IDG-A32X/Systems/it-autoflight.xml

<?xml version="1.0"?>

<!-- IT-AUTOFLIGHT -->

<PropertyList>

 <!-- =============================================================== -->
 <!-- Predictors                                                      -->
 <!-- =============================================================== -->

	<predict-simple>
		<name>ALTITUDE 7 SECONDS AHEAD</name>
		<debug>false</debug>
		<input>/instrumentation/altimeter/indicated-altitude-ft</input>
		<output>/it-autoflight/internal/altitude-7-sec-ahead</output>
		<seconds>7.0</seconds>
		<filter-gain>0.1</filter-gain>
	</predict-simple>

	<predict-simple>
		<name>VOR/LOC 5 SECONDS AHEAD</name>
		<input>/it-autoflight/internal/nav1-track-error-deg</input>
		<output>/it-autoflight/internal/nav1-error-5-sec-ahead</output>
		<seconds>12</seconds>
		<filter-gain>0.1</filter-gain>
	</predict-simple>
	
	<filter>
		<name>VOR/LOC HEADING ERROR FILTER</name>
		<debug>false</debug>
		<type>noise-spike</type>
		<input>/it-autoflight/internal/nav1-error-5-sec-ahead</input>
		<output>/it-autoflight/internal/nav1-heading-error-deg-filtered</output>
		<max-rate-of-change>90.0</max-rate-of-change>
	</filter>
	
  
 <!-- =============================================================== -->
 <!-- Autopilot Helpers                                               -->
 <!-- =============================================================== -->
  
	<filter>
		<name>MAGNETIC HDG ERROR DEG</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<property>/it-autoflight/input/hdg</property>
			<offset>
				<property>/orientation/heading-magnetic-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/heading-bug-error-deg</output>
		<output>/it-autoflight/internal/fdm-heading-bug-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

	<filter>
		<name>TRUE HDG ERROR DEG</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<property>/it-autoflight/input/hdg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/true-heading-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

	<filter>
		<name>LNAV HDG ERROR DEG</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<property>/autopilot/settings/true-heading-deg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/lnav-hdg-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

	<filter>
		<name>NAV ERROR DEG</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[1]/radials/target-auto-hdg-deg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/nav-heading-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

	<filter>
		<name>NAV COURSE ERROR</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[0]/radials/selected-deg</property>
			<offset>
				<property>/orientation/heading-magnetic-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[1]/radials/selected-deg</property>
			<offset>
				<property>/orientation/heading-magnetic-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/nav-course-error</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

	<filter>
		<name>INTERNAL VERTICAL SPEED COMPUTER</name>
		<debug>false</debug>
		<type>gain</type>
		<input>/velocities/vertical-speed-fps</input>
		<output>/it-autoflight/internal/vert-speed-fpm</output>
		<gain>60.0</gain>
	</filter>

	<predict-simple>
		<name>IAS 5 SECOND PREDICTOR</name>
		<debug>false</debug>
		<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
		<output>/it-autoflight/internal/lookahead-5-sec-airspeed-kt</output>
		<seconds>5.0</seconds>
		<filter-gain>0.0</filter-gain>
	</predict-simple>

	<predict-simple>
		<name>IAS 10 SECOND PREDICTOR</name>
		<debug>false</debug>
		<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
		<output>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</output>
		<seconds>10.0</seconds>
		<filter-gain>0.0</filter-gain>
	</predict-simple>

	<predict-simple>
		<name>MACH 10 SECOND PREDICTOR</name>
		<debug>false</debug>
		<input>/instrumentation/airspeed-indicator/indicated-mach</input>
		<output>/it-autoflight/internal/lookahead-10-sec-mach</output>
		<seconds>10.0</seconds>
		<filter-gain>0.0</filter-gain>
	</predict-simple>

	<filter>
		<name>STATIC PRESSURE COMPUTER</name>
		<debug>false</debug>
		<type>derivative</type>
		<input>/systems/static[0]/pressure-inhg</input>
		<output>/it-autoflight/internal/pressure-rate</output>
		<filter-time>1.0</filter-time>
	</filter>

	<filter>
		<name>NAV1 TRACK ERROR</name>
		<debug>false</debug>
		<type>gain</type>
		<input>
			<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
			<offset>
				<property>/orientation/track-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<output>/it-autoflight/internal/nav1-track-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
		<gain>1.0</gain>
	</filter>

