IDG-A32X/Systems/fcs.xml

<!-- Airbus A3XX FCS by Joshua Davidson (it0uchpods) -->

<system name="A3XX: FCS">

	<channel name="Pitch">
	<summer name="Pitch Trim Sum">
		<input>/controls/flight/elevator-sum</input>
		<input>/controls/flight/elevator-trim</input>
		<clipto>
			<min>-1</min>
			<max>1</max>
		</clipto>
	</summer>

	<aerosurface_scale name="Elevator Control">
		<input>fcs/pitch-trim-sum</input>
		<gain>0.021</gain>
		<range>
			<min>-20</min>
			<max>20</max>
		</range>
		<output>fcs/elevator-pos-rad</output>
	</aerosurface_scale>
	<aerosurface_scale name="Elevator Position Normalizer">
		<input>fcs/pitch-trim-sum</input>
		<range>
			<min>-1</min>
			<max>1</max>
		</range>
		<output>fcs/elevator-pos-norm</output>
	</aerosurface_scale>
	</channel>
	<channel name="Roll">
	<summer name="Roll Trim Sum">
		<input>/controls/flight/aileron-sum</input>
		<input>/controls/flight/aileron-trim</input>
		<clipto>
		<min>-1</min>
		<max>1</max>
		</clipto>
	</summer>

	<aerosurface_scale name="Left Aileron Control">
		<input>fcs/roll-trim-sum</input>
		<gain>0.025</gain>
		<range>
		<min>-15</min>
		<max>15</max>
		</range>
		<output>fcs/left-aileron-pos-rad</output>
	</aerosurface_scale>

	<aerosurface_scale name="Right Aileron Control">
		<input>-fcs/roll-trim-sum</input>
		<gain>0.025</gain>
		<range>
		<min>-15</min>
		<max>15</max>
		</range>
		<output>fcs/right-aileron-pos-rad</output>
	</aerosurface_scale>

	<aerosurface_scale name="Left Aileron position normalized">
		<input>fcs/left-aileron-pos-deg</input>
		<domain>
		<min>-15</min>
		<max>15</max>
		</domain>
		<range>
		<min>-1</min>
		<max>1</max>
		</range>
		<output>fcs/left-aileron-pos-norm</output>
	</aerosurface_scale>

	<aerosurface_scale name="Right Aileron position normalized">
		<input>fcs/right-aileron-pos-deg</input>
		<domain>
		<min>-15</min>
		<max>15</max>
		</domain>
		<range>
		<min>-1</min>
		<max>1</max>
		</range>
		<output>fcs/right-aileron-pos-norm</output>
	</aerosurface_scale>
	</channel>
	<channel name="Throttle">
	<pure_gain name="fcs/throttle1">
		<input>/controls/engines/engine[0]/throttle-fdm</input>
		<gain>1</gain>
		<output>fcs/throttle-cmd-norm</output>
		<output>fcs/throttle-pos-norm</output>
	</pure_gain>
	<pure_gain name="fcs/throttle2">
		<input>/controls/engines/engine[1]/throttle-fdm</input>
		<gain>1</gain>
		<output>fcs/throttle-cmd-norm[1]</output>
		<output>fcs/throttle-pos-norm[1]</output>
	</pure_gain>
	</channel>

	<channel name="Yaw">
	<pure_gain name="fcs/rudder-cmd">
		<input>/controls/flight/rudder-fdm</input>
		<gain>-1</gain>
		<output>fcs/rudder-cmd-norm</output>
	</pure_gain>
	
   <summer name="Rudder Command Sum">
      <input>fcs/rudder-cmd-norm</input>
      <input>fcs/yaw-trim-cmd-norm</input>
      <clipto>
        <min> -0.35 </min>
        <max>  0.35 </max>
      </clipto>
   </summer>

   <scheduled_gain name="Yaw Damper Rate">
      <input>velocities/r-aero-rad_sec</input>
      <table>
        <independentVar lookup="row">velocities/ve-kts</independentVar>
         <tableData>
            30     0.00
            60     2.00
         </tableData>
      </table>
   </scheduled_gain>

