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

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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
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11
A320-main.xml
View file

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

40
Models/FlightDeck/a320.flightdeck.xml
View file

@ -40,17 +40,6 @@
</offsets>
</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 -->
<model>
@ -3773,6 +3762,35 @@
</axis>
</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 -->
<animation>

381
Nasal/it-autoflight.nas
View file

@ -1,6 +1,6 @@
# IT AUTOFLIGHT System Controller
# Joshua Davidson (it0uchpods)
# V3.0.0 Build 132
# V3.0.0 Build 165
# This program is 100% GPL!
print("IT-AUTOFLIGHT: Please Wait!");
@ -20,6 +20,7 @@ var ap_init = func {
setprop("/it-autoflight/input/lat", 5);
setprop("/it-autoflight/input/lat-arm", 0);
setprop("/it-autoflight/input/vert", 7);
setprop("/it-autoflight/input/prof-arm", 0);
setprop("/it-autoflight/input/bank-limit", 30);
setprop("/it-autoflight/input/trk", 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/lat", 5);
setprop("/it-autoflight/output/vert", 7);
setprop("/it-autoflight/output/prof-vert", 4);
setprop("/it-autoflight/settings/min-pitch", -8);
setprop("/it-autoflight/settings/max-pitch", 8);
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/max-pitch", 8);
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/cwsp", 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/mode/thr", "PITCH");
setprop("/it-autoflight/mode/arm", "HDG");
setprop("/it-autoflight/mode/lat", "T/O");
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-mach", 0.68);
thrustmode();
update_arms();
thrustmode();
print("IT-AUTOFLIGHT: Done!");
}
@ -171,7 +179,7 @@ var lateral = func {
setprop("/it-autoflight/mode/lat", "HDG");
setprop("/it-autoflight/mode/arm", " ");
} 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();
alandt1.stop();
lnavwptt.start();
@ -180,12 +188,13 @@ var lateral = func {
setprop("/it-autoflight/output/lat", 1);
setprop("/it-autoflight/mode/lat", "LNAV");
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) {
setprop("/instrumentation/nav[0]/signal-quality-norm", 0);
setprop("/instrumentation/nav[1]/signal-quality-norm", 0);
setprop("/it-autoflight/output/loc-armed", 1);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/mode/arm", "LOC");
} else if (latset == 3) {
alandt.stop();
@ -214,8 +223,12 @@ var lat_arm = func {
setprop("/it-autoflight/input/lat-arm", 0);
setprop("/it-autoflight/mode/arm", "HDG");
} else if (latset == 1) {
if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
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) {
var hdgnow = int(getprop("/orientation/heading-magnetic-deg")+0.5);
setprop("/it-autoflight/input/hdg", hdgnow);
@ -228,6 +241,8 @@ var lat_arm = func {
setlistener("/it-autoflight/input/vert", func {
if ((getprop("/gear/gear[1]/wow") == 0) and (getprop("/gear/gear[2]/wow") == 0)) {
vertical();
} else {
vert_arm();
}
});
@ -236,6 +251,7 @@ var vertical = func {
if (vertset == 0) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 0);
setprop("/it-autoflight/mode/vert", "ALT HLD");
@ -251,11 +267,12 @@ var vertical = func {
} else if (vertset == 1) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
var vsnow = int(getprop("/velocities/vertical-speed-fps")*0.6)*100;
setprop("/it-autoflight/input/vs", vsnow);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 1);
setprop("/it-autoflight/mode/vert", "V/S");
if (getprop("/it-autoflight/output/loc-armed")) {
@ -280,6 +297,7 @@ var vertical = func {
} else if (vertset == 3) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
var alt = getprop("/it-autoflight/internal/alt");
var dif = calt - alt;
@ -296,6 +314,8 @@ var vertical = func {
} else if (vertset == 4) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
@ -314,15 +334,16 @@ var vertical = func {
} else if (vertset == 5) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
fpa_calct.start();
setprop("/it-autoflight/output/appr-armed", 0);
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
var fpanow = (int(10*getprop("/it-autoflight/internal/fpa")))*0.1;
setprop("/it-autoflight/input/fpa", fpanow);
setprop("/it-autoflight/output/appr-armed", 0);
setprop("/it-autoflight/output/vert", 5);
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");
} else {
setprop("/it-autoflight/mode/arm", " ");
@ -335,15 +356,53 @@ var vertical = func {
thrustmode();
alandt.stop();
alandt1.start();
prof_maint.stop();
setprop("/it-autoflight/autoland/target-vs", "-650");