 <!-- =============================================================== -->
 <!-- Lateral  Modes                                                  -->
 <!-- =============================================================== -->
 
	<pi-simple-controller>
		<name>ROLL CONTROLLER: HDG/LNAV</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/input/trk</property>
						<value>0</value>
					</equals>
				</and>
			</condition>
			<property>/it-autoflight/internal/heading-bug-error-deg</property>
			<scale>
				<property>/it-autoflight/config/cmd/roll-scale</property>
			</scale>
		</input>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/input/trk</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
			<property>/it-autoflight/internal/true-heading-error-deg</property>
			<scale>
				<property>/it-autoflight/config/cmd/roll-scale</property>
			</scale>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/lat</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lnav-hdg-error-deg</property>
			<scale>
				<property>/it-autoflight/config/cmd/roll-scale</property>
			</scale>
		</input>
		<reference>
			<value>0</value>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-roll-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/roll-kp</property>
			</Kp>
			<Ki>0.0</Ki>
			<min>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</not-equals>
				</condition>
				<property>/it-autoflight/input/bank-limit</property>
				<scale>-1</scale>
			</min>
			<min>
				<condition>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</equals>
				</condition>
				<value>-25</value>
			</min>
			<max>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</not-equals>
				</condition>
				<property>/it-autoflight/input/bank-limit</property>
			</max>
			<max>
				<condition>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</equals>
				</condition>
				<value>25</value>
			</max>
		</config>
	</pi-simple-controller>
	
	<pid-controller>
		<name>VORLOC TRK</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/lat</property>
					<value>2</value>
				</equals>
			</condition>
		</enable>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-backcourse</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/nav-heading-error-deg</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-backcourse</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/nav-bc-heading-error-deg</property>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-roll-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/vorloc</property>
			</Kp>
			<beta>1.0</beta>	
			<alpha>0.1</alpha>	
			<gamma>0.0</gamma>		
			<Ti>10.0</Ti>      
			<Td>0.00001</Td>   	
			<u_min>-30</u_min>
			<u_max>30</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: TARGET ROLL CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
			<property>/it-autoflight/internal/target-roll-deg</property>
		</input>
		<output>/it-autoflight/internal/target-roll</output>
		<type>noise-spike</type>
		<max-rate-of-change>15</max-rate-of-change>
	</filter>
	
	<pid-controller>
		<name>IT-CONTROLLER: ROLL</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<property>/orientation/roll-deg</property>
		</input>
		<reference>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>2</value>
					</equals>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-roll</property>
		</reference>
		<reference>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>5</value>
					</equals>
				</or>
			</condition>
			<value>0</value>
		</reference>
		<output>
			<property>/it-autoflight/internal/aileron-cmd</property>
		</output>
		<config>
			<Kp>
				<condition>
					<not-equals>
						<property>/it-autoflight/output/lat</property>
						<value>2</value>
					</not-equals>
				</condition>
				<property>/it-autoflight/config/roll/kp</property>
			</Kp>
			<Kp>
				<condition>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>2</value>
					</equals>
				</condition>
				<property>/it-autoflight/config/roll/kp-vloc</property>
			</Kp>
			<Kp>
				<condition>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>4</value>
					</equals>
				</condition>
				<property>/it-autoflight/config/autoland/kp-roll</property>
			</Kp>
			<beta>1.0</beta>	
			<alpha>0.1</alpha>	
			<gamma>0.0</gamma>	
			<Ti>
				<property>/it-autoflight/config/roll/ti</property>
			</Ti>    
			<Td>
				<property>/it-autoflight/config/roll/td</property>
			</Td>    	
			<u_min>
				<property>/it-autoflight/config/roll/umin</property>
			</u_min>
			<u_max>
				<property>/it-autoflight/config/roll/umax</property>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: ROLL CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/aileron-cmd</property>
		</input>
		<output>/controls/flight/aileron</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.9</max-rate-of-change>
	</filter>

 <!-- =============================================================== -->
 <!-- Vertical Modes                                                  -->
 <!-- =============================================================== -->
	
