Control: Move FBW System to JSBsim, and improve it
This commit is contained in:
Joshua Davidson
parent
096b46a0f0
commit
4a13cad366
9 changed files with 1310 additions and 1971 deletions
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@ -112,43 +112,39 @@
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<electrical>
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<path></path>
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</electrical>
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<!-- 0 is FADEC -->
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<autopilot n="1">
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<path>Aircraft/IDG-A32X/Systems/hydraulics.xml</path>
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</autopilot>
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<autopilot n="2">
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<path>Aircraft/IDG-A32X/Systems/fbw-drivers.xml</path>
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</autopilot>
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<autopilot n="3">
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<path>Aircraft/IDG-A32X/Systems/fbw-roll-yaw.xml</path>
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</autopilot>
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<autopilot n="4">
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<path>Aircraft/IDG-A32X/Systems/fbw-pitch.xml</path>
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</autopilot>
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<autopilot n="5">
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<autopilot n="3">
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<path>Aircraft/IDG-A32X/Systems/fmgc-drivers.xml</path>
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</autopilot>
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<autopilot n="6">
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<autopilot n="4">
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<path>Aircraft/IDG-A32X/Systems/fmgc-roll-yaw.xml</path>
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</autopilot>
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<autopilot n="7">
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<autopilot n="5">
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<path>Aircraft/IDG-A32X/Systems/fmgc-pitch.xml</path>
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</autopilot>
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<autopilot n="8">
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<autopilot n="6">
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<path>Aircraft/IDG-A32X/Systems/fmgc-thrust.xml</path>
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</autopilot>
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<autopilot n="9">
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<autopilot n="7">
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<path>Aircraft/IDG-A32X/Systems/libraries.xml</path>
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</autopilot>
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<autopilot n="11">
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<autopilot n="8">
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<path>Aircraft/IDG-A32X/Systems/upper-ecam.xml</path>
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</autopilot>
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<autopilot n="12">
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<autopilot n="9">
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<path>Aircraft/IDG-A32X/Systems/lower-ecam.xml</path>
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</autopilot>
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<autopilot n="13">
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<!-- 10 is sound -->
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<autopilot n="11">
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<path>Aircraft/IDG-A32X/Systems/pfd.xml</path>
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</autopilot>
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<autopilot n="14">
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<autopilot n="12">
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<path>Aircraft/IDG-A32X/Systems/zoom-views.xml</path>
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</autopilot>
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</systems>
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@ -415,6 +411,8 @@
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<output>
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<ap1>0</ap1>
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<ap2>0</ap2>
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<lat>0</lat>
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<vert>0</vert>
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</output>
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<custom>
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<show-hdg>0</show-hdg>
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@ -429,6 +427,12 @@
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<it-fbw n="0">
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<alpha-hld type="bool">0</alpha-hld>
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<law type="int">0</law>
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<roll-lim type="double">33</roll-lim>
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<roll-back type="bool">0</roll-back>
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<protections n="0">
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<overspeed type="bool">0</overspeed>
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<overspeed-roll-back type="bool">0</overspeed-roll-back>
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</protections>
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</it-fbw>
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<apu>
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@ -537,13 +541,11 @@
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<aileron-left>0.5</aileron-left>
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<aileron-right>-0.5</aileron-right>
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<elevator-input>0</elevator-input>
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<elevator-fbw>0</elevator-fbw>
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<elevator-left>0.1</elevator-left>
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<elevator-right>0.1</elevator-right>
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<elevator-trim-fdm>0.0</elevator-trim-fdm>
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<flap-pos type="int">0</flap-pos>
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<ground-spoilers-armed type="bool">0</ground-spoilers-armed>
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<roll-fbw>0</roll-fbw>
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<rudder-trim-fdm>0.0</rudder-trim-fdm>
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<spoiler-l1>0.0</spoiler-l1>
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<spoiler-l2>0.0</spoiler-l2>
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@ -519,7 +519,7 @@
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/rudder-pos-rad</property>
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<value>-0.053</value>
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<value>0.053</value>
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</product>
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</function>
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1450
Systems/a320-fcs.xml
1450
Systems/a320-fcs.xml
File diff suppressed because it is too large
Load diff
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@ -1,363 +0,0 @@
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<?xml version="1.0"?>
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<!--
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##############################################
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# Copyright (c) Joshua Davidson (it0uchpods) #
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##############################################
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-->
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<!-- Airbus A3XX FBW System -->
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<!-- Joshua Davidson (it0uchpods) -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Surface Position Feeding -->
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<!-- =============================================================== -->
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</input>
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<input>/controls/flight/aileron</input>
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<output>/controls/flight/aileron-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</input>
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<input>/controls/flight/elevator</input>
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<output>/controls/flight/elevator-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<property>/it-autoflight/internal/aileron-cmd</property>
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</input>
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<input>
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<expression>
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<table>
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<property>/controls/flight/aileron</property>
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<entry><ind>-1.00</ind><dep>-1</dep></entry>
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<entry><ind>-0.04</ind><dep> 0</dep></entry>
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
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<entry><ind> 0.04</ind><dep> 0</dep></entry>
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
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</table>
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</expression>
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</input>
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<output>/controls/flight/aileron-input</output>
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<max-rate-of-change>
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<condition>
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<and>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<value>1.0</value>
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</max-rate-of-change>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<enable>
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<condition>
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<equals>
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<property>/systems/acconfig/mismatch-code</property>
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<value>0x000</value>
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</equals>
