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IDG-A32X/Systems/a320-fcs.xml

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A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<!-- Airbus A320 FCS -->
<!--
##############################################
# Copyright (c) Joshua Davidson (it0uchpods) #
##############################################
-->
<system name="A320: FCS">
<channel name="Surface Droop">
A32X: Useless commit, ignore
2017-12-21 17:35:12 +00:00
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<fcs_function name="hydraulics/aileron-droop">
<function>
<table>
<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
<tableData>
62 0.5
116 0.0
</tableData>
</table>
</function>
</fcs_function>
<pure_gain name="hydraulics/aileron-droop-neg">
<input>hydraulics/aileron-droop</input>
<gain>-1.0</gain>
A32X: Fix a garbage character
2018-03-08 00:05:37 +00:00
</pure_gain>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<fcs_function name="hydraulics/elevator-droop">
<function>
<table>
<independentVar lookup="row">/velocities/airspeed-kt</independentVar>
<tableData>
72 0.5
121 0.0
</tableData>
</table>
</function>
</fcs_function>
</channel>
<channel name="Aileron Common">
<summer name="hydraulics/roll-fbw-summer">
<input>/controls/flight/roll-fbw</input>
<input>/controls/flight/aileron-trim</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
</channel>
<channel name="Aileron L">
A32X: Formatting
2017-12-21 03:58:17 +00:00
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<fcs_function name="hydraulics/aileron-l/extended">
<function>
<product>
<sum>
<property>/controls/flight/speedbrake-norm</property>
A32X: Fix some FDE and FCS bugs
2017-12-21 00:18:06 +00:00
<product>
<property>hydraulics/roll-fbw-summer</property>
<value>-1</value>
</product>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</sum>
<value>-0.5</value>
</product>
</function>
</fcs_function>
<fcs_function name="hydraulics/aileron-l/retracted">
<function>
<sum>
<product>
<property>hydraulics/roll-fbw-summer</property>
<value>0.5</value>
</product>
<table>
<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
<tableData>
1 0.00
5 0.13
</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
/controls/flight/speedbrake-norm EQ 1
/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>-0.5</min>
<max>0.5</max>
</clipto>
</switch>
<kinematic name="hydraulics/aileron-l/final">
<input>hydraulics/aileron-l/switch</input>
<traverse>
<setting>
<position>-1.0</position>
<time>1.1</time>
</setting>
<setting>
<position>1.0</position>
<time>1.1</time>
</setting>
</traverse>
<output>/controls/flight/aileron-left</output>
</kinematic>
</channel>
<channel name="Aileron R">
A32X: Formatting
2017-12-21 03:58:17 +00:00
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<fcs_function name="hydraulics/aileron-r/extended">
<function>
<product>
<sum>
<property>/controls/flight/speedbrake-norm</property>
A32X: Fix some FDE and FCS bugs
2017-12-21 00:18:06 +00:00
<property>hydraulics/roll-fbw-summer</property>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</sum>
<value>0.5</value>
</product>
</function>
</fcs_function>
<fcs_function name="hydraulics/aileron-r/retracted">
<function>
<sum>
<product>
<property>hydraulics/roll-fbw-summer</property>
<value>0.5</value>
</product>
<table>
<independentVar lookup="row">/fdm/jsbsim/fcs/flap-pos-deg</independentVar>
<tableData>
1 0.00
5 -0.13
</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-neg"/>
<test logic="AND" value="hydraulics/aileron-r/extended">
hydraulics/aileron-r/pressure-switch-or EQ 1
/controls/flight/speedbrake-norm EQ 1
/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>-0.5</min>
<max>0.5</max>
</clipto>
</switch>
<kinematic name="hydraulics/aileron-r/final">
<input>hydraulics/aileron-r/switch</input>
<traverse>
<setting>
<position>-1.0</position>
<time>1.1</time>
</setting>
<setting>
<position>1.0</position>
<time>1.1</time>
</setting>
</traverse>
<output>/controls/flight/aileron-right</output>
</kinematic>
</channel>
<channel name="Roll">
<fcs_function name="hydraulics/roll-control">
<function>
<product>
<sum>
<product>
<sum>
<property>hydraulics/aileron-l/final</property>
<property>hydraulics/aileron-r/final</property>
</sum>
<value>1.75</value>
</product>
<product>
<sum>
<product>
<property>/controls/flight/spoiler-l-sum</property>
<value>-1.0</value>
</product>
<property>/controls/flight/spoiler-r-sum</property>
</sum>
<value>0.25</value>
</product>
</sum>
<value>0.444444</value>
</product>