	<pid-controller>
		<name>ALTITUDE CAPTURE/HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>0</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/prof-vert</property>
							<value>0</value>
						</equals>
					</and>
				</or>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/altitude-7-sec-ahead</property>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/alt</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>8</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/prof-alt</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/alt</property>
			</Kp>      
			<beta>1.0</beta>       
			<alpha>0.5</alpha>     
			<gamma>0.0</gamma>     
			<Ti>10.0</Ti>
			<Td>0.0001</Td>
			<u_min>
				<property>/it-autoflight/internal/min-pitch</property>
			</u_min>
			<u_max>
				<property>/it-autoflight/internal/max-pitch</property>
			</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>FPA HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>5</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/fpa</property>
		</input>
		<reference>
			<property>/it-autoflight/input/fpa</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/fpa</property>
			</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>1.0</Ti>
			<Td>0.00001</Td>
			<u_min>
				<value>-10</value>
			</u_min>
			<u_max>
				<value>30</value>
			</u_max>
		</config>
	</pid-controller>
	
	<pi-simple-controller>
		<name>AUTOLAND VS HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>6</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/vert-speed-fpm</property>
			<scale>0.2</scale>
		</input>
		<reference>
			<property>/it-autoflight/autoland/target-vs</property>
			<scale>0.2</scale>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/autoland/kp-pitch</property>
			</Kp> 
			<Ki>0.010</Ki>
			<beta>1.0</beta>       
			<alpha>0.5</alpha>     
			<gamma>0.0</gamma>     
			<Ti>10.0</Ti>
			<Td>0.0001</Td>
			<min>
				<value>0</value>
			</min>
			<max>
				<value>15</value>
			</max>
		</config>
	</pi-simple-controller>
	
	<pid-controller>
		<name>GLIDESLOPE HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>2</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/velocities/vertical-speed-fps</property>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[0]/gs-rate-of-climb</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/settings/use-nav2-radio</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[1]/gs-rate-of-climb</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/gs</property>
			</Kp>       
			<beta>1.0</beta>       
			<alpha>0.5</alpha>     
			<gamma>0.0</gamma>			
			<Ti>10.0</Ti>
			<Td>0.0001</Td>
			<u_min>-5</u_min>
			<u_max>7</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>FLCH SPEED BY PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</not-equals>
					<not-equals>
						<property>/it-autoflight/output/vert</property>
						<value>8</value>
					</not-equals>
				</and>
			</condition>
		</enable>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
			<scale>500.0</scale>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/spd-kts</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/spd-mach</property>
			<scale>500.0</scale>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-fps</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/flch</property>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>10.0</Ti>        
			<Td>0.00001</Td>    
            <u_min>
                <condition>
                    <greater-than>
                        <property>/it-autoflight/internal/alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>1.6</value>
            </u_min>
            <u_min>
                <condition>
                    <less-than>
                        <property>/it-autoflight/internal/alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </less-than>
                </condition>
                <value>-100</value>
            </u_min>
            <u_max>
                <condition>
                    <greater-than>
                        <property>/it-autoflight/internal/alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>166</value>
            </u_max>
            <u_max>
                <condition>
                    <less-than>
                        <property>/it-autoflight/internal/alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </less-than>
                </condition>
                <value>-1.6</value>
            </u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>TOGA SPEED BY PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>7</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/mode/vert</property>
					<value>T/O CLB</value>
				</equals>
			</condition>
			<property>/it-autoflight/settings/togaspd</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/mode/vert</property>
					<value>G/A CLB</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/spd-kts</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-fps</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/flch</property>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>10.0</Ti>        
			<Td>0.00001</Td>    
            <u_min>
                <value>1.6</value>
            </u_min>
            <u_max>
                <value>166</value>
            </u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>VNAV SPEED BY PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>8</value>
				</equals>
			</condition>
		</enable>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
			<scale>500.0</scale>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>0</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/spd-kts</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/input/kts-mach</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/spd-mach</property>
			<scale>500.0</scale>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-fps</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/flch</property>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>10.0</Ti>        
			<Td>0.00001</Td>    
            <u_min>
                <condition>
                    <greater-than>
                        <property>/it-autoflight/internal/prof-alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>1.6</value>
            </u_min>
            <u_min>
                <condition>
                    <less-than>
                        <property>/it-autoflight/internal/prof-alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </less-than>
                </condition>
                <value>-100</value>
            </u_min>
            <u_max>
                <condition>
                    <greater-than>
                        <property>/it-autoflight/internal/prof-alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>166</value>
            </u_max>
            <u_max>
                <condition>
                    <less-than>
                        <property>/it-autoflight/internal/prof-alt</property>
                        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                    </less-than>
                </condition>
                <value>-1.6</value>
            </u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>FPM HOLD</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<or>
							<equals>
								<property>/it-autoflight/output/prof-vert</property>
								<value>1</value>
							</equals>
							<equals>
								<property>/it-autoflight/output/prof-vert</property>
								<value>4</value>
							</equals>
						</or>
					</and>
				</or>
			</condition>
		</enable>
		<input>
			<property>/instrumentation/vertical-speed-indicator/indicated-speed-fpm</property>
			<scale>0.01666666</scale>
		</input>
		<reference>
			<condition>
				<equals>
					<property>/it-autoflight/output/vert</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/input/vs</property>
			<scale>0.01666666</scale>
		</reference>
		<reference>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>7</value>
					</equals>
					<and>
						<equals>
							<property>/it-autoflight/output/vert</property>
							<value>8</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/prof-vert</property>
							<value>4</value>
						</equals>
					</and>
				</or>
			</condition>
			<property>/it-autoflight/internal/target-fps</property>
		</reference>
		<reference>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/vert</property>
						<value>8</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/prof-vert</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
			<property>/it-autoflight/internal/prof-fpm</property>
			<scale>-0.01666666</scale>
		</reference>
		<output>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/cmd/vs</property>
			</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>5.0</Ti>
			<Td>0.00001</Td>
			<u_min>
				<value>-10</value>
			</u_min>
			<u_max>
				<value>25</value>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: TARGET PITCH CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
			<property>/it-autoflight/internal/target-pitch-deg</property>
		</input>
		<output>/it-autoflight/internal/target-pitch</output>
		<type>noise-spike</type>
		<max-rate-of-change>10</max-rate-of-change>
	</filter>

