IDG-A32X/Systems/a320-fcs.xml

<!-- Airbus A320 FCS/FBW -->
<!-- Joshua Davidson (it0uchpods) -->

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

<system name="A320: FCS">
	
	<property value="0">fbw/roll/pid</property>
	<property value="0">fbw/pitch/g-pi</property>
	<property value="0">fbw/pitch/pid</property>
	<property value="0">fbw/yaw/tc-pid</property>
	<property value="0">fbw/spoiler-output</property>
	
	<!-- Default gains for tuning -->
	<property value="0">fbw/roll/p-gain</property>
	<property value="0">fbw/roll/i-gain</property>
	<property value="0">fbw/roll/d-gain</property>
	<property value="0">fbw/pitch/p-gain</property>
	<property value="0">fbw/pitch/i-gain</property>
	<property value="0">fbw/pitch/d-gain</property>
	<property value="0">fbw/yaw/yd-p-gain</property>
	<property value="0">fbw/yaw/tc-p-gain</property>
	<property value="0">fbw/yaw/tc-i-gain</property>
	
	<!-- FMGC stuff -->
	<property value="0">fbw/fmgc/roll-cmd</property>
	<property value="0">fbw/fmgc/pitch-cmd</property>
	<property value="0">fbw/fmgc/yaw-cmd</property>
	
	<channel name="Libraries">
		
		<switch name="position/wow">
			<default value="0"/>
			<test logic="OR" value="1">
				gear/unit[0]/WOW eq 1
				gear/unit[1]/WOW eq 1
				gear/unit[2]/WOW eq 1
			</test>
		</switch>
		
		<switch name="fbw/roll/gain-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				position/wow eq 1
				/it-fbw/law ne 0
			</test>
		</switch>
		
		<switch name="fbw/pitch/gain-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				position/wow eq 1
				/it-fbw/law eq 2
				/it-fbw/law eq 3
			</test>
		</switch>
		
		<switch name="fbw/yaw/gain-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				position/wow eq 1
				/it-fbw/law eq 2
				/it-fbw/law eq 3
			</test>
		</switch>
		
		<switch name="fbw/fmgc/enabled">
			<default value="0"/>
			<test logic="OR" value="1">
				/it-autoflight/output/ap1 eq 1
				/it-autoflight/output/ap2 eq 1
			</test>
		</switch>
		
		<fcs_function name="fbw/roll/p-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
					<tableData>
						     0     1  
						0.2 -26.2  0.0
						0.9 -15.5  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/roll/i-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
					<tableData>
						     0     1
						0.2 -45.5  0.0
						0.9 -36.0  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/roll/d-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
					<tableData>
						     0    1
						0.2 -2.1  0.0
						0.9 -1.1  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/p-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
					<tableData>
						     0   1  
						0.2  28  0
						0.9  23  0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/i-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
					<tableData>
						     0   1
						0.2  61  0
						0.9  45  0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/d-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
					<tableData>
						     0    1
						0.2  2.9  0.0
						0.9  1.3  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/yaw/yd-p-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
					<tableData>
						     0    1
						0.2 -7.5  0.0
						0.9 -1.5  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/yaw/tc-p-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
					<tableData>
						     0     1
						0.2  5.01  0.00
						0.9  1.05  0.00
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/yaw/tc-i-gain">
			<function>
				<table>
					<independentVar lookup="row">velocities/mach</independentVar>
					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
					<tableData>
						     0     1
						0.2  1.03  0.00
						0.9  0.79  0.00
					</tableData>
				</table>
			</function>
		</fcs_function>
		
	</channel>
	
	<channel name="FBW: Roll">
		
		<switch name="fbw/roll/a-i-f">
			<default value="/controls/flight/aileron"/>
			<test value="0">
				fbw/fmgc/enabled eq 1
			</test>
		</switch>
		
		<kinematic name="fbw/roll/a-i-k">
			<input>fbw/roll/a-i-f</input>
			<traverse>
				<setting>
					<position>-1</position>
					<time>0</time>
				</setting>
				<setting>
					<position>1</position>
					<time>0.7</time>
				</setting>
			</traverse>
			<output>/controls/flight/aileron-input-fast</output>
		</kinematic>
		
		<fcs_function name="fbw/roll/aileron-nul">
			<function>
				<table>
					<independentVar lookup="row">/controls/flight/aileron</independentVar>
					<tableData>
						-1.00 -1
						-0.04  0
						 0.04  0
						 1.00  1
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/a-i-s">
			<default value="0"/>
			<test logic="AND" value="fbw/roll/aileron-nul">
				fbw/fmgc/enabled eq 0
			</test>
			<test logic="AND" value="fbw/fmgc/roll-cmd">
				position/wow eq 0
				fbw/fmgc/enabled eq 1
			</test>
		</switch>
		
		<kinematic name="fbw/roll/a-i">
			<input>fbw/roll/a-i-s</input>
			<traverse>
				<setting>
					<position>-1</position>
					<time>0</time>
				</setting>
				<setting>
					<position>1</position>
					<time>2.0</time>
				</setting>
			</traverse>
			<output>/controls/flight/aileron-input</output>
		</kinematic>
		
		<fcs_function name="fbw/roll/r-r-33">
			<function>
				<sum>
					<product>
						<property>fbw/roll/a-i</property>
						<value>0.261799</value>
					</product>
					<table>
						<independentVar lookup="row">attitude/roll-rad</independentVar>
						<independentVar lookup="column">fbw/roll/a-i</independentVar>
						<tableData>
							          -1         0         1
							-0.575959  0.261799  0.000000  0.000000
							-0.575958  0.000000  0.000000  0.000000
							 0.575958  0.000000  0.000000  0.000000
							 0.575959  0.000000  0.000000 -0.261799
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">attitude/roll-rad</independentVar>
						<tableData>
							-0.750492  0.261799
							-0.575959  0.000000
							 0.575959  0.000000
							 0.750492 -0.261799
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/roll/r-r-67">
			<function>
				<sum>
					<product>
						<property>fbw/roll/a-i</property>
						<value>0.261799</value>
					</product>
					<table>
						<independentVar lookup="row">attitude/roll-rad</independentVar>
						<independentVar lookup="column">fbw/roll/a-i</independentVar>
						<tableData>
							          -1         0         1
							-1.169370  0.261799  0.000000  0.000000
							-1.169369  0.000000  0.000000  0.000000
							 1.169369  0.000000  0.000000  0.000000
							 1.169370  0.000000  0.000000 -0.261799
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">attitude/roll-rad</independentVar>
						<tableData>
							-1.343900  0.261799
							-1.169370  0.000000
							 1.169370  0.000000
							 1.343900 -0.261799
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/roll/r-r-rb-f">
			<function>
				<table>
					<independentVar lookup="row">attitude/roll-rad</independentVar>
					<tableData>
						-1.169370  0.436332
						-0.698132  0.174533
						-0.575959  0.000000
						 0.575959  0.000000
						 0.698132 -0.174533
						 1.169370 -0.436332
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/r-r-rb">
			<default value="fbw/roll/r-r-rb-f"/>
			<test logic="AND" value="fbw/roll/r-r-33">
				attitude/roll-rad lt 0
				fbw/roll/r-r-33 ge fbw/roll/r-r-rb-f
			</test>
			<test logic="AND" value="fbw/roll/r-r-33">
				attitude/roll-rad gt 0
				fbw/roll/r-r-33 le fbw/roll/r-r-rb-f
			</test>
		</switch>
		
