fly/IDG-A32X
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

ITAF 165 + all bugfixes + PID update, adjust Autothrust throttle speed for smoother FLCH function, more PID tuning

Browse source
This commit is contained in:
Joshua Davidson 2017-03-27 16:18:28 -04:00
parent c4054e3aee
commit 4039086128
7 changed files with 1233 additions and 629 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

11
A320-main.xml
View file

@ -228,9 +228,9 @@
<config> <config>
<altitude-dial-mode>0</altitude-dial-mode> <altitude-dial-mode>0</altitude-dial-mode>
<roll> <roll>
<umin>-0.40</umin> <umin>-0.30</umin>
<umax>0.40</umax> <umax>0.30</umax>
<kp>0.06</kp> <kp>0.05</kp>
<kp-vloc>0.09</kp-vloc> <kp-vloc>0.09</kp-vloc>
<ti>10.0</ti> <ti>10.0</ti>
<td>0.00001</td> <td>0.00001</td>
@ -245,12 +245,13 @@
<kp-cws>-0.07</kp-cws> <kp-cws>-0.07</kp-cws>
</pitch> </pitch>
<cmd> <cmd>
<roll-scale>5</roll-scale> <roll-kp>-1.9</roll-kp>
<roll-scale>1.4</roll-scale>
<vorloc>-4.0</vorloc> <vorloc>-4.0</vorloc>
<alt>0.025</alt> <alt>0.025</alt>
<vs>0.07</vs> <vs>0.07</vs>
<fpa>0.30</fpa> <fpa>0.30</fpa>
<flch>-0.35</flch> <flch>-4.0</flch>
<gs>0.10</gs> <gs>0.10</gs>
</cmd> </cmd>
<autoland> <autoland>

42
Models/FlightDeck/a320.flightdeck.xml
View file

@ -40,17 +40,6 @@
</offsets> </offsets>
</model> </model>
<!-- Standby Attitude Indicator (new) -->
<model>
<path>Aircraft/A320Family/Models/Instruments/Stby-AI/Stby-AInew.xml</path>
<offsets>
<x-m>-0.5700</x-m>
<y-m>-0.1344</y-m>
<z-m>-0.0693</z-m>
<pitch-deg>-16</pitch-deg>
</offsets>
</model>
<!-- Multi-purpose Control and Display Units --> <!-- Multi-purpose Control and Display Units -->
<model> <model>
@ -3772,6 +3761,35 @@
<z2-m>0.1419</z2-m> <z2-m>0.1419</z2-m>
</axis> </axis>
</animation> </animation>
<!-- Standby Attitude Indicator -->
<animation>
<type>texmultiple</type>
<object-name>stby-ai</object-name>
<transform>
<property>orientation/pitch-deg</property>
<subtype>textranslate</subtype>
<factor>0.003955078</factor>
<axis>
<x>0</x>
<y>1</y>
</axis>
</transform>
<transform>
<property>orientation/roll-deg</property>
<subtype>texrotate</subtype>
<center>
<x>0.50</x>
<y>0.50</y>
</center>
<axis>
<x>0</x>
<y>0</y>
<z>-1</z>
</axis>
</transform>
</animation>
<!-- Autobrake System --> <!-- Autobrake System -->
@ -4723,4 +4741,4 @@
</action> </action>
</animation> </animation>
</PropertyList> </PropertyList>

