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Control: Fix rotation problem in FBW

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This commit is contained in:
Joshua Davidson 2018-04-29 09:34:17 -04:00
parent b2523abace
commit 001c88e9c7
2 changed files with 24 additions and 37 deletions
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18
Systems/a320-fcs.xml
View file

@ -131,20 +131,6 @@
</function>
</fcs_function>
<kinematic name="fbw/pitch/p-gain-k">
<input>fbw/pitch/p-gain</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>50</position>
<time>1.5</time>
</setting>
</traverse>
</kinematic>
<fcs_function name="fbw/pitch/i-gain">
<function>
<table>
@ -752,7 +738,7 @@
</fcs_function>
<switch name="fbw/pitch/a-n-IaN">
<default value="1"/>
<default value="0"/>
<test logic="AND" value="fbw/pitch/a-n">
fbw/pitch/a-n lt 30
fbw/pitch/a-n gt -30
@ -943,7 +929,7 @@
<pid name="fbw/pitch/pid-v">
<input>fbw/pitch/rate-error</input>
<kp>fbw/pitch/p-gain-k</kp>
<kp>fbw/pitch/p-gain</kp>
<ki>fbw/pitch/i-gain</ki>
<kd>fbw/pitch/d-gain</kd>
<trigger>fbw/pitch/trigger</trigger>

43
Systems/fbw-pitch.xml
View file

@ -15,26 +15,6 @@
<pi-simple-controller>
<name>FBW PITCH G PI</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/fdm/jsbsim/position/wow</property>
<value>0</value>
</equals>
<or>
<equals>
<property>/it-fbw/law</property>
<value>0</value>
</equals>
<equals>
<property>/it-fbw/law</property>
<value>1</value>
</equals>
</or>
</and>
</condition>
</enable>
<input>
<property>/fdm/jsbsim/fbw/pitch/g-error</property>
</input>
@ -46,7 +26,28 @@
</output>
<config>
<Kp>-1.5</Kp>
<Ki>-1.5</Ki>
<Ki>
<condition>
<and>
<equals>
<property>/fdm/jsbsim/position/wow</property>
<value>0</value>
</equals>
<or>
<equals>
<property>/it-fbw/law</property>
<value>0</value>
</equals>
<equals>
<property>/it-fbw/law</property>
<value>1</value>
</equals>
</or>
</and>
</condition>
<value>-1.5</value>
</Ki>
<Ki>0.0</Ki>
<min>
<condition>
<less-than>