		<fcs_function name="fbw/roll/r-r-os-nrb">
			<function>
				<sum>
					<product>
						<property>fbw/roll/a-i</property>
						<value>0.261799</value>
					</product>
					<table>
						<independentVar lookup="row">attitude/roll-rad</independentVar>
						<independentVar lookup="column">fbw/roll/a-i</independentVar>
						<tableData>
							          -1         0         1
							-0.698132  0.261799  0.000000  0.000000
							-0.698131  0.000000  0.000000  0.000000
							 0.698131  0.000000  0.000000  0.000000
							 0.698132  0.000000  0.000000 -0.261799
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/roll/r-r-os-rb">
			<function>
				<table>
					<independentVar lookup="row">attitude/roll-rad</independentVar>
					<tableData>
						-0.698132  0.436332
						-0.261799  0.174533
						 0.000000  0.000000
						 0.261799 -0.174533
						 0.698132 -0.436332
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/rate-demand"> <!-- 15 deg/0.261799 rad per second -->
			<default value="0"/>
			<test logic="AND" value="fbw/roll/r-r-33">
				/it-fbw/roll-lim eq 33
				/it-fbw/roll-back ne 1
				/it-fbw/protections/overspeed ne 1
			</test>
			<test logic="AND" value="fbw/roll/r-r-67">
				/it-fbw/roll-lim eq 67
				/it-fbw/protections/overspeed ne 1
			</test>
			<test logic="AND" value="fbw/roll/r-r-rb">
				/it-fbw/roll-back eq 1
				/it-fbw/protections/overspeed ne 1
			</test>
			<test logic="AND" value="fbw/roll/r-r-os-nrb">
				/it-fbw/protections/overspeed eq 1
				/it-fbw/protections/overspeed-roll-back ne 1
			</test>
			<test logic="AND" value="fbw/roll/r-r-os-rb">
				/it-fbw/protections/overspeed eq 1
				/it-fbw/protections/overspeed-roll-back eq 1
			</test>
		</switch>
		
		<lag_filter name="fbw/roll/rate-demand-lag">
			<input>fbw/roll/rate-demand</input>
			<c1>16.4</c1>
		</lag_filter>
		
		<fcs_function name="fbw/roll/p-rad_sec">
			<function>
				<toradians>
					<property>/orientation/roll-rate-degps</property>
				</toradians>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/p-r_s-s">
			<default value="fbw/roll/p-rad_sec"/>
			<test value="0">
				gear/unit[0]/WOW eq 1
			</test>
		</switch>
		
		<fcs_function name="fbw/roll/rate-error">
			<function>
				<difference>
					<property>fbw/roll/p-r_s-s</property>
					<property>fbw/roll/rate-demand-lag</property>
				</difference>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/trigger">
			<default value="0"/>
			<test value="-1">
				fbw/roll/gain-switch gt 0
			</test>
			<test logic="OR" value="1">
				fbw/roll/pid le -0.999
				fbw/roll/pid ge 0.999
			</test>
		</switch>
		
		<pid name="fbw/roll/pid-v">
			<input>fbw/roll/rate-error</input>
			<kp>fbw/roll/p-gain</kp>
			<ki>fbw/roll/i-gain</ki>
			<kd>fbw/roll/d-gain</kd>
			<trigger>fbw/roll/trigger</trigger>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
			<output>fbw/roll/pid</output>
		</pid>
		
		<pure_gain name="fbw/roll/rudder-inv">
			<input>fbw/fmgc/yaw-cmd</input>
			<gain>-0.5</gain>
		</pure_gain>
		
		<switch name="fbw/roll/gear-law-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				position/wow eq 1
				/it-fbw/law eq 1
				/it-fbw/law eq 2
			</test>
		</switch>
		
		<switch name="fbw/aileron-output">
			<default value="0"/>
			<test logic="AND" value="fbw/roll/pid">
				position/wow eq 0
				/it-fbw/law eq 0
			</test>
			<test logic="AND" value="fbw/roll/a-i-f">
				fbw/fmgc/enabled eq 0
				fbw/roll/gear-law-switch eq 1
			</test>
			<test logic="AND" value="fbw/roll/rudder-inv">
				fbw/fmgc/enabled eq 1
				position/wow eq 1
				/it-fbw/law eq 0
			</test>
			<test logic="AND" value="0">
				/it-fbw/law eq 3
			</test>
		</switch>
		
		<fcs_function name="fbw/roll/s-i-f">
			<function>
				<product>
					<table>
						<independentVar lookup="row">fbw/roll/a-i</independentVar>
						<tableData>
							-1.0 -1.0
							-0.2  0.0
							 0.2  0.0
							 1.0  1.0
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">velocities/mach</independentVar>
						<independentVar lookup="column">position/wow</independentVar>
						<tableData>
							     0    1
							0.2  0.5  1.0
							0.9  0.1  1.0
						</tableData>
					</table>
				</product>
			</function>
		</fcs_function>
		
		<switch name="fbw/roll/s-i">
			<default value="0"/>
			<test value="fbw/roll/s-i-f">
				/it-fbw/roll-back eq 0
			</test>
		</switch>
		
		<switch name="fbw/roll/s-l">
			<default value="0"/>
			<test value="fbw/roll/s-i">
				/it-fbw/law ne 3
				/systems/failures/aileron-left eq 0
			</test>
			<test value="fbw/aileron-output">
				/it-fbw/law ne 3
				/systems/failures/aileron-left eq 1
			</test>
		</switch>
		