395
Nasal/it-autoflight.nas
View file

@ -1,6 +1,6 @@
# IT AUTOFLIGHT System Controller # IT AUTOFLIGHT System Controller
# Joshua Davidson (it0uchpods) # Joshua Davidson (it0uchpods)
# V3.0.0 Build 132 # V3.0.0 Build 165
# This program is 100% GPL! # This program is 100% GPL!
print("IT-AUTOFLIGHT: Please Wait!"); print("IT-AUTOFLIGHT: Please Wait!");
@ -20,6 +20,7 @@ var ap_init = func {
setprop("/it-autoflight/input/lat", 5); setprop("/it-autoflight/input/lat", 5);
setprop("/it-autoflight/input/lat-arm", 0); setprop("/it-autoflight/input/lat-arm", 0);
setprop("/it-autoflight/input/vert", 7); setprop("/it-autoflight/input/vert", 7);
setprop("/it-autoflight/input/prof-arm", 0);
setprop("/it-autoflight/input/bank-limit", 30); setprop("/it-autoflight/input/bank-limit", 30);
setprop("/it-autoflight/input/trk", 0); setprop("/it-autoflight/input/trk", 0);
setprop("/it-autoflight/input/toga", 0); setprop("/it-autoflight/input/toga", 0);
@ -35,6 +36,7 @@ var ap_init = func {
setprop("/it-autoflight/output/retard", 0); setprop("/it-autoflight/output/retard", 0);
setprop("/it-autoflight/output/lat", 5); setprop("/it-autoflight/output/lat", 5);
setprop("/it-autoflight/output/vert", 7); setprop("/it-autoflight/output/vert", 7);
setprop("/it-autoflight/output/prof-vert", 4);
setprop("/it-autoflight/settings/min-pitch", -8); setprop("/it-autoflight/settings/min-pitch", -8);
setprop("/it-autoflight/settings/max-pitch", 8); setprop("/it-autoflight/settings/max-pitch", 8);
setprop("/it-autoflight/settings/use-nav2-radio", 0); setprop("/it-autoflight/settings/use-nav2-radio", 0);
@ -42,18 +44,24 @@ var ap_init = func {
setprop("/it-autoflight/internal/min-pitch", -8); setprop("/it-autoflight/internal/min-pitch", -8);
setprop("/it-autoflight/internal/max-pitch", 8); setprop("/it-autoflight/internal/max-pitch", 8);
setprop("/it-autoflight/internal/alt", 10000); setprop("/it-autoflight/internal/alt", 10000);
setprop("/it-autoflight/internal/prof-alt", 10000);
setprop("/it-autoflight/internal/prof-wp-alt", 10000);
setprop("/it-autoflight/internal/prof-mode", "XX");
setprop("/it-autoflight/internal/cwsr", 0); setprop("/it-autoflight/internal/cwsr", 0);
setprop("/it-autoflight/internal/cwsp", 0); setprop("/it-autoflight/internal/cwsp", 0);
setprop("/it-autoflight/internal/fpa", 0); setprop("/it-autoflight/internal/fpa", 0);
setprop("/it-autoflight/internal/prof-fpm", 0);
setprop("/it-autoflight/internal/top-of-des-nm", 0);
setprop("/it-autoflight/autoland/target-vs", "-650"); setprop("/it-autoflight/autoland/target-vs", "-650");
setprop("/it-autoflight/mode/thr", "PITCH"); setprop("/it-autoflight/mode/thr", "PITCH");
setprop("/it-autoflight/mode/arm", "HDG"); setprop("/it-autoflight/mode/arm", "HDG");
setprop("/it-autoflight/mode/lat", "T/O"); setprop("/it-autoflight/mode/lat", "T/O");
setprop("/it-autoflight/mode/vert", "T/O CLB"); setprop("/it-autoflight/mode/vert", "T/O CLB");
setprop("/it-autoflight/mode/prof", "NONE");
setprop("/it-autoflight/input/spd-kts", 200); setprop("/it-autoflight/input/spd-kts", 200);
setprop("/it-autoflight/input/spd-mach", 0.68); setprop("/it-autoflight/input/spd-mach", 0.68);
thrustmode();
update_arms(); update_arms();
thrustmode();
print("IT-AUTOFLIGHT: Done!"); print("IT-AUTOFLIGHT: Done!");
} }
@ -64,7 +72,7 @@ setlistener("/it-autoflight/input/ap1", func {
setprop("/it-autoflight/output/ap1", 0); setprop("/it-autoflight/output/ap1", 0);
setprop("/controls/flight/rudder", 0); setprop("/controls/flight/rudder", 0);
if (getprop("/it-autoflight/sound/enableapoffsound") == 1) { if (getprop("/it-autoflight/sound/enableapoffsound") == 1) {
setprop("/it-autoflight/sound/apoffsound", 1); setprop("/it-autoflight/sound/apoffsound", 1);
setprop("/it-autoflight/sound/enableapoffsound", 0); setprop("/it-autoflight/sound/enableapoffsound", 0);
} }
} else if (apmas == 1) { } else if (apmas == 1) {
@ -171,7 +179,7 @@ var lateral = func {
setprop("/it-autoflight/mode/lat", "HDG"); setprop("/it-autoflight/mode/lat", "HDG");
setprop("/it-autoflight/mode/arm", " "); setprop("/it-autoflight/mode/arm", " ");
} else if (latset == 1) { } else if (latset == 1) {
if (getprop("/autopilot/route-manager/route/num") > 0) { if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
lnavwptt.start(); lnavwptt.start();
@ -180,12 +188,13 @@ var lateral = func {
setprop("/it-autoflight/output/lat", 1); setprop("/it-autoflight/output/lat", 1);
setprop("/it-autoflight/mode/lat", "LNAV"); setprop("/it-autoflight/mode/lat", "LNAV");
setprop("/it-autoflight/mode/arm", " "); setprop("/it-autoflight/mode/arm", " ");
} else {
gui.popupTip("Please make sure you have a route set, and that it is Activated!");
} }
} else if (latset == 2) { } else if (latset == 2) {
setprop("/instrumentation/nav[0]/signal-quality-norm", 0); setprop("/instrumentation/nav[0]/signal-quality-norm", 0);
setprop("/instrumentation/nav[1]/signal-quality-norm", 0); setprop("/instrumentation/nav[1]/signal-quality-norm", 0);
setprop("/it-autoflight/output/loc-armed", 1); setprop("/it-autoflight/output/loc-armed", 1);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/mode/arm", "LOC"); setprop("/it-autoflight/mode/arm", "LOC");
