
|
2017-06-26 04:34:18 +00:00
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap1</property>
|
|
|
|
|
<value>1</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap2</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
</or>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
2017-05-23 17:26:12 +00:00
|
|
|
<value>0</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/controls/flight/elevator-fbw-cmd</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
</input>
|
2017-10-08 19:56:15 +00:00
|
|
|
<input>
|
2017-06-26 04:34:18 +00:00
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap1</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/it-autoflight/output/ap2</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/gear/gear[1]/wow</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
2017-10-08 19:56:15 +00:00
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>1</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
2017-10-08 19:56:15 +00:00
|
|
|
<value>2</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
2017-09-17 13:51:39 +00:00
|
|
|
<property>/controls/flight/elevator-input-fast</property>
|
2017-06-26 04:34:18 +00:00
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>3</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</condition>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/controls/flight/elevator-fbw</output>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<pid-controller>
|
|
|
|
|
<name>FBW PITCH HELPER PLUS</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
|
|
|
<value>0.01</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>40</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>-40</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
|
|
|
|
<Kp>0.09</Kp>
|
|
|
|
|
<beta>1.0</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0.0</gamma>
|
|
|
|
|
<Ti>10</Ti>
|
|
|
|
|
<Td>0.00001</Td>
|
|
|
|
|
<u_min>-1.00</u_min>
|
|
|
|
|
<u_max>1.00</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller>
|
|
|
|
|
|
|
|
|
|
<pid-controller>
|
|
|
|
|
<name>FBW PITCH HELPER MINUS</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
|
|
|
<value>-0.01</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>40</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>-40</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
|
|
|
|
<Kp>-0.09</Kp>
|
|
|
|
|
<beta>1.0</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0.0</gamma>
|
|
|
|
|
<Ti>10</Ti>
|
|
|
|
|
<Td>0.00001</Td>
|
|
|
|
|
<u_min>-1.00</u_min>
|
|
|
|
|
<u_max>1.00</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: PITCH TRIM FILTER</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
|
|
|
<initialize-to>output</initialize-to>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<and>
|
2017-04-17 04:10:36 +00:00
|
|
|
<or>
|
2017-06-26 04:34:18 +00:00
|
|
|
<equals>
|
2017-04-17 04:10:36 +00:00
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
|
|
|
|
<equals>
|
2017-04-17 04:10:36 +00:00
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>1</value>
|
2017-06-26 04:34:18 +00:00
|
|
|
</equals>
|
2017-04-17 04:10:36 +00:00
|
|
|
</or>
|
2017-06-26 04:34:18 +00:00
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</greater-than-equals>
|
2017-04-17 04:10:36 +00:00
|
|
|
</and>
|
2017-06-26 04:34:18 +00:00
|
|
|
<less-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>40</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/orientation/roll-deg</property>
|
|
|
|
|
<value>-40</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<or>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
|
|
|
<value>0.01</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
|
|
|
<value>-0.01</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
</or>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/controls/flight/elevator-trim</output>
|
|
|
|
|
<type>noise-spike</type>
|
|
|
|
|
<max-rate-of-change>0.01</max-rate-of-change>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
<!-- Yaw Damper/Turn Coordinator -->
|
|
|
|
|
<!-- =============================================================== -->
|
|
|
|
|
|
|
|
|
|
<pid-controller>
|
|
|
|
|
<name>IT-FBW: YAW DAMPER/TURN COORDINATOR</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<enable>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-autoflight/output/lat</property>
|
|
|
|
|
<value>4</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
</enable>
|
|
|
|
|
<input>
|
|
|
|
|
<property>/instrumentation/slip-skid-ball/indicated-slip-skid</property>
|
|
|
|
|
</input>
|
|
|
|
|
<reference>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</reference>
|
|
|
|
|
<output>
|
|
|
|
|
<property>/controls/flight/rudder-fbw-cmd</property>
|
|
|
|
|
</output>
|
|
|
|
|
<config>
|
|
|
|
|
<Kp>0.025</Kp>
|
|
|
|
|
<beta>1</beta>
|
|
|
|
|
<alpha>0.1</alpha>
|
|
|
|
|
<gamma>0</gamma>
|
|
|
|
|
<Ti>3.0</Ti>
|
|
|
|
|
<Td>0.00001</Td>
|
|
|
|
|
<u_min>-0.2</u_min>
|
|
|
|
|
<u_max>0.2</u_max>
|
|
|
|
|
</config>
|
|
|
|
|
</pid-controller>
|
|
|
|
|
|
|
|
|
|
<filter>
|
|
|
|
|
<name>IT-FBW: RUDDER OPTION</name>
|
|
|
|
|
<debug>false</debug>
|
|
|
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
|
|
|
<initialize-to>output</initialize-to>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<and>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/controls/flight/rudder</property>
|
|
|
|
|
<value>0.1</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<greater-than>
|
|
|
|
|
<property>/controls/flight/rudder</property>
|
|
|
|
|
<value>-0.1</value>
|
|
|
|
|
</greater-than>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-autoflight/output/lat</property>
|
|
|
|
|
<value>4</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
</and>
|
|
|
|
|
</condition>
|
|
|
|
|
<property>/controls/flight/rudder-fbw-cmd</property>
|
|
|
|
|
</input>
|
|
|
|
|
<input>
|
|
|
|
|
<condition>
|
|
|
|
|
<or>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[1]/wow</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/gear/gear[2]/wow</property>
|
|
|
|
|
<value>1</value>
|
|
|
|
|
</equals>
|
|
|
|
|
<not-equals>
|
|
|
|
|
<property>/it-fbw/law</property>
|
|
|
|
|
<value>0</value>
|
|
|
|
|
</not-equals>
|
|
|
|
|
<greater-than-equals>
|
|
|
|
|
<property>/controls/flight/rudder</property>
|
|
|
|
|
<value>0.1</value>
|
|
|
|
|
</greater-than-equals>
|
|
|
|
|
<less-than-equals>
|
|
|
|
|
<property>/controls/flight/rudder</property>
|
|
|
|
|
<value>-0.1</value>
|
|
|
|
|
</less-than-equals>
|
|
|
|
|
<less-than>
|
|
|
|
|
<property>/position/gear-agl-ft</property>
|
|
|
|
|
<value>50</value>
|
|
|
|
|
</less-than>
|
|
|
|
|
<equals>
|
|
|
|
|
<property>/it-autoflight/output/lat</property>
|
|
|
|
|
<value>4</value>
|
|
|
|
|
</equals>
|
|
|
|
|
</or>
|
|
|
|
|
</condition>
|
|
|
|
|
<property>/controls/flight/rudder</property>
|
|
|
|
|
</input>
|
|
|
|
|
<output>/controls/flight/rudder-fbw</output>
|
|
|
|
|
<type>noise-spike</type>
|
|
|
|
|
<max-rate-of-change>2.5</max-rate-of-change>
|
|
|
|
|
</filter>
|
|
|
|
|
|
|
|
|
|
</PropertyList>
|