		<switch name="fbw/roll/s-r">
			<default value="0"/>
			<test value="fbw/roll/s-i">
				/it-fbw/law ne 3
				/systems/failures/aileron-right eq 0
			</test>
			<test value="fbw/aileron-output">
				/it-fbw/law ne 3
				/systems/failures/aileron-right eq 1
			</test>
		</switch>
		
		<lag_filter name="fbw/aileron-sidestick">
			<input>/controls/flight/aileron</input>
			<c1>20</c1>
		</lag_filter>
	
	</channel>
	
	<channel name="FBW: Pitch">
		
		<switch name="fbw/pitch/e-i-f">
			<default value="/controls/flight/elevator"/>
			<test value="0">
				fbw/fmgc/enabled eq 1
			</test>
		</switch>
		
		<kinematic name="fbw/pitch/e-i-k">
			<input>fbw/pitch/e-i-f</input>
			<traverse>
				<setting>
					<position>-1</position>
					<time>0</time>
				</setting>
				<setting>
					<position>1</position>
					<time>0.7</time>
				</setting>
			</traverse>
			<output>/controls/flight/elevator-input-fast</output>
		</kinematic>
		
		<fcs_function name="fbw/pitch/elevator-nul">
			<function>
				<table>
					<independentVar lookup="row">/controls/flight/elevator</independentVar>
					<tableData>
						-1.00 -1
						-0.04  0
						 0.04  0
						 1.00  1
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/e-f-air">
			<function>
				<sum>
					<property>fbw/pitch/elevator-nul</property>
					<table>
						<independentVar lookup="row">/position/gear-agl-ft</independentVar>
						<tableData>
							 5  0.2
							30  0.1
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/e-f-wow">
			<function>
				<sum>
					<property>fbw/pitch/elevator-nul</property>
					<value>-0.15</value>
				</sum>
			</function>
		</fcs_function>
		
		<switch name="fbw/pitch/flare-gear-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				gear/unit[1]/WOW eq 1
				gear/unit[2]/WOW eq 1
			</test>
		</switch>
		
		<switch name="fbw/pitch/e-i-s">
			<default value="fbw/pitch/elevator-nul"/>
			<test logic="AND" value="fbw/pitch/e-f-air">
				fbw/fmgc/enabled eq 0
				/position/gear-agl-ft le 30
				/controls/flight/flap-pos ge 4
				/controls/engines/engine[0]/throttle lt 0.65
				/controls/engines/engine[1]/throttle lt 0.65
				/FMGC/status/to-state eq 0
				/it-fbw/law eq 0
				position/wow eq 0
			</test>
			<test logic="AND" value="fbw/pitch/e-f-wow">
				fbw/fmgc/enabled eq 0
				/position/gear-agl-ft le 30
				/controls/flight/flap-pos ge 4
				/controls/engines/engine[0]/throttle lt 0.65
				/controls/engines/engine[1]/throttle lt 0.65
				/FMGC/status/to-state eq 0
				/it-fbw/law eq 0
				gear/unit[0]/WOW eq 0
				fbw/pitch/flare-gear-switch eq 1
			</test>
			<test logic="AND" value="fbw/fmgc/pitch-cmd">
				fbw/fmgc/enabled eq 1
				position/wow eq 0
			</test>
			<test logic="AND" value="0">
				fbw/fmgc/enabled eq 1
				position/wow eq 1
			</test>
		</switch>
		
		<kinematic name="fbw/pitch/e-i">
			<input>fbw/pitch/e-i-s</input>
			<traverse>
				<setting>
					<position>-1</position>
					<time>0</time>
				</setting>
				<setting>
					<position>1</position>
					<time>2.0</time>
				</setting>
			</traverse>
			<output>/controls/flight/elevator-input</output>
		</kinematic>
		
		<switch name="fbw/pitch/g-min">
			<default value="-1.0"/>
			<test value="0.0">
				/controls/flight/flap-pos ne 0
			</test>
		</switch>
		
		<switch name="fbw/pitch/g-max">
			<default value="2.5"/>
			<test value="2.0">
				/controls/flight/flap-pos ne 0
			</test>
		</switch>
		
		<fcs_function name="fbw/pitch/g-demand">
			<function>
				<table>
					<independentVar lookup="row">fbw/pitch/e-i</independentVar>
					<tableData>
						-1.0  2.5
						 0.0  1.0
						 1.0 -0.5
					</tableData>
				</table>
			</function>
			<clipto>
				<min>fbw/pitch/g-min</min>
				<max>fbw/pitch/g-max</max>
			</clipto>
		</fcs_function>
		
		<pure_gain name="fbw/pitch/g-instrumented">
			<input>/accelerations/pilot-g</input>
			<gain>1.0</gain>
		</pure_gain>
		
		<fcs_function name="fbw/pitch/g-computed">
			<function>
				<sum>
					<property>fbw/pitch/g-instrumented</property>
					<quotient>
						<value>-1</value>
						<cos>
							<property>attitude/roll-rad</property>
						</cos>
					</quotient>
					<value>1</value>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/g-error">
			<function>
				<difference>
					<property>fbw/pitch/g-computed</property>
					<property>fbw/pitch/g-demand</property>
				</difference>
			</function>
		</fcs_function>
		
		<!-- Goes to Systems/fbw-pitch.xml then back as fbw/pitch/g-pi -->
		
		<pure_gain name="fbw/pitch/g-pi-inv">
			<input>fbw/pitch/g-pi</input>
			<gain>-1.0</gain>
		</pure_gain>
		
		<switch name="fbw/pitch/g-pi-switched">
			<default value="fbw/pitch/g-pi"/>
			<test logic="OR" value="fbw/pitch/g-pi-inv">
				attitude/roll-rad lt -1.5708
				attitude/roll-rad gt 1.5708
			</test>
		</switch>
		
		<!--pure_gain name="fbw/pitch/g-pi-switched">
			<input>fbw/pitch/e-i</input>
			<gain>1.0</gain>
		</pure_gain--> <!-- Tuning G Bypass -->
		