} else if (latset == 3) { } else if (latset == 3) {
alandt.stop(); alandt.stop();
@ -214,8 +223,12 @@ var lat_arm = func {
setprop("/it-autoflight/input/lat-arm", 0); setprop("/it-autoflight/input/lat-arm", 0);
setprop("/it-autoflight/mode/arm", "HDG"); setprop("/it-autoflight/mode/arm", "HDG");
} else if (latset == 1) { } else if (latset == 1) {
setprop("/it-autoflight/input/lat-arm", 1); if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
setprop("/it-autoflight/mode/arm", "LNV"); setprop("/it-autoflight/input/lat-arm", 1);
setprop("/it-autoflight/mode/arm", "LNV");
} else {
gui.popupTip("Please make sure you have a route set, and that it is Activated!");
}
} else if (latset == 3) { } else if (latset == 3) {
var hdgnow = int(getprop("/orientation/heading-magnetic-deg")+0.5); var hdgnow = int(getprop("/orientation/heading-magnetic-deg")+0.5);
setprop("/it-autoflight/input/hdg", hdgnow); setprop("/it-autoflight/input/hdg", hdgnow);
@ -228,6 +241,8 @@ var lat_arm = func {
setlistener("/it-autoflight/input/vert", func { setlistener("/it-autoflight/input/vert", func {
if ((getprop("/gear/gear[1]/wow") == 0) and (getprop("/gear/gear[2]/wow") == 0)) { if ((getprop("/gear/gear[1]/wow") == 0) and (getprop("/gear/gear[2]/wow") == 0)) {
vertical(); vertical();
} else {
vert_arm();
} }
}); });
@ -236,6 +251,7 @@ var vertical = func {
if (vertset == 0) { if (vertset == 0) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0); setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 0); setprop("/it-autoflight/output/vert", 0);
setprop("/it-autoflight/mode/vert", "ALT HLD"); setprop("/it-autoflight/mode/vert", "ALT HLD");
@ -251,11 +267,12 @@ var vertical = func {
} else if (vertset == 1) { } else if (vertset == 1) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt"); var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput); setprop("/it-autoflight/internal/alt", altinput);
var vsnow = int(getprop("/velocities/vertical-speed-fps")*0.6)*100; var vsnow = int(getprop("/velocities/vertical-speed-fps")*0.6)*100;
setprop("/it-autoflight/input/vs", vsnow); setprop("/it-autoflight/input/vs", vsnow);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 1); setprop("/it-autoflight/output/vert", 1);
setprop("/it-autoflight/mode/vert", "V/S"); setprop("/it-autoflight/mode/vert", "V/S");
if (getprop("/it-autoflight/output/loc-armed")) { if (getprop("/it-autoflight/output/loc-armed")) {
@ -280,6 +297,7 @@ var vertical = func {
} else if (vertset == 3) { } else if (vertset == 3) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
prof_maint.stop();
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft"); var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var alt = getprop("/it-autoflight/internal/alt"); var alt = getprop("/it-autoflight/internal/alt");
var dif = calt - alt; var dif = calt - alt;
@ -296,6 +314,8 @@ var vertical = func {
} else if (vertset == 4) { } else if (vertset == 4) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt"); var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput); setprop("/it-autoflight/internal/alt", altinput);
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft"); var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
@ -314,15 +334,16 @@ var vertical = func {
} else if (vertset == 5) { } else if (vertset == 5) {
alandt.stop(); alandt.stop();
alandt1.stop(); alandt1.stop();
prof_maint.stop();
fpa_calct.start(); fpa_calct.start();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt"); var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput); setprop("/it-autoflight/internal/alt", altinput);
var fpanow = (int(10*getprop("/it-autoflight/internal/fpa")))*0.1; var fpanow = (int(10*getprop("/it-autoflight/internal/fpa")))*0.1;
setprop("/it-autoflight/input/fpa", fpanow); setprop("/it-autoflight/input/fpa", fpanow);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 5); setprop("/it-autoflight/output/vert", 5);
setprop("/it-autoflight/mode/vert", "FPA"); setprop("/it-autoflight/mode/vert", "FPA");
if (getprop("/it-autoflight/output/loc-armed")) { if (getprop("/it-autoflight/output/loc-armed") == 1) {
setprop("/it-autoflight/mode/arm", "LOC"); setprop("/it-autoflight/mode/arm", "LOC");
} else { } else {
setprop("/it-autoflight/mode/arm", " "); setprop("/it-autoflight/mode/arm", " ");
@ -335,15 +356,53 @@ var vertical = func {
thrustmode(); thrustmode();
alandt.stop(); alandt.stop();
alandt1.start(); alandt1.start();
prof_maint.stop();
setprop("/it-autoflight/autoland/target-vs", "-650"); setprop("/it-autoflight/autoland/target-vs", "-650");
} else if (vertset == 7) { } else if (vertset == 7) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/vert", 7); setprop("/it-autoflight/output/vert", 7);
setprop("/it-autoflight/mode/arm", " "); setprop("/it-autoflight/mode/arm", " ");
var altinput = getprop("/it-autoflight/input/alt"); var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput); setprop("/it-autoflight/internal/alt", altinput);
prof_maint.stop();
