439 lines
10 KiB
XML
439 lines
10 KiB
XML
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<?xml version="1.0"?>
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<!-- IT-AUTOFLIGHT: Fly By Wire -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Lateral -->
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<!-- =============================================================== -->
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<pid-controller>
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<name>IT-FBW: ROLL</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/orientation/roll-deg</property>
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</input>
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<reference>
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<property>/it-fbw/roll-deg</property>
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</reference>
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<output>
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<property>/controls/flight/aileron-fbw-cmd</property>
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</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/roll/kp</property>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>
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<property>/it-autoflight/config/roll/ti</property>
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</Ti>
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<Td>
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<property>/it-autoflight/config/roll/td</property>
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</Td>
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<u_min>
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<property>/it-autoflight/config/roll/umin</property>
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</u_min>
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<u_max>
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<property>/it-autoflight/config/roll/umax</property>
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</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>IT-FBW: ROLL OPTION</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<greater-than>
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<property>/position/gear-agl-ft</property>
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<value>1</value>
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</greater-than>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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</and>
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</condition>
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<property>/controls/flight/aileron-fbw-cmd</property>
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</input>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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<less-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>1</value>
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</less-than-equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>DIRECT</value>
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</equals>
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</or>
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</condition>
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<property>/controls/flight/aileron</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/it-fbw/law</property>
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<value>BACKUP</value>
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</equals>
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</condition>
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<value>0</value>
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</input>
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<output>/controls/flight/aileron-fbw</output>
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<type>noise-spike</type>
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<max-rate-of-change>10</max-rate-of-change>
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</filter>
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<!-- =============================================================== -->
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<!-- Vertical -->
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<!-- =============================================================== -->
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<pid-controller>
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<name>IT-FBW: PITCH</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/orientation/pitch-deg</property>
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</input>
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<reference>
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<property>/it-fbw/pitch-deg</property>
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</reference>
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<output>
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<property>/controls/flight/elevator-fbw-cmd</property>
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</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/pitch/kp</property>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>
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<property>/it-autoflight/config/pitch/ti</property>
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</Ti>
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<Td>
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<property>/it-autoflight/config/pitch/td</property>
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</Td>
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<u_min>
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<property>/it-autoflight/config/pitch/umin</property>
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</u_min>
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<u_max>
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<property>/it-autoflight/config/pitch/umax</property>
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</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>IT-FBW: PITCH OPTION</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<greater-than>
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<property>/position/gear-agl-ft</property>
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<value>1</value>
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</greater-than>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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</and>
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</condition>
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<property>/controls/flight/elevator-fbw-cmd</property>
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</input>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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<less-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>1</value>
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</less-than-equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>DIRECT</value>
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</equals>
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</or>
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</condition>
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<property>/controls/flight/elevator</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/it-fbw/law</property>
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<value>BACKUP</value>
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</equals>
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</condition>
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<value>0</value>
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</input>
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<output>/controls/flight/elevator-fbw</output>
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<type>noise-spike</type>
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<max-rate-of-change>10</max-rate-of-change>
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</filter>
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<pid-controller>
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<name>AP PITCH HELPER PLUS</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<greater-than>
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<property>/controls/flight/elevator-fbw</property>
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<value>0.1</value>
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</greater-than>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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<greater-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>50</value>
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</greater-than-equals>
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</and>
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</condition>
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</enable>
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<input>
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<value>0</value>
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</input>
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<reference>
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<value>1</value>
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</reference>
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<output>
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<property>/controls/flight/elevator-trim-cmd</property>
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</output>
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<config>
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<Kp>0.08</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10</Ti>
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<Td>0.00001</Td>
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<u_min>-1.00</u_min>
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<u_max>1.00</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>FBW PITCH HELPER MINUS</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<less-than>
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<property>/controls/flight/elevator-fbw</property>
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<value>-0.1</value>
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</less-than>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>NORMAL</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>ALTERNATE</value>
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</equals>
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</or>
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<greater-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>50</value>
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</greater-than-equals>
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</and>
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</condition>
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</enable>
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<input>
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||
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<value>0</value>
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</input>
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||
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<reference>
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<value>1</value>
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</reference>
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<output>
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<property>/controls/flight/elevator-trim-cmd</property>
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</output>
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<config>
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<Kp>-0.08</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10</Ti>
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<Td>0.00001</Td>
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<u_min>-1.00</u_min>
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<u_max>1.00</u_max>
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</config>
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</pid-controller>
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||
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<filter>
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||
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<name>IT-FBW: PITCH TRIM FILTER</name>
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<debug>false</debug>
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||
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<feedback-if-disabled>true</feedback-if-disabled>
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||
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<initialize-to>output</initialize-to>
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||
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<enable>
|
||
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<condition>
|
||
|
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<and>
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||
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<and>
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||
|
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<equals>
|
||
|
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<property>/it-autoflight/output/ap1</property>
|
||
|
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<value>0</value>
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||
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</equals>
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||
|
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<equals>
|
||
|
|
<property>/it-autoflight/output/ap2</property>
|
||
|
|
<value>0</value>
|
||
|
|
</equals>
|
||
|
|
<or>
|
||
|
|
<equals>
|
||
|
|
<property>/it-fbw/law</property>
|
||
|
|
<value>NORMAL</value>
|
||
|
|
</equals>
|
||
|
|
<equals>
|
||
|
|
<property>/it-fbw/law</property>
|
||
|
|
<value>ALTERNATE</value>
|
||
|
|
</equals>
|
||
|
|
</or>
|
||
|
|
<greater-than-equals>
|
||
|
|
<property>/position/gear-agl-ft</property>
|
||
|
|
<value>50</value>
|
||
|
|
</greater-than-equals>
|
||
|
|
</and>
|
||
|
|
<or>
|
||
|
|
<greater-than>
|
||
|
|
<property>/controls/flight/elevator-fbw</property>
|
||
|
|
<value>0.05</value>
|
||
|
|
</greater-than>
|
||
|
|
<less-than>
|
||
|
|
<property>/controls/flight/elevator-fbw</property>
|
||
|
|
<value>-0.05</value>
|
||
|
|
</less-than>
|
||
|
|
</or>
|
||
|
|
</and>
|
||
|
|
</condition>
|
||
|
|
</enable>
|
||
|
|
<input>
|
||
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
||
|
|
</input>
|
||
|
|
<output>/controls/flight/elevator-trim</output>
|
||
|
|
<type>noise-spike</type>
|
||
|
|
<max-rate-of-change>0.01</max-rate-of-change>
|
||
|
|
</filter>
|
||
|
|
|
||
|
|
</PropertyList>
|