} else if (vertset == 7) {
alandt.stop();
alandt1.stop();
prof_maint.stop();
setprop("/it-autoflight/output/vert", 7);
setprop("/it-autoflight/mode/arm", " ");
var altinput = getprop("/it-autoflight/input/alt");
setprop("/it-autoflight/internal/alt", altinput);
prof_maint.stop();
thrustmodet.start();
} else if (vertset == 8) {
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/mode/vert", "ALT CAP");
setprop("/it-autoflight/internal/max-pitch", 8);
setprop("/it-autoflight/internal/min-pitch", -8);
setprop("/it-autoflight/internal/min-pitch", -5);
minmaxtimer.start();
}
@ -432,18 +491,29 @@ setlistener("/it-autoflight/mode/vert", func {
var vertm = getprop("/it-autoflight/mode/vert");
if (vertm == "T/O CLB") {
reduct.start();
latarmt.start();
} else {
reduct.stop();
}
});
setlistener("/it-autoflight/mode/lat", func {
var vertm = getprop("/it-autoflight/mode/lat");
if (vertm == "T/O") {
latarmt.start();
} else {
latarmt.stop();
}
});
var toga_reduc = func {
if (getprop("/position/gear-agl-ft") >= getprop("/it-autoflight/settings/reduc-agl-ft")) {
if (getprop("/it-autoflight/input/prof-arm") == 1) {
setprop("/it-autoflight/input/vert", 8);
} else {
setprop("/it-autoflight/input/vert", 4);
}
}
}
# Altitude Capture and FPA Timer Logic
setlistener("/it-autoflight/output/vert", func {
@ -451,17 +521,25 @@ setlistener("/it-autoflight/output/vert", func {
if (vertm == 1) {
altcaptt.start();
fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 4) {
altcaptt.start();
fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 5) {
altcaptt.start();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 7) {
altcaptt.start();
fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
} else if (vertm == 8) {
altcaptt.stop();
fpa_calct.stop();
} else {
altcaptt.stop();
fpa_calct.stop();
setprop("/it-autoflight/mode/prof", "NONE");
}
});
@ -544,6 +622,8 @@ var thrustmode = func {
} else if (vertm == 7) {
setprop("/it-autoflight/output/thr-mode", 2);
setprop("/it-autoflight/mode/thr", " PITCH");
} else if (vertm == 8) {
thrustmodet.stop();
} else {
setprop("/it-autoflight/output/thr-mode", 0);
setprop("/it-autoflight/mode/thr", "THRUST");
@ -649,9 +729,9 @@ var make_loc_active = func {
var apparmcheck = func {
var signal = getprop("/instrumentation/nav[0]/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();
} 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();
} else {
return 0;
@ -712,6 +792,276 @@ var aland1 = func {
}
# 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
var cwsroll = func {
@ -743,6 +1093,10 @@ setlistener("/it-autoflight/input/hdg", func {
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
var altcaptt = maketimer(0.5, altcapt);
var thrustmodet = maketimer(0.5, thrustmode);
@ -757,3 +1111,8 @@ var reduct = maketimer(0.5, toga_reduc);
var latarmt = maketimer(0.5, latarms);
var fpa_calct = maketimer(0.1, fpa_calc);
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>
<button>
<row>0</row>
<col>1</col>
<legend>SPD</legend>
<pref-width>55</pref-width>
<binding>
<command>property-assign</command>
<property>/it-autoflight/input/kts-mach</property>
@ -226,9 +225,8 @@
</button>
<button>
<row>1</row>
<col>1</col>
<legend>Mach</legend>
<pref-width>55</pref-width>
<binding>
<command>property-assign</command>
<property>/it-autoflight/input/kts-mach</property>
@ -237,9 +235,21 @@
</button>
<button>
<row>0</row>
<col>1</col>
<legend>FMS</legend>
<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>
<pref-width>55</pref-width>
<binding>
<command>property-assign</command>
<property>/it-autoflight/input/toga</property>
@ -770,6 +780,38 @@
</button>
</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>
<layout>table</layout>
@ -956,8 +998,8 @@
<binding>
<command>property-adjust</command>
<property>/it-autoflight/input/fpa</property>
<min>-9.9</min>
<max>9.9</max>
<min>-20.9</min>
<max>20.9</max>
<step>-1</step>
<wrap>false</wrap>
</binding>
@ -971,8 +1013,8 @@
<binding>
<command>property-adjust</command>
<property>/it-autoflight/input/fpa</property>
<min>-9.9</min>
<max>9.9</max>
<min>-20.9</min>
<max>20.9</max>
<step>-0.1</step>
<wrap>false</wrap>
</binding>
@ -998,8 +1040,8 @@
<binding>
<command>property-adjust</command>
<property>/it-autoflight/input/fpa</property>
<min>-9.9</min>
<max>9.9</max>
<min>-20.9</min>
<max>20.9</max>
<step>0.1</step>
<wrap>false</wrap>
</binding>
@ -1014,8 +1056,8 @@
<binding>
<command>property-adjust</command>
<property>/it-autoflight/input/fpa</property>
<min>-9.9</min>
<max>9.9</max>
<min>-20.9</min>
<max>20.9</max>
<step>1</step>
<wrap>false</wrap>
</binding>