thrustmodet.start(); thrustmodet.start();
alandt.stop(); } else if (vertset == 8) {
alandt1.stop(); if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
alandt.stop();
alandt1.stop();
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 8);
prof_run();
setprop("/it-autoflight/mode/vert", "VNAV");
setprop("/it-autoflight/mode/arm", " ");
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
if (getprop("/it-autoflight/output/loc-armed")) {
setprop("/it-autoflight/mode/arm", "LOC");
} else {
setprop("/it-autoflight/mode/arm", " ");
}
prof_maint.start();
} else {
gui.popupTip("Please make sure you have a route set, and that it is Activated!");
}
}
}
var vert_arm = func {
var vertset = getprop("/it-autoflight/input/vert");
if (vertset == 8) {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
setprop("/it-autoflight/input/prof-arm", 1);
setprop("/it-autoflight/mode/prof", "ARMED");
} else {
gui.popupTip("Please make sure you have a route set, and that it is Activated!");
}
} else {
setprop("/it-autoflight/input/prof-arm", 0);
setprop("/it-autoflight/mode/prof", "NONE");
} }
} }
@ -369,7 +428,7 @@ var alt_on = func {
setprop("/it-autoflight/output/vert", 0); setprop("/it-autoflight/output/vert", 0);
setprop("/it-autoflight/mode/vert", "ALT CAP"); setprop("/it-autoflight/mode/vert", "ALT CAP");
setprop("/it-autoflight/internal/max-pitch", 8); setprop("/it-autoflight/internal/max-pitch", 8);
setprop("/it-autoflight/internal/min-pitch", -8); setprop("/it-autoflight/internal/min-pitch", -5);
minmaxtimer.start(); minmaxtimer.start();
} }
@ -432,16 +491,27 @@ setlistener("/it-autoflight/mode/vert", func {
var vertm = getprop("/it-autoflight/mode/vert"); var vertm = getprop("/it-autoflight/mode/vert");
if (vertm == "T/O CLB") { if (vertm == "T/O CLB") {
reduct.start(); reduct.start();
latarmt.start();
} else { } else {
reduct.stop(); reduct.stop();
}
});
setlistener("/it-autoflight/mode/lat", func {
var vertm = getprop("/it-autoflight/mode/lat");
if (vertm == "T/O") {
latarmt.start();
} else {
latarmt.stop(); latarmt.stop();
} }
}); });
var toga_reduc = func { var toga_reduc = func {
if (getprop("/position/gear-agl-ft") >= getprop("/it-autoflight/settings/reduc-agl-ft")) { if (getprop("/position/gear-agl-ft") >= getprop("/it-autoflight/settings/reduc-agl-ft")) {
setprop("/it-autoflight/input/vert", 4); if (getprop("/it-autoflight/input/prof-arm") == 1) {
setprop("/it-autoflight/input/vert", 8);
} else {
setprop("/it-autoflight/input/vert", 4);
}
} }
} }
@ -451,17 +521,25 @@ setlistener("/it-autoflight/output/vert", func {
if (vertm == 1) { if (vertm == 1) {
altcaptt.start(); altcaptt.start();
fpa_calct.stop(); fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 4) { } else if (vertm == 4) {
altcaptt.start(); altcaptt.start();
fpa_calct.stop(); fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 5) { } else if (vertm == 5) {
altcaptt.start(); altcaptt.start();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 7) { } else if (vertm == 7) {
altcaptt.start(); altcaptt.start();
fpa_calct.stop(); fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 8) {
altcaptt.stop();
fpa_calct.stop();
} else { } else {
altcaptt.stop(); altcaptt.stop();
fpa_calct.stop(); fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} }
}); });
@ -544,7 +622,9 @@ var thrustmode = func {
} else if (vertm == 7) { } else if (vertm == 7) {
setprop("/it-autoflight/output/thr-mode", 2); setprop("/it-autoflight/output/thr-mode", 2);
setprop("/it-autoflight/mode/thr", " PITCH"); setprop("/it-autoflight/mode/thr", " PITCH");
} else { } else if (vertm == 8) {
thrustmodet.stop();
} else {
setprop("/it-autoflight/output/thr-mode", 0); setprop("/it-autoflight/output/thr-mode", 0);
setprop("/it-autoflight/mode/thr", "THRUST"); setprop("/it-autoflight/mode/thr", "THRUST");
thrustmodet.stop(); thrustmodet.stop();
@ -649,9 +729,9 @@ var make_loc_active = func {
var apparmcheck = func { var apparmcheck = func {
var signal = getprop("/instrumentation/nav[0]/gs-needle-deflection-norm"); var signal = getprop("/instrumentation/nav[0]/gs-needle-deflection-norm");
var signal_b = getprop("/instrumentation/nav[1]/gs-needle-deflection-norm"); var signal_b = getprop("/instrumentation/nav[1]/gs-needle-deflection-norm");
if ((signal <= -0.000000001) and (getprop("/it-autoflight/settings/use-nav2-radio") == 0)) { if ((signal <= -0.000000001) and (getprop("/it-autoflight/settings/use-nav2-radio") == 0) and (getprop("/it-autoflight/output/lat") == 2)) {
make_appr_active(); make_appr_active();
} else if ((signal_b <= -0.000000001) and (getprop("/it-autoflight/settings/use-nav2-radio") == 1)) { } else if ((signal_b <= -0.000000001) and (getprop("/it-autoflight/settings/use-nav2-radio") == 1) and (getprop("/it-autoflight/output/lat") == 2)) {
make_appr_active(); make_appr_active();
} else { } else {
return 0; return 0;
@ -712,6 +792,276 @@ var aland1 = func {
} }
# Autoland Stage 2 Logic (Rollout) # Autoland Stage 2 Logic (Rollout)
# Not yet working, planned.
# VNAV Profile Mode
var prof_main = func {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