	<pid-controller>
		<name>IT-CONTROLLER: PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<property>/orientation/pitch-deg</property>
		</input>
		<reference>
			<property>/it-autoflight/internal/target-pitch</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/elevator-cmd</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/pitch/kp</property>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>
				<property>/it-autoflight/config/pitch/ti</property>
			</Ti>      
			<Td>
				<property>/it-autoflight/config/pitch/td</property>
			</Td>   
			<u_min>
				<property>/it-autoflight/config/pitch/umin</property>
			</u_min>
			<u_max>
				<property>/it-autoflight/config/pitch/umax</property>
			</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: PITCH CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/elevator-cmd</property>
		</input>
		<output>/controls/flight/elevator</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.4</max-rate-of-change>
	</filter>
	
 <!-- =============================================================== -->
 <!-- Rudder Control                                                  -->
 <!-- =============================================================== -->
	
	<pi-simple-controller>
		<name>RUDDER VORLOC TRK</name>
		<debug>false</debug>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/lat</property>
					<value>4</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/nav1-heading-error-deg</property>
		</input>
		<reference>
			<value>0</value>
		</reference>
		<output>/it-autoflight/internal/rudder-cmd</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/autoland/kp-rudder</property>
			</Kp>
			<Ki>0</Ki>
		</config>
		<min>-0.25</min>
		<max>0.25</max>
	</pi-simple-controller>
	
	<filter>
		<name>IT-CONTROLLER: RUDDER CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>
			<condition>
				<not-equals>
					<property>/it-autoflight/output/lat</property>
					<value>4</value>
				</not-equals>
			</condition>
			<value>0</value>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/output/lat</property>
					<value>4</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/rudder-cmd</property>
		</input>
		<output>/controls/flight/rudder</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.20</max-rate-of-change>
	</filter>
	
 <!-- =============================================================== -->
 <!-- Control Wheel Steering                                          -->
 <!-- =============================================================== -->
	