		<fcs_function name="fbw/pitch/p-r-norm">
			<function>
				<sum>
					<product>
						<property>fbw/pitch/g-pi-switched</property>
						<value>-0.087266</value>
					</product>
					<table>
						<independentVar lookup="row">attitude/pitch-rad</independentVar>
						<independentVar lookup="column">fbw/pitch/g-pi-switched</independentVar>
						<tableData>
							          -1         0         1
							-0.261799  0.000000  0.000000  0.087266
							-0.261798  0.000000  0.000000  0.000000
							 0.523598  0.000000  0.000000  0.000000
							 0.523599 -0.087266  0.000000  0.000000
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">attitude/pitch-rad</independentVar>
						<tableData>
							-0.436332  0.087266
							-0.261799  0.000000
							 0.523599  0.000000
							 0.698132 -0.087266
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<pure_gain name="fbw/pitch/p-r-altn">
			<input>fbw/pitch/g-pi-switched</input>
			<gain>-0.087266</gain>
		</pure_gain>
		
		<fcs_function name="fbw/pitch/p-r-norm-os">
			<function>
				<sum>
					<table>
						<independentVar lookup="row">fbw/pitch/g-pi-switched</independentVar>
						<tableData>
							-1.0  0.087266
							 0.0  0.026180
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">attitude/pitch-rad</independentVar>
						<independentVar lookup="column">fbw/pitch/g-pi-switched</independentVar>
						<tableData>
							          -1         0       
							 0.523598 -0.026180  0.000000
							 0.523599 -0.087266  0.000000
						</tableData>
					</table>
					<table>
						<independentVar lookup="row">attitude/pitch-rad</independentVar>
						<tableData>
							 0.523599  0.000000
							 0.698132 -0.087266
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/pitch/p-r-altn-os">
			<function>
				<table>
					<independentVar lookup="row">fbw/pitch/g-pi-switched</independentVar>
					<tableData>
						-1.0  0.087266
						 0.0  0.026180
						 1.0 -0.061086
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="fbw/pitch/rate-demand"> <!-- 5 deg/0.087266 rad per second -->
			<default value="0"/>
			<test logic="AND" value="fbw/pitch/p-r-norm">
				/it-fbw/law eq 0
				/it-fbw/protections/overspeed ne 1
			</test>
			<test logic="AND" value="fbw/pitch/p-r-altn">
				/it-fbw/law ne 0
				/it-fbw/protections/overspeed ne 1
			</test>
			<test logic="AND" value="fbw/pitch/p-r-norm-os">
				/it-fbw/law eq 0
				/it-fbw/protections/overspeed eq 1
			</test>
			<test logic="AND" value="fbw/pitch/p-r-altn-os">
				/it-fbw/law ne 0
				/it-fbw/protections/overspeed eq 1
			</test>
		</switch>
		
		<lag_filter name="fbw/pitch/rate-demand-lag">
			<input>fbw/pitch/rate-demand</input>
			<c1>10.1</c1>
		</lag_filter>
		
		<fcs_function name="fbw/pitch/thetadot-rad_sec">
			<function>
				<toradians>
					<property>/orientation/pitch-rate-degps</property>
				</toradians>
			</function>
		</fcs_function>
		
		<switch name="fbw/pitch/t-r_s-s">
			<default value="fbw/pitch/thetadot-rad_sec"/>
			<test value="0">
				gear/unit[0]/WOW eq 1
			</test>
		</switch>
		
		<fcs_function name="fbw/pitch/rate-error">
			<function>
				<difference>
					<property>fbw/pitch/t-r_s-s</property>
					<property>fbw/pitch/rate-demand-lag</property>
				</difference>
			</function>
		</fcs_function>
		
		<switch name="fbw/pitch/trigger">
			<default value="0"/>
			<test value="-1">
				fbw/pitch/gain-switch gt 0
			</test>
			<test logic="OR" value="1">
				fbw/pitch/pid le -0.999
				fbw/pitch/pid ge 0.999
			</test>
		</switch>
		
		<pid name="fbw/pitch/pid-v">
			<input>fbw/pitch/rate-error</input>
			<kp>fbw/pitch/p-gain</kp>
			<ki>fbw/pitch/i-gain</ki>
			<kd>fbw/pitch/d-gain</kd>
			<trigger>fbw/pitch/trigger</trigger>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
			<output>fbw/pitch/pid</output>
		</pid>
		
		<pure_gain name="fbw/pitch/pid-inv">
			<input>fbw/pitch/pid</input>
			<gain>-1.0</gain>
		</pure_gain>
		
		<switch name="fbw/pitch/pid-switched">
			<default value="fbw/pitch/pid"/>
			<test logic="OR" value="fbw/pitch/pid-inv">
				attitude/roll-rad lt -1.5708
				attitude/roll-rad gt 1.5708
			</test>
		</switch>
		
		<switch name="fbw/pitch/law-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				/it-fbw/law eq 0
				/it-fbw/law eq 1
			</test>
		</switch>
		
		<switch name="fbw/pitch/law-gear-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				gear/unit[1]/WOW eq 1
				gear/unit[2]/WOW eq 1
				/it-fbw/law eq 2
			</test>
		</switch>
		
		<switch name="fbw/elevator-output">
			<default value="0"/>
			<test logic="AND" value="fbw/pitch/pid-switched">
				position/wow eq 0
				fbw/pitch/law-switch eq 1
			</test>
			<test logic="AND" value="fbw/pitch/e-i-f">
				fbw/fmgc/enabled eq 0
				fbw/pitch/law-gear-switch eq 1
			</test>
			<test logic="AND" value="0.1">
				fbw/fmgc/enabled eq 1
				position/wow eq 1
			</test>
			<test logic="AND" value="0">
				/it-fbw/law eq 3
			</test>
		</switch>
		
		<lag_filter name="fbw/elevator-sidestick">
			<input>/controls/flight/elevator</input>
			<c1>20</c1>
		</lag_filter>
		
		<switch name="fbw/pitch/autotrim-height">
			<default value="50"/>
			<test logic="AND" value="100">
				fbw/fmgc/enabled eq 1
			</test>
		</switch>
		
		<switch name="fbw/pitch/autotrim-switch">
			<default value="0"/>
			<test logic="AND" value="1">
				fbw/pitch/gain-switch eq 0
				/position/gear-agl-ft ge fbw/pitch/autotrim-height
				attitude/roll-rad lt 0.628319
				attitude/roll-rad gt -0.628319
				fbw/pitch/pid-switched ge 0.01
				forces/load-factor lt -0.5
				/it-fbw/protections/overspeed ne 1
				/controls/flight/elevator-trim le 0.32
				position/wow eq 0
			</test>
			<test logic="AND" value="2">
				fbw/pitch/gain-switch eq 0
				/position/gear-agl-ft ge fbw/pitch/autotrim-height
				attitude/roll-rad lt 0.628319
				attitude/roll-rad gt -0.628319
				fbw/pitch/pid-switched le -0.01
				forces/load-factor lt -0.5
				/it-fbw/protections/overspeed ne 1
				/controls/flight/elevator-trim ge -1.0
				position/wow eq 0
			</test>
		</switch>
		