var wp_curr = getprop("/autopilot/route-manager/current-wp");
var vnav_alt_wp = getprop("/autopilot/route-manager/route/wp",wp_curr,"altitude-ft");
if (getprop("/it-autoflight/internal/prof-wp-alt") == vnav_alt_wp) {
# Do nothing
} else {
setprop("/it-autoflight/internal/prof-wp-alt", vnav_alt_wp);
}
vnav_alt_selector();
} else {
setprop("/it-autoflight/input/vert", 4);
}
}
setlistener("/it-autoflight/input/alt", func {
if (getprop("/it-autoflight/output/vert") == 8) {
vnav_alt_selector();
prof_run();
}
});
setlistener("/it-autoflight/internal/prof-wp-alt", func {
if (getprop("/it-autoflight/output/vert") == 8) {
vnav_alt_selector();
prof_run();
}
});
setlistener("/autopilot/route-manager/current-wp", func {
if (getprop("/it-autoflight/output/vert") == 8) {
vnav_alt_selector();
prof_run();
}
});
var prof_run = func {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
var wp_curr = getprop("/autopilot/route-manager/current-wp");
var wptnum = getprop("/autopilot/route-manager/current-wp");
var vnav_alt_wp = getprop("/autopilot/route-manager/route/wp",wp_curr,"altitude-ft");
if ((wptnum - 1) < getprop("/autopilot/route-manager/route/num")) {
var vnav_alt_wp_prev = getprop("/autopilot/route-manager/route/wp",wp_curr - 1,"altitude-ft");
if (vnav_alt_wp_prev > vnav_alt_wp) {
vnav_des_todt.start();
setprop("/it-autoflight/internal/prof-mode", "DES");
} else if (vnav_alt_wp_prev == vnav_alt_wp) {
vnav_des_todt.stop();
setprop("/it-autoflight/internal/top-of-des-nm", 0);
setprop("/it-autoflight/internal/prof-mode", "XX");
} else if (vnav_alt_wp_prev <= vnav_alt_wp) {
vnav_des_todt.stop();
setprop("/it-autoflight/internal/top-of-des-nm", 0);
setprop("/it-autoflight/internal/prof-mode", "CLB");
}
} else {
vnav_des_todt.stop();
setprop("/it-autoflight/internal/top-of-des-nm", 0);
}
if (vnav_alt_wp > 100) {
if (getprop("/it-autoflight/internal/prof-mode") == "CLB") {
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var valt = getprop("/it-autoflight/internal/prof-alt");
var vdif = calt - valt;
if (vdif > 550 or vdif < -550) {
prof_clb();
} else {
vnav_alt_sel();
}
} else if (getprop("/it-autoflight/internal/prof-mode") == "DES") {
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var valt = getprop("/it-autoflight/internal/prof-alt");
var vdif = calt - valt;
if (vdif > 550 or vdif < -550) {
prof_des_spd();
} else {
vnav_alt_sel();
}
} else if (getprop("/it-autoflight/internal/prof-mode") == "XX") {
# Do nothing for now
}
} else {
setprop("/it-autoflight/input/vert", 4);
}
} else {
setprop("/it-autoflight/input/vert", 4);
}
}
# VNAV Top of Descent
var vnav_des_tod = func {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
var wp_curr = getprop("/autopilot/route-manager/current-wp");
var vnav_alt_wp = getprop("/autopilot/route-manager/route/wp",wp_curr,"altitude-ft");
var alt_curr = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var dist = getprop("/autopilot/route-manager/wp/dist");
var vdist = dist - 1;
var alttl = abs(alt_curr - vnav_alt_wp);
setprop("/it-autoflight/internal/top-of-des-nm", (alttl / 1000) * 3);
if (vdist < getprop("/it-autoflight/internal/top-of-des-nm")) {
vnav_des_todt.stop();
var salt = getprop("/it-autoflight/internal/alt");
var valt = getprop("/it-autoflight/internal/prof-wp-alt");
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var sdif = abs(calt - salt);
var vdif = abs(calt - valt);
if (sdif <= vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/alt"));
} else if (sdif > vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/prof-wp-alt"));
}
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var valt = getprop("/it-autoflight/internal/prof-alt");
var vdif = calt - valt;
if (vdif > 550 or vdif < -550) {
prof_des_spd();
} else {
vnav_alt_sel();
}
}
}
}
# VNAV Altitude Selector
var vnav_alt_selector = func {
var salt = getprop("/it-autoflight/internal/alt");
var valt = getprop("/it-autoflight/internal/prof-wp-alt");
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var sdif = abs(calt - salt);
var vdif = abs(calt - valt);
if (getprop("/it-autoflight/internal/prof-mode") == "CLB") {
if (sdif <= vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/alt"));
} else if (sdif > vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/prof-wp-alt"));
}
} else if (getprop("/it-autoflight/internal/prof-mode") == "DES") {
var dist = getprop("/autopilot/route-manager/wp/dist");
var vdist = dist - 1;
if (vdist < getprop("/it-autoflight/internal/top-of-des-nm")) {
if (sdif <= vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/alt"));
} else if (sdif > vdif) {
setprop("/it-autoflight/internal/prof-alt", getprop("/it-autoflight/internal/prof-wp-alt"));
}
}
}
}
# VNAV Selector
var vnav_alt_sel = func {
setprop("/it-autoflight/internal/max-pitch", 8);
setprop("/it-autoflight/internal/min-pitch", -5);
setprop("/it-autoflight/output/thr-mode", 0);
setprop("/it-autoflight/output/prof-vert", 0);
setprop("/it-autoflight/mode/thr", "THRUST");
setprop("/it-autoflight/mode/prof", "VNAV CAP");
vnav_minmaxt.start();
}
# VNAV Climb
var prof_clb = func {
vnav_des_fpmt.stop();
