688 lines
16 KiB
XML
688 lines
16 KiB
XML
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<?xml version="1.0" encoding="UTF-8" ?>
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<!-- Airbus A320 Autopilot Configuration -->
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<PropertyList>
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<!-- PREDICTION FILTERS -->
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<predict-simple>
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<input>/autopilot/internal/nav1-track-error-deg</input>
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<output>/autopilot/internal/nav1-track-error-lookahead-deg</output>
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<seconds>8</seconds>
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<filter-gain>0</filter-gain>
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</predict-simple>
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<!-- AUTOTHROTTLE -->
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<!-- IAS hold -->
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<logic>
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<name>IAS hold logic</name>
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<input>
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<and>
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<property>/autopilot/settings/autothrottle</property>
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<equals>
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<property>/autopilot/settings/speed-mode</property>
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<value>0</value>
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</equals>
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<not>
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<property>/autopilot/settings/speed</property>
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</not>
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</and>
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</input>
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<output>/autopilot/internal/speed-hold-kt</output>
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</logic>
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<pid-controller>
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<name>IAS hold</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/speed-hold-kt</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-speed-kt</prop>
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</reference>
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<output>
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<prop>/controls/engines/engine[0]/throttle</prop>
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<prop>/controls/engines/engine[1]/throttle</prop>
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</output>
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<config>
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<Kp>0.05</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>10</Ti>
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<Td>0.00001</Td>
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<u_min>0</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<!-- Mach hold -->
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<logic>
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<name>Mach hold logic</name>
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<input>
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<and>
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<property>/autopilot/settings/autothrottle</property>
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<equals>
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<property>/autopilot/settings/speed-mode</property>
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<value>1</value>
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</equals>
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<not>
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<property>/autopilot/settings/speed</property>
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</not>
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</and>
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</input>
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<output>/autopilot/internal/speed-hold-mach</output>
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</logic>
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<pid-controller>
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<name>Mach hold</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/speed-hold-mach</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/velocities/mach</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-speed-mach</prop>
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</reference>
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<output>
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<prop>/controls/engines/engine[0]/throttle</prop>
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<prop>/controls/engines/engine[1]/throttle</prop>
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</output>
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<config>
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<Kp>20</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>10</Ti>
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<Td>0.00001</Td>
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<u_min>0</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<!-- AUTOPILOT -->
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<!-- Heading hold -->
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<!-- Magnetic heading -->
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<logic>
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<name>Magnetic heading hold stage 1 logic</name>
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<input>
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<and>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/settings/heading-mode</property>
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<value>0</value>
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</equals>
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</and>
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</input>
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<output>/autopilot/internal/heading-hold-deg-stage1</output>
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</logic>
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<logic>
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<name>Magnetic heading hold stage 2 logic</name>
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<input>
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<and>
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<property>/autopilot/settings/engaged</property>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/settings/heading-mode</property>
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<value>0</value>
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</equals>
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</and>
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</input>
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<output>/autopilot/internal/heading-hold-deg</output>
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</logic>
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<pid-controller>