		<fcs_function name="fbw/pitch/autotrim-offset">
			<function>
				<sum>
					<ifthen>
						<eq>
							<property>fbw/pitch/autotrim-switch</property>
							<value>1</value>
						</eq>
						<table>
							<independentVar lookup="row">fbw/pitch/pid-switched</independentVar>
							<tableData>
								0.05  0.00001
								0.30  0.00015
							</tableData>
						</table>
						<value>0.0</value>
					</ifthen>
					<ifthen>
						<eq>
							<property>fbw/pitch/autotrim-switch</property>
							<value>2</value>
						</eq>
						<table>
							<independentVar lookup="row">fbw/pitch/pid-switched</independentVar>
							<tableData>
								-0.30 -0.00015
								-0.05 -0.00001
							</tableData>
						</table>
						<value>0.0</value>
					</ifthen>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="fbw/elevator-trim-output">
			<function>
				<sum>
					<property>/controls/flight/elevator-trim</property>
					<property>fbw/pitch/autotrim-offset</property>
				</sum>
			</function>
			<clipto>
				<min>-1.0</min>
				<max>0.32</max>
			</clipto>
			<output>/controls/flight/elevator-trim</output>
		</fcs_function>
	
	</channel>
	
	<channel name="FBW: Yaw">
		
		<fcs_function name="fbw/yaw/rudder-nul">
			<function>
				<table>
					<independentVar lookup="row">/controls/flight/rudder</independentVar>
					<independentVar lookup="column">fbw/fmgc/enabled</independentVar>
					<tableData>
						       0  1
						-1.00 -1  0
						-0.04  0  0
						 0.04  0  0
						 1.00  1  0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="fbw/yaw/autoland-switch">
			<default value="0"/>
			<test logic="AND" value="1">
				fbw/fmgc/enabled eq 1
				/it-autoflight/output/lat eq 4
			</test>
		</switch>
		
		<switch name="fbw/yaw/r-r_s-s">
			<default value="velocities/r-rad_sec"/>
			<test logic="OR" value="0">
				position/wow eq 1
				fbw/yaw/rudder-nul gt 0
				fbw/yaw/rudder-nul lt 0
				/position/gear-agl-ft lt 50
				fbw/yaw/autoland-switch eq 1
			</test>
		</switch>
		
		<pure_gain name="fbw/yaw/yd-f">
			<input>fbw/yaw/r-r_s-s</input>
			<gain>fbw/yaw/yd-p-gain</gain>
			<clipto>
				<min>-0.1</min>
				<max>0.1</max>
			</clipto>
		</pure_gain>
		
		<switch name="fbw/yaw/slip-skid">
			<default value="aero/beta-rad"/>
			<test logic="OR" value="0">
				position/wow eq 1
				fbw/yaw/rudder-nul gt 0
				fbw/yaw/rudder-nul lt 0
			</test>
		</switch>
		
		<switch name="fbw/yaw/trigger">
			<default value="0"/>
			<test logic="OR" value="-1">
				fbw/yaw/gain-switch gt 0
				/position/gear-agl-ft lt 50
				fbw/yaw/autoland-switch eq 1
			</test>
			<test logic="OR" value="1">
				fbw/yaw/tc-pid le -0.199
				fbw/yaw/tc-pid ge 0.199
			</test>
		</switch>
		
		<pid name="fbw/yaw/tc-pid-v">
			<input>fbw/yaw/slip-skid</input>
			<kp>fbw/yaw/tc-p-gain</kp>
			<ki>fbw/yaw/tc-i-gain</ki>
			<kd>0.0</kd>
			<trigger>fbw/yaw/trigger</trigger>
			<clipto>
				<min>-0.2</min>
				<max>0.2</max>
			</clipto>
			<output>fbw/yaw/tc-pid</output>
		</pid>
		
		<switch name="fbw/yaw/tc-pid-s">
			<default value="fbw/yaw/tc-pid"/>
			<test logic="OR" value="0">
				position/wow eq 1
				fbw/yaw/rudder-nul gt 0
				fbw/yaw/rudder-nul lt 0
			</test>
		</switch>
		
		<switch name="fbw/yaw/fmgc-cmd">
			<default value="0"/>
			<test value="fbw/fmgc/yaw-cmd">
				fbw/yaw/autoland-switch eq 1
			</test>
		</switch>
		
		<summer name="fbw/yaw/output-sum">
			<input>fbw/yaw/yd-f</input>
			<input>fbw/yaw/tc-pid-s</input>
			<input>fbw/yaw/fmgc-cmd</input>
		</summer>
		
		<switch name="fbw/yaw/law-switch">
			<default value="0"/>
			<test logic="OR" value="1">
				/it-fbw/law eq 0
				/it-fbw/law eq 1
			</test>
		</switch>
		
		<switch name="fbw/rudder-output">
			<default value="fbw/yaw/rudder-nul"/>
			<test logic="AND" value="fbw/yaw/output-sum">
				fbw/yaw/law-switch eq 1
				fbw/yaw/rudder-nul eq 0
			</test>
			<output>/controls/flight/rudder-fbw</output>
		</switch>
		
		<lag_filter name="fbw/rudder-pedal">
			<input>/controls/flight/rudder</input>
			<c1>20</c1>
		</lag_filter>
	
	</channel>
	
	<channel name="Surface Droop">
		
		<fcs_function name="hydraulics/aileron-droop">
			<function>
				<table>
					<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
					<tableData>
						 62  1.0
						116  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<fcs_function name="hydraulics/elevator-droop">
			<function>
				<table>
					<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
					<tableData>
						 72  1.0
						121  0.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<actuator name="spoilers/anti-droop-cmd">
			<input>fbw/spoiler-output</input>
			<rate_limit sense="incr">0.9</rate_limit>
			<rate_limit sense="decr">2.5</rate_limit>
		</actuator>
		
