IDG-A32X/Systems/it-fbw.xml

<?xml version="1.0"?>

<!-- Airbus A3XX FBW System by Joshua Davidson (it0uchpods) -->
<!-- For Roll, Pitch, and Yaw -->

<PropertyList>


 <!-- =============================================================== -->
 <!-- Surface Position Feeding                                        -->
 <!-- =============================================================== -->
	
	<filter>
		<debug>false</debug>
		<type>noise-spike</type>
		<input>/controls/flight/aileron</input>
		<output>/controls/flight/aileron-input-fast</output>
		<max-rate-of-change>5</max-rate-of-change>
	</filter>
	
	<filter>
		<debug>false</debug>
		<type>noise-spike</type>
		<input>/controls/flight/elevator</input>
		<output>/controls/flight/elevator-input-fast</output>
		<max-rate-of-change>5</max-rate-of-change>
	</filter>
	
	<filter>
		<debug>false</debug>
		<type>noise-spike</type>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
			<property>/it-autoflight/internal/aileron-cmd</property>
		</input>
		<input>/controls/flight/aileron</input>
		<output>/controls/flight/aileron-input</output>
		<max-rate-of-change>2.0</max-rate-of-change>
	</filter>

	<filter>
		<debug>false</debug>
		<type>noise-spike</type>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<less-than>
						<property>/position/gear-agl-ft</property>
						<value>50</value>
					</less-than>
					<greater-than-equals>
						<property>/controls/flight/flap-pos</property>
						<value>4</value>
					</greater-than-equals>
					<less-than>
						<property>/controls/engines/engine[0]/throttle</property>
						<value>0.65</value>
					</less-than>
					<less-than>
						<property>/controls/engines/engine[1]/throttle</property>
						<value>0.65</value>
					</less-than>
					<equals>
						<property>/FMGC/status/to-state</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[0]/wow</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>
				</and>
			</condition>
            <expression>
				<sum>
					<property>/controls/flight/elevator</property>
					<table>
						<property>/position/gear-agl-ft</property> 
						<entry><ind> 5</ind><dep>0.10</dep></entry>
						<entry><ind>50</ind><dep>0.05</dep></entry>
					</table>
				</sum>
            </expression>
		</input>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<less-than>
						<property>/position/gear-agl-ft</property>
						<value>50</value>
					</less-than>
					<greater-than-equals>
						<property>/controls/flight/flap-pos</property>
						<value>4</value>
					</greater-than-equals>
					<less-than>
						<property>/controls/engines/engine[0]/throttle</property>
						<value>0.65</value>
					</less-than>
					<less-than>
						<property>/controls/engines/engine[1]/throttle</property>
						<value>0.65</value>
					</less-than>
					<equals>
						<property>/FMGC/status/to-state</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[0]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
            <expression>
				<sum>
					<property>/controls/flight/elevator</property>
					<value>0.15</value>
				</sum>
            </expression>
		</input>
		<input>/controls/flight/elevator</input>
		<output>/controls/flight/elevator-input</output>
		<max-rate-of-change>2.0</max-rate-of-change>
	</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> 
						<entry><ind>-1</ind><dep>-12.0</dep></entry>
						<entry><ind> 0</ind><dep>  0.0</dep></entry>
						<entry><ind> 1</ind><dep> 12.0</dep></entry>
					</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> 
							<entry><ind>-1</ind><dep>12.0</dep></entry>
							<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>
							<entry><ind>1</ind><dep>-12.0</dep></entry>
						</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> 
						<entry><ind>-1</ind><dep>-12.0</dep></entry>
						<entry><ind> 0</ind><dep>  0.0</dep></entry>
						<entry><ind> 1</ind><dep> 12.0</dep></entry>
					</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> 
							<entry><ind>-1</ind><dep>12.0</dep></entry>
							<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>
							<entry><ind>1</ind><dep>-12.0</dep></entry>
						</table>
					</product>
				</sum>
            </expression>
        </input>
        <input>
			<condition>
				<and>
					<equals>
						<property>/it-fbw/roll-back</property>
						<value>1</value>
					</equals>
					<less-than>
						<property>/controls/flight/aileron-input</property>
						<value>0.05</value>
					</less-than>
					<greater-than>
						<property>/controls/flight/aileron-input</property>
						<value>-0.05</value>
					</greater-than>
				</and>
			</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>
	
	<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>
			<Kp>0.11</Kp>
			<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>
					<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>
			<property>/controls/flight/aileron-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>
					<equals>
						<property>/it-fbw/law</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-fbw/law</property>
						<value>2</value>
					</equals>
				</or>
			</condition>
			<property>/controls/flight/aileron-input</property>
		</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: AILERON</name>
		<type>gain</type>
		<gain>1</gain>
		<input>/controls/flight/roll-fbw</input>
		<output>/controls/flight/aileron-fbw</output>
	</filter>
	