	<pid-controller>
		<name>IT-CONTROLLER: CWS ROLL</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/internal/cwsr</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/cws</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/roll-deg</property>
		</input>
		<reference>
			<property>/it-autoflight/internal/cws-roll-deg</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/cws-ail-cmd</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/roll/kp</property>
			</Kp>
			<beta>1.0</beta>	
			<alpha>0.1</alpha>	
			<gamma>0.0</gamma>	
			<Ti>
				<property>/it-autoflight/config/roll/ti</property>
			</Ti>    
			<Td>
				<property>/it-autoflight/config/roll/td</property>
			</Td>    	
			<u_min>-1.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: CWS ROLL CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/cws</property>
					<value>1</value>
				</equals>
			</condition>
		</enable>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/internal/cwsr</property>
					<value>1</value>
				</equals>
			</condition>
			<property>/it-autoflight/internal/cws-ail-cmd</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-autoflight/internal/cwsr</property>
					<value>0</value>
				</equals>
			</condition>
			<value>0</value>
		</input>
		<output>/controls/flight/aileron-trim</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.9</max-rate-of-change>
	</filter>
	
	<pid-controller>
		<name>IT-CONTROLLER: CWS PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/internal/cwsp</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/cws</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/pitch-deg</property>
		</input>
		<reference>
			<property>/it-autoflight/internal/cws-pitch-deg</property>
		</reference>
		<output>
			<property>/it-autoflight/internal/cws-elv-cmd</property>
		</output>
		<config>
			<Kp>
				<property>/it-autoflight/config/pitch/kp-cws</property>
			</Kp>
			<beta>1.0</beta>    
			<alpha>0.1</alpha>  
			<gamma>0.0</gamma>  
			<Ti>
				<property>/it-autoflight/config/pitch/ti</property>
			</Ti>      
			<Td>
				<property>/it-autoflight/config/pitch/td</property>
			</Td>   
			<u_min>-1.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: CWS PITCH CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<equals>
					<property>/it-autoflight/output/cws</property>
					<value>1</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/cws-elv-cmd</property>
		</input>
		<output>/controls/flight/elevator-trim</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.5</max-rate-of-change>
	</filter>
	
 <!-- =============================================================== -->
 <!-- Autotrim                                                        -->
 <!-- =============================================================== -->
	
	<pid-controller>
		<name>AP PITCH HELPER PLUS</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<greater-than>
						<property>/it-autoflight/internal/elevator-cmd</property>
						<value>0.05</value>
					</greater-than>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<value>0</value>
		</input>
		<reference>
			<value>1</value>
		</reference>
		<output>
			<property>/it-autoflight/internal/elevator-trim-cmd</property>
		</output>
		<config>
			<Kp>0.08</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1.00</u_min>
			<u_max>1.00</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>AP PITCH HELPER MINUS</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<less-than>
						<property>/it-autoflight/internal/elevator-cmd</property>
						<value>-0.05</value>
					</less-than>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<value>0</value>
		</input>
		<reference>
			<value>1</value>
		</reference>
		<output>
			<property>/it-autoflight/internal/elevator-trim-cmd</property>
		</output>
		<config>
			<Kp>-0.08</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1.00</u_min>
			<u_max>1.00</u_max>
		</config>
	</pid-controller>
		
	<filter>
		<name>IT-CONTROLLER: PITCH TRIM CMD</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<and>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
					<or>
						<greater-than>
							<property>/it-autoflight/internal/elevator-cmd</property>
							<value>0.05</value>
						</greater-than>
						<less-than>
							<property>/it-autoflight/internal/elevator-cmd</property>
							<value>-0.05</value>
						</less-than>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/it-autoflight/internal/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>
	
 <!-- =============================================================== -->
 <!-- Flight Director                                                 -->
 <!-- =============================================================== -->
	
	<filter>
		<name>FD: ROLL</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>2</value>
					</equals>
				</or>
			</condition>
			<expression>
				<dif>
					<property>/it-autoflight/internal/target-roll</property>
					<property>/orientation/roll-deg</property>
				</dif>
			</expression>
		</input>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>4</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/lat</property>
						<value>5</value>
					</equals>
				</or>
			</condition>
			<expression>
				<dif>
					<value>0</value>
					<property>/orientation/roll-deg</property>
				</dif>
			</expression>
		</input>
		<output>/it-autoflight/fd/roll-bar</output>
	</filter>

 
	<filter>
		<name>FD: PITCH</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<dif>
					<property>/it-autoflight/internal/target-pitch</property>
					<property>/orientation/pitch-deg</property>
				</dif>
			</expression>
		</input>
		<output>/it-autoflight/fd/pitch-bar</output>
	</filter>

</PropertyList>