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<name>Magnetic heading hold stage 1</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/heading-hold-deg-stage1</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/autopilot/internal/fdm-heading-bug-error-deg</prop>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-2</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>6</Ti>
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<Td>0.00001</Td>
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<u_min>-25</u_min>
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<u_max>25</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>Magnetic heading hold stage 2</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/heading-hold-deg</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.01</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>6</Ti>
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<Td>0.00001</Td>
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<u_min>-1</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<!-- Ground track hold -->
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<logic>
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<name>Ground track heading hold stage 1 logic</name>
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<input>
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<and>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/settings/heading-mode</property>
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<value>1</value>
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</equals>
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</and>
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</input>
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<output>/autopilot/internal/heading-hold-deg-stage1</output>
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</logic>
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<logic>
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<name>Ground track heading hold stage 2 logic</name>
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<input>
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<and>
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<property>/autopilot/settings/engaged</property>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/settings/heading-mode</property>
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<value>1</value>
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</equals>
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</and>
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</input>
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<output>/autopilot/internal/heading-hold-deg</output>
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</logic>
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<filter>
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<name>Ground track error computer/normalizer</name>
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<debug type="bool">false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<property>/autopilot/settings/heading-bug-deg</property>
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<offset>
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<property>/orientation/track-magnetic-deg</property>
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<scale>-1</scale>
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</offset>
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</input>
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<output>/autopilot/internal/fdm-track-bug-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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</filter>
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<pid-controller>
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<name>Ground track hold stage 1</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/heading-hold-track-stage1</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/autopilot/internal/fdm-track-bug-error-deg</prop>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-1.5</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>15</Ti>
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<Td>0.000000001</Td>
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<u_min>-25</u_min>
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<u_max>25</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>Ground track hold stage 2</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/heading-hold-track</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.01</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>10</Ti>
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<Td>0.000000001</Td>
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<u_min>-1</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<!-- NAV hold -->
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<logic>
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<name>NAV hold logic</name>
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<input>
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<and>
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<property>/autopilot/settings/engaged</property>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>nav1-hold</value>
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</equals>
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</and>
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</input>
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<output>/autopilot/internal/heading-hold-nav</output>
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</logic>
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<pid-controller>
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<name>NAV hold stage 1</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/settings/heading</prop>
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<value>nav1-hold</value>
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</enable>
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<input>
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<prop>/autopilot/internal/nav1-track-error-deg</prop>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-1.5</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>15</Ti>
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<Td>0.000000001</Td>
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<u_min>-25</u_min>
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<u_max>25</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>NAV hold stage 2</name>
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<debug type="bool">false</debug>
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<enable>
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<prop>/autopilot/internal/heading-hold-nav</prop>
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<value type="bool">true</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.01</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>10</Ti>
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<Td>0.000000001</Td>
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<u_min>-1</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<!-- True heading [LNAV] -->
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<logic>
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<name>True heading hold logic</name>
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<input>
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<and>
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<property>/autopilot/settings/engaged</property>
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<equals>
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<property>/autopilot/settings/heading</property>