</function>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</fcs_function>
<aerosurface_scale name="fcs/roll-pos-rad">
<input>hydraulics/roll-control</input>
<range>
<min>-0.436332</min>
<max>0.436332</max>
</range>
</aerosurface_scale>
</channel>
<channel name="Elevator Common">
<aerosurface_scale name="hydraulics/elevator-fbw-scale">
<input>/controls/flight/elevator-fbw</input>
<range>
<min>-0.6666666666666666666666666666666</min>
<max>1.0</max>
</range>
</aerosurface_scale>
<switch name="hydraulics/elevator-fbw-switch">
<default value="hydraulics/elevator-fbw-scale"/>
<test value="/controls/flight/elevator-fbw">
/velocities/groundspeed-kt LT 75
</test>
</switch>
<pure_gain name="hydraulics/elevator-fbw-gain">
<input>hydraulics/elevator-fbw-switch</input>
<gain>0.5</gain>
</pure_gain>
</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-fbw-gain">
hydraulics/elevator-l/pressure-switch-or EQ 1
/systems/failures/elevator-left EQ 0
</test>
<clipto>
<min>-0.5</min>
<max>0.5</max>
</clipto>
</switch>
<kinematic name="hydraulics/elevator-l/final">
<input>hydraulics/elevator-l/switch</input>
<traverse>
<setting>
<position>-1.0</position>
<time>1.1</time>
</setting>
<setting>
<position>1.0</position>
<time>1.1</time>
</setting>
</traverse>
<output>/controls/flight/elevator-left</output>
</kinematic>
</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-fbw-gain">
hydraulics/elevator-r/pressure-switch-or EQ 1
/systems/failures/elevator-right EQ 0
</test>
<clipto>
<min>-0.5</min>
<max>0.5</max>
</clipto>
</switch>
<kinematic name="hydraulics/elevator-r/final">
<input>hydraulics/elevator-r/switch</input>
<traverse>
<setting>
<position>-1.0</position>
<time>1.1</time>
</setting>
<setting>
<position>1.0</position>
<time>1.1</time>
</setting>
</traverse>
<output>/controls/flight/elevator-right</output>
</kinematic>
</channel>
<channel name="Pitch">
<fcs_function name="hydraulics/pitch-control">
<function>
<sum>
<property>hydraulics/elevator-l/final</property>
<property>hydraulics/elevator-r/final</property>
</sum>
</function>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</fcs_function>
<aerosurface_scale name="fcs/pitch-pos-rad">
<input>hydraulics/pitch-control</input>
<range>
<min>-0.523599</min>
<max>0.296706</max>
</range>
</aerosurface_scale>
<scheduled_gain name="fcs/pitch-pos-geared">
<input>fcs/pitch-pos-rad</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="Pitch Trim">
<aerosurface_scale name="fcs/pitch-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>
<aerosurface_scale name="fcs/pitch-trim-pos-rad">
<input>/controls/flight/elevator-trim-fdm</input>
<domain>
<min>-1.00</min>
<max>0.32</max>
</domain>
<range>
<min>-0.2181662</min>
<max>0.0698132</max>
</range>
</aerosurface_scale>
<aerosurface_scale name="fcs/pitch-trim-pos-deg">
<input>/controls/flight/elevator-trim-fdm</input>
<domain>
<min>-1.00</min>
<max>0.32</max>
</domain>
<range>
<min>-12.5</min>
<max>4.0</max>
</range>
</aerosurface_scale>
<scheduled_gain name="fcs/pitch-trim-pos-geared">
<input>fcs/pitch-trim-pos-rad</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="FADEC">
<lag_filter name="fcs/throttle1">
<input>/controls/engines/engine[0]/throttle-output</input>
<c1>0.95</c1>
<output>fcs/throttle-cmd-norm</output>
<output>fcs/throttle-pos-norm</output>
</lag_filter>
<lag_filter name="fcs/throttle2">
<input>/controls/engines/engine[1]/throttle-output</input>
<c1>0.95</c1>
<output>fcs/throttle-cmd-norm[1]</output>
<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="Rudder">
A32X: Add rudder limiter
2017-12-21 02:28:15 +00:00
<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>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<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>
A32X: Add proper Rudder Trim
2017-12-21 03:08:37 +00:00
<aerosurface_scale name="fcs/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-fdm</input>
<range>
<min>-0.8</min>
<max>0.8</max>
</range>
</aerosurface_scale>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<summer name="hydraulics/rudder/summer">
<input>/controls/flight/rudder-fbw</input>
A32X: Add proper Rudder Trim
2017-12-21 03:08:37 +00:00
<input>hydraulics/rudder/trim-norm</input>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<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>-1.0</min>
<max>1.0</max>
</clipto>
</switch>
<kinematic name="hydraulics/rudder/final">
<input>hydraulics/rudder/switch</input>
<traverse>
<setting>
<position>-1.0</position>
<time>1.1</time>
</setting>
<setting>
<position>1.0</position>
<time>1.1</time>
</setting>
</traverse>
