IDG-A32X/Systems/fmgc-pitch.xml

<?xml version="1.0"?>

<!--
##############################################
# Copyright (c) Joshua Davidson (it0uchpods) #
##############################################
-->

<!-- IT-AUTOFLIGHT -->

<PropertyList>

 <!-- =============================================================== -->
 <!-- Vertical Modes                                                  -->
 <!-- =============================================================== -->
	
	<filter>
		<name>ALTITUDE CAPTURE/HOLD</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<expression>
				<sum>
					<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
					<value>-2</value>
				</sum>
			</expression>
		</input>
		<reference>
			<condition>
				<not-equals>
					<property>/it-autoflight/output/vert</property>
					<value>8</value>
				</not-equals>
			</condition>
			<property>/it-autoflight/internal/alt</property>
		</reference>
		<reference>
			<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>8</value>
					</equals>
				</condition>
			<property>/it-autoflight/internal/mng-alt</property>
		</reference>
		<gain>-8</gain>
		<output>
			<property>/it-autoflight/internal/target-fpm</property>
		</output>
		<min>
			<property>/it-autoflight/internal/min-vs</property>
		</min>
		<max>
			<property>/it-autoflight/internal/max-vs</property>
		</max>
	</filter>

	<pid-controller>
		<name>FPA HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>5</value>
					</equals>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/fd1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/fd2</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/fpa</property>
		</input>
		<reference>
			<property>/it-autoflight/input/fpa</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-fpm-d</property>
		</output>
		<config>
			<Kp>120</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>1.0</Ti>
			<Td>0.00001</Td>
			<u_min>
				<expression>
					<dif>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2500</value>
					</dif>
				</expression>
			</u_min>
			<u_max>
				<expression>
					<sum>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2500</value>
					</sum>
				</expression>
			</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>FLCH SPEED BY PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert-mng</property>
							<value>4</value>
						</equals>
					</and>
				</or>
			</condition>
		</enable>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-15-sec-mach</property>
			<scale>1000.0</scale>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/flch-kts</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/flch-mach</property>
			<scale>1000.0</scale>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-fpm-b</property>
		</output>
		<config>
			<Kp>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</not-equals>
				</condition>
				<value>-55</value>
			</Kp>
			<Kp>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
				</condition>
				<value>-60</value>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>2.5</Ti>        
			<Td>0.001</Td>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>2</value>
					</equals>
				</condition>
				<value>150</value>
			</u_min>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>1</value>
					</equals>
				</condition>
				<expression>
					<dif>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2500</value>
					</dif>
				</expression>
			</u_min>
			<u_max>
				<condition>
					<and>
						<equals>
							<property>/it-autoflight/output/thr-mode</property>
							<value>2</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>
					</and>
				</condition>
				<expression>
					<sum>
						<property>/it-autoflight/internal/vert-speed-fpm</property>
						<value>2500</value>
					</sum>
				</expression>
			</u_max>
			<u_max>
				<condition>
					<and>
						<equals>
							<property>/it-autoflight/output/thr-mode</property>
							<value>2</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>
				<value>1000</value>
			</u_max>
			<u_max>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>1</value>
					</equals>
				</condition>
				<value>-150</value>
			</u_max>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>0</value>
					</equals>
				</condition>
				<value>-6000</value>
			</u_min>
			<u_max>
				<condition>
					<equals>
						<property>/it-autoflight/output/thr-mode</property>
						<value>0</value>
					</equals>
				</condition>
				<value>10000</value>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>TARGET FPM</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>0</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert-mng</property>
							<value>0</value>
						</equals>
					</and>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fpm</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/vs</property>
		</input>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert-mng</property>
							<value>4</value>
						</equals>
					</and>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fpm-b</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>6</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-c2</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-d</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>2</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
		</input>
		<output>/it-autoflight/internal/target-common-fpm</output>
	</filter>
	
	<pid-controller>
		<name>FPM HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<or>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>2</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>4</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>5</value>
						</equals>
						<and>
							<equals>
								<property>/it-autoflight/output/vert</property>
								<value>6</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>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>7</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
					</or>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/vert-speed-fpm</property>
		</input>
		<reference>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>0</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert-mng</property>
							<value>0</value>
						</equals>
					</and>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fpm</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/vs</property>
		</reference>
		<reference>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/vert-mng</property>
							<value>4</value>
						</equals>
					</and>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fpm-b</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>6</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-c</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/target-fpm-d</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>2</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</not-equals>
				</condition>
				<value>0.0017</value>
			</Kp>
			<Kp>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</equals>
				</condition>
				<value>0.0055</value>
			</Kp>
			<Ti>3.0</Ti>
			<Td>0.0001</Td>
			<u_min>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</not-equals>
				</condition>
				<value>-10</value>
			</u_min>
			<u_min>
				<condition>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>6</value>
					</equals>
				</condition>
				<value>0</value>
			</u_min>
			<u_max>
				<condition>
					<and>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>0</value>
						</equals>
					</and>
				</condition>
				<value>30</value>
			</u_max>
			<u_max>
				<condition>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</condition>
				<value>10</value>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>PITCH DEG SYNC</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<and>
					<not-equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</not-equals>
					<not-equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
		</enable>
		<input>/orientation/pitch-deg</input>
		<output>/it-autoflight/internal/target-pitch-deg</output>
		<min>-15</min>
		<max>30</max>
	</filter>

	<filter>
		<name>System Command: Pitch Rate</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>0.15</gain>
		<input>
			<property>/orientation/pitch-deg</property>
		</input>
		<reference>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</reference>
		<output>
			<property>/fdm/jsbsim/fbw/fmgc/pitch-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
		</output>
		<min>-0.3</min>
		<max>0.3</max>
	</filter>

</PropertyList>