		<fcs_function name="spoilers/anti-droop-final">
			<function>
				<table>
					<independentVar lookup="row">spoilers/anti-droop-cmd</independentVar>
					<tableData>
						0.5  0.0
						1.0  1.0
					</tableData>
				</table>
			</function>
		</fcs_function>
	
	</channel>
	
	<channel name="Aileron L">
		
		<fcs_function name="hydraulics/aileron-l/extended">
			<function>
				<sum>
					<value>-1</value>
					<property>fbw/aileron-output</property>
				</sum>
			</function>
		</fcs_function>
		
		<fcs_function name="hydraulics/aileron-l/retracted">
			<function>
				<sum>
					<property>fbw/aileron-output</property>
					<table>
						<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
						<tableData>
							1  0.00
							5  0.26
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<switch name="hydraulics/aileron-l/pressure-switch-or">
			<default value="0"/>
			<test logic="OR" value="1">
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/blue-psi ge 1500
			</test>
		</switch>
		
		<switch name="hydraulics/aileron-l/switch">
			<default value="hydraulics/aileron-droop"/>
			<test logic="AND" value="hydraulics/aileron-l/extended">
				hydraulics/aileron-l/pressure-switch-or eq 1
				spoilers/anti-droop-final ne 0
				/gear/gear[1]/wow eq 1
				/gear/gear[2]/wow eq 1
				/systems/failures/aileron-left eq 0
			</test>
			<test logic="AND" value="hydraulics/aileron-l/retracted">
				hydraulics/aileron-l/pressure-switch-or eq 1
				/systems/failures/aileron-left eq 0
			</test>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
		</switch>
		
		<lag_filter name="hydraulics/aileron-l/final">
			<input>hydraulics/aileron-l/switch</input>
			<c1>14.5</c1>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/aileron-l/final-deg">
			<input>hydraulics/aileron-l/final</input>
			<range>
				<min>-25</min>
				<max>25</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Aileron R">
		
		<fcs_function name="hydraulics/aileron-r/extended">
			<function>
				<product>
					<sum>
						<value>1</value>
						<property>fbw/aileron-output</property>
					</sum>
					<value>-1.0</value>
				</product>
			</function>
		</fcs_function>
		
		<fcs_function name="hydraulics/aileron-r/retracted">
			<function>
				<sum>
					<product>
						<property>fbw/aileron-output</property>
						<value>-1.0</value>
					</product>
					<table>
						<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
						<tableData>
							1  0.00
							5  0.26
						</tableData>
					</table>
				</sum>
			</function>
		</fcs_function>
		
		<switch name="hydraulics/aileron-r/pressure-switch-or">
			<default value="0"/>
			<test logic="OR" value="1">
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/blue-psi ge 1500
			</test>
		</switch>
		
		<switch name="hydraulics/aileron-r/switch">
			<default value="hydraulics/aileron-droop"/>
			<test logic="AND" value="hydraulics/aileron-r/extended">
				hydraulics/aileron-r/pressure-switch-or eq 1
				spoilers/anti-droop-final ne 0
				/gear/gear[1]/wow eq 1
				/gear/gear[2]/wow eq 1
				/systems/failures/aileron-right eq 0
			</test>
			<test logic="AND" value="hydraulics/aileron-r/retracted">
				hydraulics/aileron-r/pressure-switch-or eq 1
				/systems/failures/aileron-right eq 0
			</test>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
		</switch>
		
		<lag_filter name="hydraulics/aileron-r/final">
			<input>hydraulics/aileron-r/switch</input>
			<c1>14.5</c1>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/aileron-r/final-deg">
			<input>hydraulics/aileron-r/final</input>
			<range>
				<min>-25</min>
				<max>25</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Elevator Common">
		
		<aerosurface_scale name="hydraulics/elevator-output-scale">
			<input>fbw/elevator-output</input>
			<range>
				<min>-0.6666666666666666666666666666666</min>
				<max>1.0</max>
			</range>
		</aerosurface_scale>
		
		<switch name="hydraulics/elevator-output-switch">
			<default value="hydraulics/elevator-output-scale"/>
			<test value="fbw/elevator-output">
				/velocities/groundspeed-kt lt 75
			</test>
		</switch>
	
	</channel>
	
	<channel name="Elevator L">
		
		<switch name="hydraulics/elevator-l/pressure-switch-or">
			<default value="0"/>
			<test logic="OR" value="1">
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/blue-psi ge 1500
			</test>
		</switch>
		
		<switch name="hydraulics/elevator-l/switch">
			<default value="hydraulics/elevator-droop"/>
			<test logic="AND" value="hydraulics/elevator-output-switch">
				hydraulics/elevator-l/pressure-switch-or eq 1
				/systems/failures/elevator-left eq 0
			</test>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
		</switch>
		
		<lag_filter name="hydraulics/elevator-l/final">
			<input>hydraulics/elevator-l/switch</input>
			<c1>14.5</c1>
			<output>/controls/flight/elevator-left</output>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/elevator-l/final-deg">
			<input>hydraulics/elevator-l/final</input>
			<range>
				<min>-30</min>
				<max>17</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Elevator R">
		
		<switch name="hydraulics/elevator-r/pressure-switch-or">
			<default value="0"/>
			<test logic="OR" value="1">
				/systems/hydraulic/yellow-psi ge 1500
				/systems/hydraulic/blue-psi ge 1500
			</test>
		</switch>
		
		<switch name="hydraulics/elevator-r/switch">
			<default value="hydraulics/elevator-droop"/>
			<test logic="AND" value="hydraulics/elevator-output-switch">
				hydraulics/elevator-r/pressure-switch-or eq 1
				/systems/failures/elevator-right eq 0
			</test>
			<clipto>
				<min>-1.0</min>
				<max>1.0</max>
			</clipto>
		</switch>
		
		<lag_filter name="hydraulics/elevator-r/final">
			<input>hydraulics/elevator-r/switch</input>
			<c1>14.5</c1>
			<output>/controls/flight/elevator-right</output>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/elevator-r/final-deg">
			<input>hydraulics/elevator-r/final</input>
			<range>
				<min>-30</min>
				<max>17</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Elevator Trim">
		
		<aerosurface_scale name="hydraulics/elevator-trim/cmd-deg">
			<input>/controls/flight/elevator-trim</input>
			<domain>
				<min>-1.00</min>
				<max>0.32</max>
			</domain>
			<range>
				<min>-12.5</min>
				<max>4.0</max>
			</range>
		</aerosurface_scale>
		