   <scheduled_gain name="Yaw Damper Beta">
      <input>aero/beta-rad</input>
      <table>
        <independentVar lookup="row">velocities/ve-kts</independentVar>
        <tableData>
           30     0.00
           60     0.00
        </tableData>
      </table>
   </scheduled_gain>

   <summer name="Yaw Damper Sum">
      <input>fcs/yaw-damper-beta</input>
      <input>fcs/yaw-damper-rate</input>
      <clipto>
        <min> -0.1 </min>
        <max>  0.1 </max>
      </clipto>
   </summer>

   <scheduled_gain name="Yaw Damper Final">
      <input>fcs/yaw-damper-sum</input>
      <table>
        <independentVar lookup="row">velocities/ve-kts</independentVar>
        <tableData>
           30         0.0
           31         1.0
        </tableData>
      </table>
   </scheduled_gain>

   <summer name="Rudder Sum">
      <input>fcs/rudder-command-sum</input>
      <input>fcs/yaw-damper-final</input>
      <clipto>
        <min> -1 </min>
        <max>  1 </max>
      </clipto>
   </summer>

   <aerosurface_scale name="Rudder Control">
      <input>fcs/rudder-sum</input>
      <range>
        <min> -0.35 </min>
        <max>  0.35 </max>
      </range>
      <output>fcs/rudder-pos-rad</output>
   </aerosurface_scale>

   <aerosurface_scale name="rudder normalization">
      <input>fcs/rudder-pos-rad</input>
      <domain>
        <min> -0.35 </min>
        <max>  0.35 </max>
      </domain>
      <range>
        <min> -1 </min>
        <max>  1 </max>
      </range>
      <output>fcs/rudder-pos-norm</output>
   </aerosurface_scale>

	</channel>

	<channel name="Flaps">

		<kinematic name="Flaps Control">
			<input>/controls/flight/flaps</input>
			<traverse>
			<setting>
				<position>0</position>
				<time>0</time>
			</setting>
			<setting>
				<position>35</position>
				<time>40</time>
			</setting>
			</traverse>
			<output>fcs/flap-pos-deg</output>
		</kinematic>

		<aerosurface_scale name="Flap position normalized">
			<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="Slats Control">
			<input>/controls/flight/slats</input>
			<traverse>
			<setting>
				<position>0</position>
				<time>0</time>
			</setting>
			<setting>
				<position>27</position>
				<time>30</time>
			</setting>
			</traverse>
			<output>fcs/slat-pos-deg</output>
		</kinematic>

		<aerosurface_scale name="Slat position normalized">
			<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="Gear Control">
			<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">
		<kinematic name="Speedbrake">
			<input>/controls/flight/speedbrake-output</input>
			<traverse>
			<setting>
				<position>0</position>
				<time>0</time>
			</setting>
			<setting>
				<position>1</position>
				<time>1</time>
			</setting>
			</traverse>
			<output>fcs/speedbrake-pos-norm</output>
		</kinematic>
	</channel>
    
	<channel name="Tiller">
		<switch name="/controls/gear/tiller-disabled">
			<default value="0"/>
			<test logic="AND" value="1">
				/controls/gear/tiller-enabled == 0
			</test>
		</switch>
        
        <fcs_function name="Nose Wheel Steering 0">
            <function name="fcs/steer-nose-deg[0]">
                <description>Steering command for nose gear</description>
                <sum>
                    <product>
                        <table>
                            <independentVar lookup="row">/controls/gear/tiller-cmd-norm</independentVar>
                            <independentVar lookup="column">/controls/flight/rudder</independentVar>
                            <tableData>
                                -1   0   1
                                -1 -70 -70 -70
                                0  -7   0   7
                                1  70  70  70
                            </tableData>
                        </table>
                        <property>/controls/gear/tiller-enabled</property>
                    </product>
                    <product>
                        <product>
                            <property>/controls/flight/rudder</property>
                            <value>70</value>
                        </product>
                        <property>/controls/gear/tiller-disabled</property>
                    </product>
                </sum>
            </function>
        </fcs_function>
        
        <!-- simulate rotational friction -->
        <actuator name="Gear Nose Actuator">
            <input>fcs/steer-nose-deg[0]</input>
            <rate_limit>90</rate_limit>
            <output>fcs/steer-pos-deg[0]</output>
        </actuator>
        
    </channel>

</system>