24
Systems/custom-autothrust.xml
View file

@ -42,11 +42,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -91,11 +90,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -133,11 +131,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -175,11 +172,10 @@
<property>/controls/engines/engine[0]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -222,11 +218,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -271,11 +266,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -313,11 +307,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>
@ -355,11 +348,10 @@
<property>/controls/engines/engine[1]/throttle-cmd</property>
</output>
<config>
<Kp>0.1</Kp>
<Kp>0.01</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>

471
Systems/it-autoflight.xml
View file

@ -173,22 +173,6 @@
<gain>1.0</gain>
</filter>
<!--filter>
<name>NAV BC ERROR DEG</name>
<debug>false</debug>
<type>gain</type>
<input>
<expression>
<sum>
<property>/it-autoflight/internal/nav-heading-error-deg</property>
<value>180</value>
</sum>
</expression>
</input>
<output>/it-autoflight/internal/nav-bc-heading-error-deg</output>
<gain>1.0</gain>
</filter-->
<filter>
<name>INTERNAL VERTICAL SPEED COMPUTER</name>
<debug>false</debug>
@ -201,7 +185,7 @@
<predict-simple>
<name>IAS 5 SECOND PREDICTOR</name>
<debug>false</debug>
<input>/velocities/airspeed-kt</input>
<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>
@ -210,16 +194,25 @@
<predict-simple>
<name>IAS 10 SECOND PREDICTOR</name>
<debug>false</debug>
<input>/velocities/airspeed-kt</input>
<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>IAS 15 SECOND PREDICTOR</name>
<debug>false</debug>
<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
<output>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</output>
<seconds>15.0</seconds>
<filter-gain>0.0</filter-gain>
</predict-simple>
<predict-simple>
<name>MACH 10 SECOND PREDICTOR</name>
<debug>false</debug>
<input>/velocities/mach</input>
<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>
@ -257,10 +250,9 @@
<!-- Lateral Modes -->
<!-- =============================================================== -->
<filter>
<name>TARGET ROLL CONTROLLER</name>
<pi-simple-controller>
<name>ROLL CONTROLLER: HDG/LNAV</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<or>
@ -272,14 +264,6 @@
<property>/it-autoflight/output/lat</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/lat</property>
<value>4</value>
</equals>
<equals>
<property>/it-autoflight/output/lat</property>
<value>5</value>
</equals>
</or>
</condition>
</enable>
@ -331,63 +315,56 @@
<property>/it-autoflight/config/cmd/roll-scale</property>
</scale>
</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>
<reference>
<value>0</value>
</input>
</reference>
<output>
<property>/it-autoflight/internal/target-roll-deg</property>
</output>
<gain>0.5</gain>
<u_min>
<config>
<Kp>
<property>/it-autoflight/config/cmd/roll-kp</property>
</Kp>
<Ki>0.0</Ki>
<min>
<condition>
<equals>
<not-equals>
<property>/it-autoflight/output/lat</property>
<value>0</value>
</equals>
<value>1</value>
</not-equals>
</condition>
<property>/it-autoflight/input/bank-limit</property>
<scale>-1</scale>
</u_min>
<u_min>
</min>
<min>
<condition>
<equals>
<property>/it-autoflight/output/lat</property>
<value>1</value>
</equals>
</condition>
<value>-20</value>
</u_min>
<u_max>
<value>-25</value>
</min>
<max>
<condition>
<equals>
<not-equals>
<property>/it-autoflight/output/lat</property>
<value>0</value>
</equals>
<value>1</value>
</not-equals>
</condition>
<property>/it-autoflight/input/bank-limit</property>
</u_max>
<u_max>
</max>
<max>
<condition>
<equals>
<property>/it-autoflight/output/lat</property>
<value>1</value>
</equals>
</condition>
<value>20</value>
</u_max>
</filter>
<value>25</value>
</max>
</config>
</pi-simple-controller>
<pid-controller>
<name>VORLOC TRK</name>
@ -446,9 +423,9 @@
<input>
<property>/it-autoflight/internal/target-roll-deg</property>
</input>
<output>/it-autoflight/internal/roll-deg-cmd</output>
<output>/it-autoflight/internal/target-roll</output>
<type>noise-spike</type>
<max-rate-of-change>10</max-rate-of-change>
<max-rate-of-change>15</max-rate-of-change>
</filter>
<pid-controller>
@ -472,7 +449,38 @@
<property>/orientation/roll-deg</property>
</input>
<reference>
<property>/it-autoflight/internal/roll-deg-cmd</property>
<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>
@ -547,7 +555,7 @@
</input>
<output>/controls/flight/aileron</output>
<type>noise-spike</type>
<max-rate-of-change>0.8</max-rate-of-change>
<max-rate-of-change>0.9</max-rate-of-change>
</filter>
<!-- =============================================================== -->