	<filter>
		<name>IT-FBW: SPOILER</name>
		<type>gain</type>
		<gain>1</gain>
		<input>
			<condition>
				<equals>
					<property>/it-fbw/roll-back</property>
					<value>0</value>
				</equals>
			</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>
				<equals>
					<property>/it-fbw/roll-back</property>
					<value>1</value>
				</equals>
			</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>
				<equals>
					<property>/systems/failures/aileron-left</property>
					<value>0</value>
				</equals>
			</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>
				<equals>
					<property>/systems/failures/aileron-left</property>
					<value>1</value>
				</equals>
			</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>
		<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>
				<equals>
					<property>/systems/failures/aileron-right</property>
					<value>0</value>
				</equals>
			</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>
				<equals>
					<property>/systems/failures/aileron-right</property>
					<value>1</value>
				</equals>
			</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>
		<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> 
						<entry><ind> 1</ind><dep>-7.0</dep></entry>
						<entry><ind> 0</ind><dep> 0.0</dep></entry>
						<entry><ind>-1</ind><dep> 7.0</dep></entry>
					</table>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>-15.00000</ind><dep>1</dep></entry>
							<entry><ind>-14.99999</ind><dep>0</dep></entry>
						</table>
						<table>
							<property>/controls/flight/elevator-input</property> 
							<entry><ind>1</ind><dep>7.0</dep></entry>
							<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>
							<entry><ind>-1</ind><dep>-7.0</dep></entry>
						</table>
					</product>
				</sum>
            </expression>
        </input>
        <input>
			<condition>
				<equals>
					<property>/it-fbw/law</property>
					<value>1</value>
				</equals>
			</condition>
            <expression>
				<table>
					<property>/controls/flight/elevator-input</property> 
					<entry><ind> 1</ind><dep>-7.0</dep></entry>
					<entry><ind> 0</ind><dep> 0.0</dep></entry>
					<entry><ind>-1</ind><dep> 7.0</dep></entry>
				</table>
            </expression>
        </input>
		<output>/it-fbw/pitch-rate</output>
    </filter>
	
	<pid-controller>
		<name>IT-FBW: PITCH</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/spd-hold</property>
						<value>0</value>
					</equals>
					<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>
				</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>
			<Kp>-0.20</Kp>
			<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: SPD PITCH TARGET CMD</name>
		<type>noise-spike</type>
		<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/spd-hold</property>
						<value>1</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> 
			<expression>
				<table>
					<property>/controls/flight/elevator-input</property>
					<entry><ind> 0</ind><dep>129</dep></entry>
					<entry><ind>-1</ind><dep>106</dep></entry>
				</table>
			</expression>
		</input>
		<output>/it-fbw/spd-pitch-target</output>
		<max-rate-of-change>10</max-rate-of-change>
	</filter>
	
	<pid-controller>
		<name>IT-FBW: SPD PITCH TARGET</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/spd-hold</property>
						<value>1</value>
					</equals>
					<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>
				</and>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
		</input>
		<reference>
			<property>/it-fbw/spd-pitch-target</property>
		</reference>
		<output>
			<property>/it-fbw/spd-pitch-deg</property>
		</output>
		<config>
			<Kp>-0.50</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>5.0</Ti>        
			<Td>0.0001</Td>    
			<u_min>-10</u_min>
			<u_max>30</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>IT-FBW: SPD PITCH</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/spd-hold</property>
						<value>1</value>
					</equals>
					<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>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/pitch-deg</property>
		</input>
		<reference>
			<property>/it-fbw/spd-pitch-deg</property>
		</reference>
		<output>
			<property>/controls/flight/elevator-fbw-cmd</property>
		</output>
		<config>
			<Kp>-0.08</Kp>
			<beta>1</beta>
			<alpha>0.1</alpha>
			<gamma>0</gamma>
			<Ti>5</Ti>
			<Td>0.001</Td>
			<u_min>-1</u_min>
			<u_max>1</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<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>
			<condition>
				<and>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<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>
				</and>
			</condition>
			<property>/controls/flight/elevator-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>
					<equals>
						<property>/it-fbw/law</property>
						<value>2</value>
					</equals>
					<greater-than-equals>
						<property>/orientation/roll-deg</property>
						<value>40</value>
					</greater-than-equals>
					<less-than-equals>
						<property>/orientation/roll-deg</property>
						<value>-40</value>
					</less-than-equals>
				</or>
			</condition>
			<property>/controls/flight/elevator-input</property>
		</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>
						<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>
					<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>