A32X: Add rudder limiter
2017-12-21 02:28:15 +00:00
<clipto>
<min>hydraulics/rudder/max-deg-scale-neg</min>
<max>hydraulics/rudder/max-deg-scale</max>
</clipto>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<output>/controls/flight/rudder-fdm</output>
</kinematic>
</channel>
<channel name="Yaw">
<pure_gain name="hydraulics/rudder/gain">
<input>hydraulics/rudder/final</input>
<gain>-1.0</gain>
</pure_gain>
<scheduled_gain name="fcs/yaw-damper-rate">
<input>velocities/r-aero-rad_sec</input>
<table>
<independentVar lookup="row">velocities/ve-kts</independentVar>
<tableData>
Formatting
2018-01-10 20:19:59 +00:00
30 0.00
60 2.00
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</tableData>
</table>
<clipto>
<min>-0.05</min>
<max>0.05</max>
</clipto>
</scheduled_gain>
<scheduled_gain name="fcs/yaw-damper-final">
<input>fcs/yaw-damper-rate</input>
<table>
<independentVar lookup="row">velocities/ve-kts</independentVar>
<tableData>
Formatting
2018-01-10 20:19:59 +00:00
30 0.0
31 1.0
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</tableData>
</table>
</scheduled_gain>
<switch name="fcs/yaw-damper-switch">
<default value="0"/>
<test logic="AND" value="fcs/yaw-damper-final">
/it-fbw/law == 0
/gear/gear[1]/wow EQ 0
/gear/gear[2]/wow EQ 0
</test>
<test logic="AND" value="fcs/yaw-damper-final">
/it-fbw/law == 1
/gear/gear[1]/wow EQ 0
/gear/gear[2]/wow EQ 0
</test>
</switch>
<summer name="fcs/yaw-sum">
<input>hydraulics/rudder/gain</input>
<input>fcs/yaw-damper-switch</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<aerosurface_scale name="rubbish/rudder-pos-rad">
<input>fcs/yaw-sum</input>
<range>
<min>-0.436332</min>
<max>0.436332</max>
</range>
<output>fcs/rudder-pos-rad</output>
</aerosurface_scale>
</channel>
<channel name="Flaps">
<kinematic name="rubbish/flap-pos-deg">
<input>/controls/flight/flaps</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>35</position>
<time>30</time>
</setting>
</traverse>
<output>fcs/flap-pos-deg</output>
</kinematic>
<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">
<kinematic name="rubbish/slat-pos-deg">
<input>/controls/flight/slats</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>27</position>
<time>20</time>
</setting>
</traverse>
<output>fcs/slat-pos-deg</output>
</kinematic>
<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="Speedbrake">
<pure_gain name="rubbish/speedbrake-pos-norm">
<input>/controls/flight/speedbrake-output</input>
<gain>1.0</gain>
<output>fcs/speedbrake-pos-norm</output>
</pure_gain>
</channel>
<channel name="Tiller">
A3XX: Autocoordination handler will now reconfigure tiller to use aileron as input, instead of rudder
2017-12-24 17:34:22 +00:00
<switch name="hydraulics/tiller/switch">
<default value="/controls/flight/rudder"/>
<test value="/controls/flight/aileron">
/controls/flight/aileron-drives-tiller EQ 1
</test>
</switch>
<fcs_function name="hydraulics/tiller/function">
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<function>
<table>
<independentVar lookup="row">/velocities/groundspeed-kt</independentVar>
A3XX: Autocoordination handler will now reconfigure tiller to use aileron as input, instead of rudder
2017-12-24 17:34:22 +00:00
<independentVar lookup="column">hydraulics/tiller/switch</independentVar>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<tableData>
A32X: Add proper Rudder Trim
2017-12-21 03:08:37 +00:00
-1 0 1
30.000 -70.0 0 70.0
30.001 -10.0 0 10.0
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</tableData>
</table>
</function>
</fcs_function>
<actuator name="fcs/steer-deg">
A3XX: Autocoordination handler will now reconfigure tiller to use aileron as input, instead of rudder
2017-12-24 17:34:22 +00:00
<input>hydraulics/tiller/function</input>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
<rate_limit>70</rate_limit>
<output>fcs/steer-pos-deg[0]</output>
</actuator>
</channel>
A3XX: Improve Autobrake system
2018-03-09 16:10:13 +00:00
<channel name="Brakes">
<switch name="rubbish/left-brake-cmd-norm">
<default value="/controls/gear/brake-left"/>
<test value="/controls/autobrake/brake-left">
/controls/autobrake/active EQ 1
</test>
<output>fcs/left-brake-cmd-norm</output>
</switch>
<switch name="rubbish/right-brake-cmd-norm">
<default value="/controls/gear/brake-right"/>
<test value="/controls/autobrake/brake-right">
/controls/autobrake/active EQ 1
</test>
<output>fcs/right-brake-cmd-norm</output>
</switch>
</channel>
A32X: Major FDM FCS and Hydraulics reworking, other fixes
2017-12-20 19:58:33 +00:00
</system>
Reference in a new issue Copy permalink