@ -559,18 +567,45 @@
<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-5-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>
@ -592,45 +627,6 @@
</config>
</pid-controller>
<pid-controller>
<name>VERTICAL SPEED HOLD</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/it-autoflight/output/vert</property>
<value>1</value>
</equals>
</condition>
</enable>
<input>
<property>/velocities/vertical-speed-fps</property>
</input>
<reference>
<property>/it-autoflight/input/vs</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>30</value>
</u_max>
</config>
</pid-controller>
<pid-controller>
<name>FPA HOLD</name>
<debug>false</debug>
@ -760,16 +756,20 @@
</pid-controller>
<pid-controller>
<name>FLIGHT LEVEL CHANGE</name>
<name>FLCH SPEED BY PITCH</name>
<debug>false</debug>
<enable>
<condition>
<or>
<equals>
<and>
<not-equals>
<property>/it-autoflight/output/vert</property>
<value>4</value>
</equals>
</or>
<value>7</value>
</not-equals>
<not-equals>
<property>/it-autoflight/output/vert</property>
<value>8</value>
</not-equals>
</and>
</condition>
</enable>
<input>
@ -779,7 +779,7 @@
<value>0</value>
</equals>
</condition>
<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
<property>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</property>
</input>
<input>
<condition>
@ -789,7 +789,7 @@
</equals>
</condition>
<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
<scale>1000.0</scale>
<scale>500.0</scale>
</input>
<reference>
<condition>
@ -808,10 +808,10 @@
</equals>
</condition>
<property>/it-autoflight/input/spd-mach</property>
<scale>1000.0</scale>
<scale>500.0</scale>
</reference>
<output>
<property>/it-autoflight/internal/target-pitch-deg</property>
<property>/it-autoflight/internal/target-fps</property>
</output>
<config>
<Kp>
@ -829,7 +829,7 @@
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
</greater-than>
</condition>
<value>2</value>
<value>1.6</value>
</u_min>
<u_min>
<condition>
@ -838,7 +838,7 @@
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
</less-than>
</condition>
<value>-7.0</value>
<value>-100</value>
</u_min>
<u_max>
<condition>
@ -847,7 +847,7 @@
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
</greater-than>
</condition>
<value>25.0</value>
<value>166</value>
</u_max>
<u_max>
<condition>
@ -856,7 +856,7 @@
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
</less-than>
</condition>
<value>0.0</value>
<value>-1.6</value>
</u_max>
</config>
</pid-controller>
@ -866,16 +866,14 @@
<debug>false</debug>
<enable>
<condition>
<or>
<equals>
<property>/it-autoflight/output/vert</property>
<value>7</value>
</equals>
</or>
</condition>
</enable>
<input>
<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
<property>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</property>
</input>
<reference>
<condition>
@ -896,7 +894,7 @@
<property>/it-autoflight/input/spd-kts</property>
</reference>
<output>
<property>/it-autoflight/internal/target-pitch-deg</property>
<property>/it-autoflight/internal/target-fps</property>
</output>
<config>
<Kp>
@ -908,10 +906,223 @@
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>
<value>2</value>
<value>1.6</value>
</u_min>
<u_max>
<value>25.0</value>
<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-15-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>
@ -924,7 +1135,7 @@
<input>
<property>/it-autoflight/internal/target-pitch-deg</property>
</input>
<output>/it-autoflight/internal/pitch-deg-cmd</output>
<output>/it-autoflight/internal/target-pitch</output>
<type>noise-spike</type>
<max-rate-of-change>10</max-rate-of-change>
</filter>
@ -950,7 +1161,7 @@
<property>/orientation/pitch-deg</property>
</input>
<reference>
<property>/it-autoflight/internal/pitch-deg-cmd</property>
<property>/it-autoflight/internal/target-pitch</property>
</reference>
<output>
<property>/it-autoflight/internal/elevator-cmd</property>
@ -1001,7 +1212,7 @@
</input>
<output>/controls/flight/elevator</output>
<type>noise-spike</type>
<max-rate-of-change>0.3</max-rate-of-change>
<max-rate-of-change>0.4</max-rate-of-change>
</filter>
<!-- =============================================================== -->
@ -1370,7 +1581,7 @@
<input>
<expression>
<dif>
<property>/it-autoflight/internal/roll-deg-cmd</property>
<property>/it-autoflight/internal/target-roll</property>
<property>/orientation/roll-deg</property>
</dif>
</expression>
@ -1387,7 +1598,7 @@
<input>
<expression>
<dif>
<property>/it-autoflight/internal/pitch-deg-cmd</property>
<property>/it-autoflight/internal/target-pitch</property>
<property>/orientation/pitch-deg</property>
</dif>
</expression>

