From a96de376de394ccd4b4bcfc2c23013ad4b81e155 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Mon, 1 Jan 2018 15:59:38 -0500
Subject: [PATCH] A32X: Improve FBW Pitch, Further change FBW response

---
 Systems/fbw-drivers.xml |  4 ++--
 Systems/fbw-pitch.xml   | 30 ++++++++++++++++++++++++++++--
 revision.txt            |  2 +-
 3 files changed, 31 insertions(+), 5 deletions(-)

diff --git a/Systems/fbw-drivers.xml b/Systems/fbw-drivers.xml
index a95a0b82..9aa7c9e2 100644
--- a/Systems/fbw-drivers.xml
+++ b/Systems/fbw-drivers.xml
@@ -129,7 +129,7 @@
 					</equals>
 				</and>
 			</condition>
-			<value>1.25</value>
+			<value>1.0</value>
 		</max-rate-of-change>
 		<max-rate-of-change>5</max-rate-of-change>
 	</filter>
@@ -355,7 +355,7 @@
 					</equals>
 				</and>
 			</condition>
-			<value>1.25</value>
+			<value>1.0</value>
 		</max-rate-of-change>
 		<max-rate-of-change>5</max-rate-of-change>
 	</filter>
diff --git a/Systems/fbw-pitch.xml b/Systems/fbw-pitch.xml
index 70acad86..780f4c66 100644
--- a/Systems/fbw-pitch.xml
+++ b/Systems/fbw-pitch.xml
@@ -129,7 +129,7 @@
 			<value>0</value>
 		</reference>
 		<output>
-			<property>/it-fbw/g-elevator</property>
+			<property>/it-fbw/g-elevator-cmd</property>
 		</output>
 		<config>
 			<Kp>-1.5</Kp>
@@ -156,7 +156,33 @@
 			<max>0.0</max>
 		</config>
 	</pi-simple-controller>
- 
+	
+	<filter>
+		<name>IT-CONTROLLER: G ELEVATOR INVERT</name>
+		<type>gain</type>
+		<gain>1.0</gain>
+		<input>
+			<condition>
+				<and>
+					<less-than-equals>
+						<property>/orientation/roll-deg</property>
+						<value>90</value>
+					</less-than-equals>
+					<greater-than-equals>
+						<property>/orientation/roll-deg</property>
+						<value>-90</value>
+					</greater-than-equals>
+				</and>
+			</condition>
+			<property>/it-fbw/g-elevator-cmd</property>
+		</input>
+		<input>
+			<property>/it-fbw/g-elevator-cmd</property>
+			<scale>-1.0</scale>
+		</input>
+		<output>/it-fbw/g-elevator</output>
+	</filter>
+	
 	<filter>
 	   <name>IT-CONTROLLER: PITCH RATE CMD</name>
 		<type>gain</type>
diff --git a/revision.txt b/revision.txt
index 26cce10c..9215e969 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4218
\ No newline at end of file
+4219
\ No newline at end of file