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<value>true-heading-hold</value>
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||
|
|
</equals>
|
||
|
|
</and>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/heading-hold-true</output>
|
||
|
|
</logic>
|
||
|
|
<pid-controller>
|
||
|
|
<name>True heading hold stage 1</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/settings/heading</prop>
|
||
|
|
<value>true-heading-hold</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/autopilot/internal/true-heading-error-deg</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<value>0</value>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/autopilot/internal/target-roll-deg</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>-5</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>10</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-25</u_min>
|
||
|
|
<u_max>25</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
<pid-controller>
|
||
|
|
<name>True heading hold stage 2</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/internal/heading-hold-true</prop>
|
||
|
|
<value type="bool">true</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/orientation/roll-deg</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/autopilot/internal/target-roll-deg</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/controls/flight/aileron</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>0.01</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>10</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-1</u_min>
|
||
|
|
<u_max>1</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
|
||
|
|
<!-- PITCH -->
|
||
|
|
<!-- Glideslope hold -->
|
||
|
|
<logic>
|
||
|
|
<name>Glideslope hold logic</name>
|
||
|
|
<input>
|
||
|
|
<and>
|
||
|
|
<property>/autopilot/settings/engaged</property>
|
||
|
|
<equals>
|
||
|
|
<property>/autopilot/settings/altitude</property>
|
||
|
|
<value>gs1-hold</value>
|
||
|
|
</equals>
|
||
|
|
</and>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/glideslope-hold</output>
|
||
|
|
</logic>
|
||
|
|
<pid-controller>
|
||
|
|
<name>Glideslope hold</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/internal/glideslope-hold</prop>
|
||
|
|
<value type="bool">true</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/controls/flight/elevator-trim</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>-0.0075</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>10</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-1</u_min>
|
||
|
|
<u_max>1</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
|
||
|
|
<!-- Altitude hold -->
|
||
|
|
<logic>
|
||
|
|
<name>Altitude hold</name>
|
||
|
|
<input>
|
||
|
|
<and>
|
||
|
|
<property>/autopilot/settings/engaged</property>
|
||
|
|
<equals>
|
||
|
|
<property>/autopilot/settings/altitude</property>
|
||
|
|
<value>altitude-hold</value>
|
||
|
|
</equals>
|
||
|
|
</and>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/altitude-hold</output>
|
||
|
|
</logic>
|
||
|
|
<logic>
|
||
|
|
<name>Altitude hold climb</name>
|
||
|
|
<input>
|
||
|
|
<greater-than-equals>
|
||
|
|
<property>/autopilot/settings/vertical-speed-fpm</property>
|
||
|
|
<value>0</value>
|
||
|
|
</greater-than-equals>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/altitude-hold-climb</output>
|
||
|
|
</logic>
|
||
|
|
<logic>
|
||
|
|
<name>Altitude hold descend</name>
|
||
|
|
<input>
|
||
|
|
<less-than>
|
||
|
|
<property>/autopilot/settings/vertical-speed-fpm</property>
|
||
|
|
<value>0</value>
|
||
|
|
</less-than>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/altitude-hold-descend</output>
|
||
|
|
</logic>
|
||
|
|
<pi-simple-controller>
|
||
|
|
<name>Altitude hold climb stage 1</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/internal/altitude-hold-climb</prop>
|
||
|
|
<value type="bool">true</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/autopilot/settings/target-altitude-ft</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>0.3</Kp>
|
||
|
|
<Ki>0</Ki>
|
||
|
|
<u_min>-1.667</u_min>
|
||
|
|
<u_max>
|
||
|
|
<prop>/autopilot/settings/vertical-speed-fpm</prop>
|
||
|
|
<scale>0.01667</scale>
|
||
|
|
</u_max>
|
||
|
|
</config>
|
||
|
|
</pi-simple-controller>
|
||
|
|
<pi-simple-controller>
|
||
|
|
<name>Altitude hold descend stage 1</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/internal/altitude-hold-descend</prop>
|
||
|
|
<value type="bool">true</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/autopilot/settings/target-altitude-ft</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>0.3</Kp>
|
||
|
|
<Ki>0</Ki>
|
||
|
|
<u_min>
|
||
|
|
<prop>/autopilot/settings/vertical-speed-fpm</prop>
|
||
|
|
<scale>0.01667</scale>
|
||
|
|
</u_min>
|
||
|
|
<u_max>1.667</u_max>
|
||
|
|
</config>
|
||
|
|
</pi-simple-controller>
|
||
|
|
<pid-controller>
|
||
|
|
<name>Altitude hold stage 2</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/internal/altitude-hold</prop>
|
||
|
|
<value type="bool">true</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/controls/flight/elevator-trim</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>-0.001</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>5</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-1</u_min>
|
||
|
|
<u_max>1</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
|
||
|
|
<!-- Flight director controllers -->
|
||
|
|
<pid-controller>
|
||
|
|
<name>Glideslope hold flight director</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/settings/altitude</prop>
|
||
|
|
<value>gs1-hold</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/autopilot/internal/target-pitch-deg</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>0.1875</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>10</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-25</u_min>
|
||
|
|
<u_max>25</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
<pid-controller>
|
||
|
|
<name>Altitude hold stage 2 flight director</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<enable>
|
||
|
|
<prop>/autopilot/settings/altitude</prop>
|
||
|
|
<value>altitude-hold</value>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
||
|
|
</input>
|
||
|
|
<reference>
|
||
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||
|
|
</reference>
|
||
|
|
<output>
|
||
|
|
<prop>/autopilot/internal/target-pitch-deg</prop>
|
||
|
|
</output>
|
||
|
|
<config>
|
||
|
|
<Kp>0.25</Kp>
|
||
|
|
<beta>1</beta>
|
||
|
|
<alpha>0.1</alpha>
|
||
|
|
<gamma>0</gamma>
|
||
|
|
<Ti>10</Ti>
|
||
|
|
<Td>0.00001</Td>
|
||
|
|
<u_min>-25</u_min>
|
||
|
|
<u_max>25</u_max>
|
||
|
|
</config>
|
||
|
|
</pid-controller>
|
||
|
|
<filter>
|
||
|
|
<name>Flight director pitch computer</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<type>gain</type>
|
||
|
|
<gain>1.0</gain>
|
||
|
|
<input>
|
||
|
|
<expression>
|
||
|
|
<dif>
|
||
|
|
<property>/autopilot/internal/target-pitch-deg</property>
|
||
|
|
<property>/orientation/pitch-deg</property>
|
||
|
|
</dif>
|
||
|
|
</expression>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/flight-director-pitch-deg</output>
|
||
|
|
</filter>
|
||
|
|
<filter>
|
||
|
|
<name>Flight director roll computer</name>
|
||
|
|
<debug type="bool">false</debug>
|
||
|
|
<type>gain</type>
|
||
|
|
<gain>1.0</gain>
|
||
|
|
<input>
|
||
|
|
<expression>
|
||
|
|
<dif>
|
||
|
|
<property>/autopilot/internal/target-roll-deg</property>
|
||
|
|
<property>/orientation/roll-deg</property>
|
||
|
|
</dif>
|
||
|
|
</expression>
|
||
|
|
</input>
|
||
|
|
<output>/autopilot/internal/flight-director-roll-deg</output>
|
||
|
|
</filter>
|
||
|
|
|
||
|
|
</PropertyList>
|