setprop("/it-autoflight/output/thr-mode", 2);
setprop("/it-autoflight/mode/thr", " PITCH");
setprop("/it-autoflight/output/prof-vert", 4);
setprop("/it-autoflight/mode/prof", "VNAV SPD");
vnav_altcaptt.start();
}
# VNAV Descent
var prof_des_spd = func {
vnav_des_fpmt.stop();
setprop("/it-autoflight/output/thr-mode", 1);
setprop("/it-autoflight/mode/thr", " PITCH");
setprop("/it-autoflight/output/prof-vert", 4);
setprop("/it-autoflight/mode/prof", "VNAV SPD");
vnav_altcaptt.start();
}
var prof_des_pth = func {
vnav_des_fpmt.start();
setprop("/it-autoflight/output/thr-mode", 0);
setprop("/it-autoflight/mode/thr", "THRUST");
setprop("/it-autoflight/output/prof-vert", 1);
setprop("/it-autoflight/mode/prof", "VNAV PTH");
vnav_altcaptt.start();
}
var vnav_des_fpm = func {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
var gndspd = getprop("/velocities/groundspeed-kt");
var desfpm = ((gndspd * 0.5) * 10);
setprop("/it-autoflight/internal/prof-fpm", desfpm);
}
}
# VNAV Capture
var vnav_altcapt = func {
var vsnow = getprop("/it-autoflight/internal/vert-speed-fpm");
if ((vsnow >= 0 and vsnow < 500) or (vsnow < 0 and vsnow > -500)) {
setprop("/it-autoflight/internal/captvs", 100);
setprop("/it-autoflight/internal/captvsneg", -100);
} else if ((vsnow >= 500 and vsnow < 1000) or (vsnow < -500 and vsnow > -1000)) {
setprop("/it-autoflight/internal/captvs", 150);
setprop("/it-autoflight/internal/captvsneg", -150);
} else if ((vsnow >= 1000 and vsnow < 1500) or (vsnow < -1000 and vsnow > -1500)) {
setprop("/it-autoflight/internal/captvs", 200);
setprop("/it-autoflight/internal/captvsneg", -200);
} else if ((vsnow >= 1500 and vsnow < 2000) or (vsnow < -1500 and vsnow > -2000)) {
setprop("/it-autoflight/internal/captvs", 300);
setprop("/it-autoflight/internal/captvsneg", -300);
} else if ((vsnow >= 2000 and vsnow < 3000) or (vsnow < -2000 and vsnow > -3000)) {
setprop("/it-autoflight/internal/captvs", 450);
setprop("/it-autoflight/internal/captvsneg", -450);
} else if ((vsnow >= 3000 and vsnow < 4000) or (vsnow < -3000 and vsnow > -4000)) {
setprop("/it-autoflight/internal/captvs", 650);
setprop("/it-autoflight/internal/captvsneg", -650);
} else if ((vsnow >= 4000 and vsnow < 5000) or (vsnow < -4000 and vsnow > -5000)) {
setprop("/it-autoflight/internal/captvs", 1000);
setprop("/it-autoflight/internal/captvsneg", -1000);
} else if ((vsnow >= 5000) or (vsnow < -5000)) {
setprop("/it-autoflight/internal/captvs", 1250);
setprop("/it-autoflight/internal/captvsneg", -1250);
}
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var valt = getprop("/it-autoflight/internal/prof-alt");
var vdif = calt - valt;
if (vdif < getprop("/it-autoflight/internal/captvs") and vdif > getprop("/it-autoflight/internal/captvsneg")) {
vnav_capture_alt();
}
}
var vnav_capture_alt = func {
vnav_altcaptt.stop();
vnav_des_fpmt.stop();
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var alt = getprop("/it-autoflight/internal/alt");
var valt = getprop("/it-autoflight/internal/prof-alt");
var pitchdeg = getprop("/orientation/pitch-deg");
if (calt < valt) {
setprop("/it-autoflight/internal/max-pitch", pitchdeg);
} else if (calt > valt) {
setprop("/it-autoflight/internal/min-pitch", pitchdeg);
}
vnav_minmaxt.start();
setprop("/it-autoflight/output/thr-mode", 0);
setprop("/it-autoflight/output/prof-vert", 0);
setprop("/it-autoflight/mode/thr", "THRUST");
setprop("/it-autoflight/mode/prof", "VNAV CAP");
}
# VNAV Min and Max Pitch Reset
var vnav_minmax = func {
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var valt = getprop("/it-autoflight/internal/prof-alt");
var vdif = calt - valt;
if (vdif < 100 and vdif > -100) {
setprop("/it-autoflight/internal/max-pitch", 8);
setprop("/it-autoflight/internal/min-pitch", -5);
var vertmode = getprop("/it-autoflight/output/prof-vert");
if (vertmode == 0) {
setprop("/it-autoflight/mode/prof", "VNAV HLD");
}
vnav_minmaxt.stop();
}
}
# CWS # CWS
var cwsroll = func { var cwsroll = func {
@ -743,6 +1093,10 @@ setlistener("/it-autoflight/input/hdg", func {
setprop("/autopilot/settings/heading-bug-deg", getprop("/it-autoflight/input/hdg")); setprop("/autopilot/settings/heading-bug-deg", getprop("/it-autoflight/input/hdg"));
}); });
setlistener("/it-autoflight/internal/alt", func {
setprop("/autopilot/settings/target-altitude-ft", getprop("/it-autoflight/internal/alt"));
});
# Timers # Timers
var altcaptt = maketimer(0.5, altcapt); var altcaptt = maketimer(0.5, altcapt);
var thrustmodet = maketimer(0.5, thrustmode); var thrustmodet = maketimer(0.5, thrustmode);
@ -757,3 +1111,8 @@ var reduct = maketimer(0.5, toga_reduc);
var latarmt = maketimer(0.5, latarms); var latarmt = maketimer(0.5, latarms);
var fpa_calct = maketimer(0.1, fpa_calc); var fpa_calct = maketimer(0.1, fpa_calc);
var lnavwptt = maketimer(1, lnavwpt); var lnavwptt = maketimer(1, lnavwpt);
var prof_maint = maketimer(0.5, prof_main);
var vnav_altcaptt = maketimer(0.5, vnav_altcapt);
var vnav_minmaxt = maketimer(0.5, vnav_minmax);
var vnav_des_fpmt = maketimer(0.5, vnav_des_fpm);
var vnav_des_todt = maketimer(0.5, vnav_des_tod);