		<switch name="hydraulics/elevator-trim/rate">
			<default value="0.01"/>
			<test value="0.02">
				/systems/hydraulic/green-psi ge 1500
			</test>
		</switch>
		
		<actuator name="hydraulics/elevator-trim/actuator">
			<input>/controls/flight/elevator-trim</input>
			<rate_limit>hydraulics/elevator-trim/rate</rate_limit>
		</actuator>
		
		<lag_filter name="hydraulics/elevator-trim/lag">
			<input>hydraulics/elevator-trim/actuator</input>
			<c1>10.5</c1>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/elevator-trim/final-deg">
			<input>hydraulics/elevator-trim/lag</input>
			<domain>
				<min>-1.00</min>
				<max>0.32</max>
			</domain>
			<range>
				<min>-12.5</min>
				<max>4.0</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Pitch Aero">
		
		<scheduled_gain name="hydraulics/elevator-l/final-deg-aero">
			<input>hydraulics/elevator-l/final-deg</input>
			<table>
				<independentVar lookup="row">velocities/mach</independentVar>
				<independentVar lookup="column">atmosphere/density-altitude</independentVar>
				<tableData>
					     0     43000
					0.0  1.00  0.850
					0.9  0.02  0.750
				</tableData>
			</table>
		</scheduled_gain>
		
		<scheduled_gain name="hydraulics/elevator-r/final-deg-aero">
			<input>hydraulics/elevator-r/final-deg</input>
			<table>
				<independentVar lookup="row">velocities/mach</independentVar>
				<independentVar lookup="column">atmosphere/density-altitude</independentVar>
				<tableData>
					     0     43000
					0.0  1.00  0.850
					0.9  0.02  0.750
				</tableData>
			</table>
		</scheduled_gain>
		
		<scheduled_gain name="hydraulics/elevator-trim/final-deg-aero">
			<input>hydraulics/elevator-trim/final-deg</input>
			<table>
				<independentVar lookup="row">velocities/mach</independentVar>
				<independentVar lookup="column">atmosphere/density-altitude</independentVar>
				<tableData>
					     0     43000
					0.0  1.00  0.850
					0.9  0.02  0.750
				</tableData>
			</table>
		</scheduled_gain>
	
	</channel>
	
	<channel name="Rudder">
		
		<fcs_function name="hydraulics/rudder/max-deg-fac">
			<function>
				<table>
					<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
					<tableData>
						160.00  25.000
						162.15  23.649
						165.02  22.226
						168.64  21.015
						172.25  19.734
						176.59  18.595
						181.67  17.525
						186.75  16.385
						191.83  15.316
						197.65  14.318
						205.65  13.247
						212.93  12.318
						219.48  11.462
						227.48  10.533
						236.96  9.7450
						246.43  8.8863
						255.18  8.0990
						266.12  7.4525
						277.06  6.7704
						288.00  6.0884
						299.67  5.5124
						311.35  5.0075
						323.03  4.5736
						335.44  4.2104
						347.13  3.9186
						358.81  3.6979
						370.50  3.5482
						380.00  3.4000
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<switch name="hydraulics/rudder/max-deg-switch">
			<default value="25"/>
			<test logic="AND" value="hydraulics/rudder/max-deg-fac">
				/systems/fctl/fac1 eq 1
				/systems/fctl/fac2 eq 1
				/gear/gear[1]/wow eq 0
				/gear/gear[2]/wow eq 0
			</test>
			<test logic="AND" value="hydraulics/rudder/max-deg-fac">
				/controls/flight/slats eq 0
				/gear/gear[1]/wow eq 0
				/gear/gear[2]/wow eq 0
			</test>
		</switch>
		
		<aerosurface_scale name="hydraulics/rudder/max-deg-scale">
			<input>hydraulics/rudder/max-deg-switch</input>
			<domain>
				<min>-25</min>
				<max>25</max>
			</domain>
			<range>
				<min>-1</min>
				<max>1</max>
			</range>
		</aerosurface_scale>
		
		<pure_gain name="hydraulics/rudder/max-deg-scale-neg">
			<input>hydraulics/rudder/max-deg-scale</input>
			<gain>-1.0</gain>
		</pure_gain>
		
		<switch name="hydraulics/rudder/pressure-switch-or">
			<default value="0"/>
			<test logic="OR" value="1">
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/blue-psi ge 1500
				/systems/hydraulic/yellow-psi ge 1500
			</test>
		</switch>
		
		<aerosurface_scale name="hydraulics/rudder/trim-cmd-deg">
			<input>/controls/flight/rudder-trim</input>
			<domain>
				<min>-1.0</min>
				<max>1.0</max>
			</domain>
			<range>
				<min>-20.0</min>
				<max>20.0</max>
			</range>
		</aerosurface_scale>
		
		<aerosurface_scale name="hydraulics/rudder/trim-norm">
			<input>/controls/flight/rudder-trim</input>
			<range>
				<min>-0.8</min>
				<max>0.8</max>
			</range>
		</aerosurface_scale>
		
		<summer name="hydraulics/rudder/summer">
			<input>fbw/rudder-output</input>
			<input>hydraulics/rudder/trim-norm</input>
			<clipto>
				<min>-1</min>
				<max>1</max>
			</clipto>
		</summer>
		
		<switch name="hydraulics/rudder/switch">
			<default value="0"/>
			<test logic="AND" value="hydraulics/rudder/summer">
				hydraulics/rudder/pressure-switch-or eq 1
				/systems/failures/rudder eq 0
			</test>
			<clipto>
				<min>hydraulics/rudder/max-deg-scale-neg</min>
				<max>hydraulics/rudder/max-deg-scale</max>
			</clipto>
		</switch>
		
		<lag_filter name="hydraulics/rudder/final">
			<input>hydraulics/rudder/switch</input>
			<c1>13.5</c1>
		</lag_filter>
		
		<aerosurface_scale name="hydraulics/rudder/final-deg">
			<input>hydraulics/rudder/final</input>
			<range>
				<min>-25</min>
				<max>25</max>
			</range>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="FADEC">
		
		<lag_filter name="fcs/throttle1">
			<input>/controls/engines/engine[0]/throttle-output</input>
			<c1>0.95</c1>
			<output>fcs/throttle-pos-norm[0]</output>
		</lag_filter>
		
		<lag_filter name="fcs/throttle2">
			<input>/controls/engines/engine[1]/throttle-output</input>
			<c1>0.95</c1>
			<output>fcs/throttle-pos-norm[1]</output>
		</lag_filter>
		