81
Systems/it-autothrust.xml
View file

@ -35,7 +35,7 @@
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
<property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
</input>
<reference>
<property>/it-autoflight/input/spd-kts</property>
@ -83,7 +83,7 @@
</condition>
</enable>
<input>
<property>/velocities/mach</property>
<property>/instrumentation/airspeed-indicator/indicated-mach</property>
<scale>1000.0</scale>
</input>
<reference>
@ -112,23 +112,25 @@
<enable>
<condition>
<and>
<or>
<equals>
<property>/it-autoflight/output/thr-mode</property>
<value>1</value>
</equals>
<equals>
<property>/it-autoflight/output/athr</property>
<property>/it-autoflight/output/retard</property>
<value>1</value>
</equals>
</or>
<equals>
<property>/it-autoflight/output/retard</property>
<value>0</value>
<property>/it-autoflight/output/athr</property>
<value>1</value>
</equals>
</and>
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
<value>900</value>
</input>
<reference>
<value>0</value>
@ -143,7 +145,24 @@
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.08</u_min>
<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>
@ -171,7 +190,7 @@
</condition>
</enable>
<input>
<property>/velocities/airspeed-kt</property>
<value>0</value>
</input>
<reference>
<value>900</value>
@ -191,45 +210,6 @@
</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>
<name>IT-CONTROLLER: THRUST CMD</name>
<debug>false</debug>
@ -244,6 +224,7 @@
</condition>
</enable>
<input>
<property>/controls/flight/throttle-cmd</property>
</input>
<output>
@ -270,7 +251,7 @@
</equals>
</and>
</condition>
<value>0.40</value>
<value>0.20</value>
</max-rate-of-change>
<max-rate-of-change>
<condition>
@ -285,7 +266,7 @@
</equals>
</and>
</condition>
<value>0.20</value>
<value>0.05</value>
</max-rate-of-change>
<max-rate-of-change>
<condition>
@ -294,7 +275,7 @@
<value>1</value>
</equals>
</condition>
<value>0.20</value>
<value>0.10</value>
</max-rate-of-change>
</filter>