70
Systems/autopilot-dlg.xml
View file

@ -215,9 +215,8 @@
<layout>hbox</layout> <layout>hbox</layout>
<button> <button>
<row>0</row>
<col>1</col>
<legend>SPD</legend> <legend>SPD</legend>
<pref-width>55</pref-width>
<binding> <binding>
<command>property-assign</command> <command>property-assign</command>
<property>/it-autoflight/input/kts-mach</property> <property>/it-autoflight/input/kts-mach</property>
@ -226,9 +225,8 @@
</button> </button>
<button> <button>
<row>1</row>
<col>1</col>
<legend>Mach</legend> <legend>Mach</legend>
<pref-width>55</pref-width>
<binding> <binding>
<command>property-assign</command> <command>property-assign</command>
<property>/it-autoflight/input/kts-mach</property> <property>/it-autoflight/input/kts-mach</property>
@ -237,9 +235,21 @@
</button> </button>
<button> <button>
<row>0</row> <legend>FMS</legend>
<col>1</col> <pref-width>55</pref-width>
<enable>
<property>/it-autoflight/input/fms-spd</property>
</enable>
<binding>
<command>property-assign</command>
<property>/it-autoflight/input/fms-spd</property>
<value>1</value>
</binding>
</button>
<button>
<legend>TOGA</legend> <legend>TOGA</legend>
<pref-width>55</pref-width>
<binding> <binding>
<command>property-assign</command> <command>property-assign</command>
<property>/it-autoflight/input/toga</property> <property>/it-autoflight/input/toga</property>
@ -770,6 +780,38 @@
</button> </button>
</group> </group>
<group>
<layout>hbox</layout>
<button>
<pref-width>55</pref-width>
<legend>VNAV</legend>
<enable>
<property>/it-autoflight/settings/vnav-test</property>
</enable>
<binding>
<command>property-assign</command>
<property>/it-autoflight/input/vert</property>
<value>8</value>
</binding>
</button>
<text>
<row>0</row>
<col>0</col>
<label>VNAV Command: </label>
</text>
<text>
<border>1</border>
<label>9999999999999</label>
<valign>center</valign>
<property>/it-autoflight/mode/prof</property>
<live>1</live>
</text>
</group>
<group> <group>
<layout>table</layout> <layout>table</layout>
@ -956,8 +998,8 @@
<binding> <binding>
<command>property-adjust</command> <command>property-adjust</command>
<property>/it-autoflight/input/fpa</property> <property>/it-autoflight/input/fpa</property>
<min>-9.9</min> <min>-20.9</min>
<max>9.9</max> <max>20.9</max>
<step>-1</step> <step>-1</step>
<wrap>false</wrap> <wrap>false</wrap>
</binding> </binding>
@ -971,8 +1013,8 @@
<binding> <binding>
<command>property-adjust</command> <command>property-adjust</command>
<property>/it-autoflight/input/fpa</property> <property>/it-autoflight/input/fpa</property>
<min>-9.9</min> <min>-20.9</min>
<max>9.9</max> <max>20.9</max>
<step>-0.1</step> <step>-0.1</step>
<wrap>false</wrap> <wrap>false</wrap>
</binding> </binding>
@ -998,8 +1040,8 @@
<binding> <binding>
<command>property-adjust</command> <command>property-adjust</command>
<property>/it-autoflight/input/fpa</property> <property>/it-autoflight/input/fpa</property>
<min>-9.9</min> <min>-20.9</min>
<max>9.9</max> <max>20.9</max>
<step>0.1</step> <step>0.1</step>
<wrap>false</wrap> <wrap>false</wrap>
</binding> </binding>
@ -1014,8 +1056,8 @@
<binding> <binding>
<command>property-adjust</command> <command>property-adjust</command>
<property>/it-autoflight/input/fpa</property> <property>/it-autoflight/input/fpa</property>
<min>-9.9</min> <min>-20.9</min>
<max>9.9</max> <max>20.9</max>
<step>1</step> <step>1</step>
<wrap>false</wrap> <wrap>false</wrap>
</binding> </binding>

24
Systems/custom-autothrust.xml
View file

@ -42,11 +42,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property> <property>/controls/engines/engine[0]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
@ -91,11 +90,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property> <property>/controls/engines/engine[0]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
@ -133,11 +131,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property> <property>/controls/engines/engine[0]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.08</u_min> <u_min>0.08</u_min>
@ -175,11 +172,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property> <property>/controls/engines/engine[0]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
@ -222,11 +218,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property> <property>/controls/engines/engine[1]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
@ -271,11 +266,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property> <property>/controls/engines/engine[1]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
@ -313,11 +307,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property> <property>/controls/engines/engine[1]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.08</u_min> <u_min>0.08</u_min>
@ -355,11 +348,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property> <property>/controls/engines/engine[1]/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.01</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>