		<lag_filter name="fcs/n1-actual1">
			<input>/engines/engine[0]/n1</input>
			<c1>2.25</c1>
			<output>/engines/engine[0]/n1-actual</output>
			<output>/engines/engine[3]/n1</output>
		</lag_filter>
		
		<lag_filter name="fcs/n1-actual2">
			<input>/engines/engine[1]/n1</input>
			<c1>2.25</c1>
			<output>/engines/engine[1]/n1-actual</output>
			<output>/engines/engine[4]/n1</output>
		</lag_filter>
		
		<lag_filter name="fcs/n2-actual1">
			<input>/engines/engine[0]/n2</input>
			<c1>2.25</c1>
			<output>/engines/engine[0]/n2-actual</output>
			<output>/engines/engine[3]/n2</output>
		</lag_filter>
		
		<lag_filter name="fcs/n2-actual2">
			<input>/engines/engine[1]/n2</input>
			<c1>2.25</c1>
			<output>/engines/engine[1]/n2-actual</output>
			<output>/engines/engine[4]/n2</output>
		</lag_filter>
	
	</channel>
	
	<channel name="Flaps">
		
		<pure_gain name="fcs/flap-pos-gain">
			<input>/controls/flight/flaps</input>
			<gain>35.0</gain>
		</pure_gain>
		
		<switch name="fcs/flap-pos-rate">
			<default value="0.0"/>
			<test logic="OR" value="1.16666666">
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/yellow-psi ge 1500
			</test>
		</switch>
		
		<actuator name="rubbish/flap-pos-deg">
			<input>fcs/flap-pos-gain</input>
			<rate_limit>fcs/flap-pos-rate</rate_limit>
			<output>fcs/flap-pos-deg</output>
		</actuator>
		
		<aerosurface_scale name="rubbish/flap-pos-norm">
			<input>fcs/flap-pos-deg</input>
			<domain>
				<min>0</min>
				<max>35</max>
			</domain>
			<range>
				<min>0</min>
				<max>1</max>
			</range>
			<output>fcs/flap-pos-norm</output>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Slats">
		
		<pure_gain name="fcs/slat-pos-gain">
			<input>/controls/flight/slats</input>
			<gain>27.0</gain>
		</pure_gain>
		
		<switch name="fcs/slat-pos-rate">
			<default value="0.0"/>
			<test logic="OR" value="1.35">
				/systems/hydraulic/blue-psi ge 1500
				/systems/hydraulic/green-psi ge 1500
				/systems/hydraulic/yellow-psi ge 1500
			</test>
		</switch>
		
		<actuator name="rubbish/slat-pos-deg">
			<input>fcs/slat-pos-gain</input>
			<rate_limit>fcs/slat-pos-rate</rate_limit>
			<output>fcs/slat-pos-deg</output>
		</actuator>
		
		<aerosurface_scale name="rubbish/slat-pos-norm">
			<input>fcs/slat-pos-deg</input>
			<domain>
				<min>0</min>
				<max>27</max>
			</domain>
			<range>
				<min>0</min>
				<max>1</max>
			</range>
			<output>fcs/slat-pos-norm</output>
		</aerosurface_scale>
	
	</channel>
	
	<channel name="Landing Gear">
		
		<kinematic name="rubbish/gear-pos-norm">
			<input>gear/gear-cmd-norm</input>
			<traverse>
				<setting>
					<position>0</position>
					<time>0</time>
				</setting>
				<setting>
					<position>1</position>
					<time>10</time>
				</setting>
			</traverse>
			<output>gear/gear-pos-norm</output>
		</kinematic>
	
	</channel>
	
	<channel name="Tiller">
		
		<switch name="hydraulics/tiller/switch">
			<default value="/controls/flight/rudder"/>
			<test logic="AND" value="/controls/flight/aileron">
				fbw/fmgc/enabled eq 0
				/controls/flight/aileron-drives-tiller eq 1
			</test>
			<test value="fbw/fmgc/yaw-cmd">
				fbw/fmgc/enabled eq 1
			</test>
		</switch>
		
		<fcs_function name="hydraulics/tiller/function">
			<function>
				<table>
					<independentVar lookup="row">/velocities/groundspeed-kt</independentVar>
					<independentVar lookup="column">hydraulics/tiller/switch</independentVar>
					<tableData>
						       -1     0  1
						30.000 -70.0  0  70.0
						30.001 -10.0  0  10.0
					</tableData>
				</table>
			</function>
		</fcs_function>
		
		<actuator name="fcs/steer-deg">
			<input>hydraulics/tiller/function</input>
			<rate_limit>70</rate_limit>
			<output>fcs/steer-pos-deg[0]</output>
		</actuator>
		
		<switch name="fcs/pushback-steer-deg">
			<default value="0"/>
			<test value="fcs/steer-deg">
				/sim/model/pushback/position-norm gt 0.999
			</test>
		</switch>
	
	</channel>
	
	<channel name="Brakes">
		
		<pure_gain name="/services/chokes/nose-half">
			<input>/services/chokes/nose</input>
			<gain>0.5</gain>
		</pure_gain>
		
		<summer name="fcs/left-brake-summer">
			<input>/controls/gear/brake-left</input>
			<input>/controls/gear/brake-parking</input>
			<input>/services/chokes/nose-half</input>
			<input>/services/chokes/left</input>
			<clipto>
				<min>0</min>
				<max>1</max>
			</clipto>
		</summer>
		
		<switch name="rubbish/left-brake-cmd-norm">
			<default value="fcs/left-brake-summer"/>
			<test value="/controls/autobrake/brake-left">
				/controls/autobrake/active eq 1
			</test>
			<output>fcs/left-brake-cmd-norm</output>
		</switch>
		
		<summer name="fcs/right-brake-summer">
			<input>/controls/gear/brake-right</input>
			<input>/controls/gear/brake-parking</input>
			<input>/services/chokes/nose-half</input>
			<input>/services/chokes/right</input>
			<clipto>
				<min>0</min>
				<max>1</max>
			</clipto>
		</summer>
		
		<switch name="rubbish/right-brake-cmd-norm">
			<default value="fcs/right-brake-summer"/>
			<test value="/controls/autobrake/brake-right">
				/controls/autobrake/active eq 1
			</test>
			<output>fcs/right-brake-cmd-norm</output>
		</switch>
	
	</channel>

</system>