899
Systems/it-autoflight.xml
View file

File diff suppressed because it is too large Load diff

421
Systems/it-autothrust.xml
View file

@ -8,227 +8,207 @@
<!-- Thrust Modes --> <!-- Thrust Modes -->
<!-- =============================================================== --> <!-- =============================================================== -->
<!-- Auto throttle --> <!-- Auto throttle -->
<pid-controller> <pid-controller>
<name>IAS THR</name> <name>IAS THR</name>
<debug>false</debug> <debug>false</debug>
<enable> <enable>
<condition> <condition>
<and> <and>
<equals> <equals>
<property>/it-autoflight/input/kts-mach</property> <property>/it-autoflight/input/kts-mach</property>
<value>0</value> <value>0</value>
</equals> </equals>
<equals> <equals>
<property>/it-autoflight/output/thr-mode</property> <property>/it-autoflight/output/thr-mode</property>
<value>0</value> <value>0</value>
</equals> </equals>
<equals> <equals>
<property>/it-autoflight/output/athr</property> <property>/it-autoflight/output/athr</property>
<value>1</value> <value>1</value>
</equals> </equals>
<equals> <equals>
<property>/it-autoflight/output/retard</property> <property>/it-autoflight/output/retard</property>
<value>0</value> <value>0</value>
</equals> </equals>
</and> </and>
</condition> </condition>
</enable> </enable>
<input> <input>
<property>/velocities/airspeed-kt</property> <property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
</input> </input>
<reference> <reference>
<property>/it-autoflight/input/spd-kts</property> <property>/it-autoflight/input/spd-kts</property>
</reference> </reference>
<output> <output>
<property>/controls/flight/throttle-cmd</property> <property>/controls/flight/throttle-cmd</property>
</output> </output>
<config> <config>
<Kp>0.1</Kp> <Kp>0.1</Kp>
<beta>1.0</beta> <beta>1.0</beta>
<alpha>0.1</alpha> <alpha>0.1</alpha>
<gamma>0.0</gamma> <gamma>0.0</gamma>
<Ti>10.0</Ti> <Ti>10.0</Ti>
<Td>0.00001</Td> <Td>0.00001</Td>
<u_min>0.0</u_min> <u_min>0.0</u_min>
<u_max>0.94</u_max> <u_max>0.94</u_max>
</config> </config>
</pid-controller> </pid-controller>
<!-- Auto throttle (Mach Hold)--> <!-- Auto throttle (Mach Hold)-->
<pid-controller> <pid-controller>
<name>MACH THR</name> <name>MACH THR</name>
<debug>false</debug> <debug>false</debug>
<enable> <enable>
<condition> <condition>
<and> <and>
<equals> <equals>
<property>/it-autoflight/input/kts-mach</property> <property>/it-autoflight/input/kts-mach</property>
<value>1</value> <value>1</value>
</equals> </equals>
<equals> <equals>
<property>/it-autoflight/output/thr-mode</property> <property>/it-autoflight/output/thr-mode</property>
<value>0</value>
</equals>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
</equals>
</and>
</condition>
</enable>
<input>
<property>/instrumentation/airspeed-indicator/indicated-mach</property>
<scale>1000.0</scale>
</input>
<reference>
<property>/it-autoflight/input/spd-mach</property>
<scale>1000.0</scale>
</reference>
<output>
<property>/controls/flight/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>0.94</u_max>
</config>
</pid-controller>
<!-- IDLE THR -->
<pid-controller>
<name>IDLE</name>
<debug>false</debug>
<enable>
<condition>
<and>
<or>
<equals>
<property>/it-autoflight/output/thr-mode</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>1</value>
</equals>
</or>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
</and>
</condition>
</enable>
<input>
<value>900</value>
</input>
<reference>
<value>0</value> <value>0</value>
</equals> </reference>
<equals> <output>
<property>/it-autoflight/output/athr</property> <property>/controls/flight/throttle-cmd</property>
<value>1</value> </output>
</equals> <config>
<equals> <Kp>0.1</Kp>
<property>/it-autoflight/output/retard</property> <beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>
<condition>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
</equals>
</condition>
<value>0.08</value>
</u_min>
<u_min>
<condition>
<equals>
<property>/it-autoflight/output/retard</property>
<value>1</value>
</equals>
</condition>
<value>0</value>
</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<!-- CLB THR -->
<pid-controller>
<name>CLB</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/it-autoflight/output/thr-mode</property>
<value>2</value>
</equals>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
</equals>
</and>
</condition>
</enable>
<input>
<value>0</value> <value>0</value>
</equals> </input>
</and> <reference>
</condition> <value>900</value>
</enable> </reference>
<input> <output>
<property>/velocities/mach</property> <property>/controls/flight/throttle-cmd</property>
<scale>1000.0</scale> </output>
</input> <config>
<reference> <Kp>0.1</Kp>
<property>/it-autoflight/input/spd-mach</property> <beta>1.0</beta>
<scale>1000.0</scale> <alpha>0.1</alpha>
</reference> <gamma>0.0</gamma>
<output> <Ti>10.0</Ti>
<property>/controls/flight/throttle-cmd</property> <Td>0.00001</Td>
</output> <u_min>0.0</u_min>
<config> <u_max>0.95</u_max>
<Kp>0.1</Kp> </config>
<beta>1.0</beta> </pid-controller>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>0.94</u_max>
</config>
</pid-controller>
<!-- IDLE THR -->
<pid-controller>
<name>IDLE</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/it-autoflight/output/thr-mode</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
</equals>
</and>
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
</input>
<reference>
<value>0</value>
</reference>
<output>
<property>/controls/flight/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.08</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<!-- CLB THR -->
<pid-controller>
<name>CLB</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/it-autoflight/output/thr-mode</property>
<value>2</value>
</equals>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
</equals>
</and>
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
</input>
<reference>
<value>900</value>
</reference>
<output>
<property>/controls/flight/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>0.95</u_max>
</config>
</pid-controller>
<!-- RETARD THR -->
<pid-controller>
<name>RETARD</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/retard</property>
<value>1</value>
</equals>
</and>
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
</input>
<reference>
<value>0</value>
</reference>
<output>
<property>/controls/flight/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.005</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<filter> <filter>
<name>IT-CONTROLLER: THRUST CMD</name> <name>IT-CONTROLLER: THRUST CMD</name>
@ -244,6 +224,7 @@
</condition> </condition>
</enable> </enable>
<input> <input>
<property>/controls/flight/throttle-cmd</property> <property>/controls/flight/throttle-cmd</property>
</input> </input>
<output> <output>
@ -270,7 +251,7 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<value>0.40</value> <value>0.20</value>
</max-rate-of-change> </max-rate-of-change>
<max-rate-of-change> <max-rate-of-change>
<condition> <condition>
@ -285,7 +266,7 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<value>0.20</value> <value>0.05</value>
</max-rate-of-change> </max-rate-of-change>
<max-rate-of-change> <max-rate-of-change>
<condition> <condition>
@ -294,7 +275,7 @@
<value>1</value> <value>1</value>
</equals> </equals>
</condition> </condition>
<value>0.20</value> <value>0.10</value>
</max-rate-of-change> </max-rate-of-change>
</filter> </filter>