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</condition>
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</enable>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<less-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>30</value>
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</less-than-equals>
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<greater-than-equals>
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<property>/controls/flight/flap-pos</property>
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<value>4</value>
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</greater-than-equals>
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<less-than>
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<property>/controls/engines/engine[0]/throttle</property>
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<value>0.65</value>
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</less-than>
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<less-than>
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<property>/controls/engines/engine[1]/throttle</property>
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<value>0.65</value>
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</less-than>
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<equals>
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<property>/FMGC/status/to-state</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[0]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator</property>
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<entry><ind>-1.00</ind><dep>-1</dep></entry>
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<entry><ind>-0.04</ind><dep> 0</dep></entry>
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
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<entry><ind> 0.04</ind><dep> 0</dep></entry>
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
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</table>
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<table>
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<property>/position/gear-agl-ft</property>
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<entry><ind> 5</ind><dep>0.20</dep></entry>
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<entry><ind>30</ind><dep>0.10</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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<less-than-equals>
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<property>/position/gear-agl-ft</property>
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<value>30</value>
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</less-than-equals>
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<greater-than-equals>
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<property>/controls/flight/flap-pos</property>
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<value>4</value>
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</greater-than-equals>
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<less-than>
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<property>/controls/engines/engine[0]/throttle</property>
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<value>0.65</value>
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</less-than>
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<less-than>
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<property>/controls/engines/engine[1]/throttle</property>
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<value>0.65</value>
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</less-than>
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<equals>
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<property>/FMGC/status/to-state</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[0]/wow</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>1</value>
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</equals>
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</or>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator</property>
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<entry><ind>-1.00</ind><dep>-1</dep></entry>
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<entry><ind>-0.04</ind><dep> 0</dep></entry>
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
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<entry><ind> 0.04</ind><dep> 0</dep></entry>
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
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</table>
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<value>0.15</value>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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<equals>
|
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
|
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</equals>
|
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<equals>
|
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<property>/it-autoflight/internal/elevator-cmd</property>
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</input>
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<input>
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<condition>
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<and>
|
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<or>
|
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<equals>
|
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<property>/it-autoflight/output/ap1</property>
|
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<value>1</value>
|
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</equals>
|
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<equals>
|
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
|
||||
</equals>
|
||||
</or>
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||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
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<value>0.0</value>
|
||||
</input>
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<input>
|
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<expression>
|
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<table>
|
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<property>/controls/flight/elevator</property>
|
||||
<entry><ind>-1.00</ind><dep>-1</dep></entry>
|
||||
<entry><ind>-0.04</ind><dep> 0</dep></entry>
|
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<entry><ind> 0.00</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 0.04</ind><dep> 0</dep></entry>
|
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<entry><ind> 1.00</ind><dep> 1</dep></entry>
|
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</table>
|
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</expression>
|
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</input>
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<output>/controls/flight/elevator-input</output>
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<max-rate-of-change>
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<condition>
|
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<and>
|
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<equals>
|
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<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
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<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<value>1.0</value>
|
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</max-rate-of-change>
|
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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|
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</PropertyList>
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@ -6,107 +6,20 @@
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##############################################
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-->
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||||
|
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<!-- Airbus A3XX FBW System -->
|
||||
<!-- Airbus A320 FBW System -->
|
||||
<!-- Joshua Davidson (it0uchpods) -->
|
||||
<!-- I didn't see an easy way to do this controller in JSBsim, so I keep it here -->
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Vertical -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: LOAD FACTOR CMD</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/controls/flight/elevator-input</property>
|
||||
<entry><ind> 1</ind><dep>-0.5</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 1.0</dep></entry>
|
||||
<entry><ind>-1</ind><dep> 2.5</dep></entry>
|
||||
</table>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/g-target</output>
|
||||
<min>
|
||||
<condition>
|
||||
<not-equals>
|
||||
<property>/controls/flight/flap-pos</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
</condition>
|
||||
<value>0.0</value>
|
||||
</min>
|
||||
<min>-1.0</min>
|
||||
<max>
|
||||
<condition>
|
||||
<not-equals>
|
||||
<property>/controls/flight/flap-pos</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
</condition>
|
||||
<value>2.0</value>
|
||||
</max>
|
||||
<max>2.5</max>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: COMPUTED G</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<sum>
|
||||
<property>/accelerations/pilot-gdamped</property>
|
||||
<div>
|
||||
<value>-1</value>
|
||||
<cos>
|
||||
<deg2rad>
|
||||
<product>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<value>0.965</value>
|
||||
</product>
|
||||
</deg2rad>
|
||||
</cos>
|
||||
</div>
|
||||
<value>1</value>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/g-computed</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: G ERROR</name>
|
||||
<type>gain</type>
|
||||
<gain>-1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<dif>
|
||||
<property>/it-fbw/g-target</property>
|
||||
<property>/it-fbw/g-computed</property>
|
||||
</dif>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/g-error</output>
|
||||
</filter>
|
||||
|
||||
<pi-simple-controller>
|
||||
<name>IT-CONTROLLER: G ELEVATOR</name>
|
||||
<name>FBW PITCH G PI</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<property>/fdm/jsbsim/position/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<or>
|
||||
|
|
@ -123,13 +36,13 @@
|
|||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/it-fbw/g-error</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/g-error</property>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/it-fbw/g-elevator-cmd</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/g-pi</property>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-1.5</Kp>
|
||||
|
|
@ -137,544 +50,24 @@
|
|||
<min>
|
||||
<condition>
|
||||
<less-than>
|
||||
<property>/controls/flight/elevator-input</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/e-i</property>
|
||||
<value>0</value>
|
||||
</less-than>
|
||||
</condition>
|
||||
<property>/controls/flight/elevator-input</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/e-i</property>
|
||||
</min>
|
||||
<min>0.0</min>
|
||||
<max>
|
||||
<condition>
|
||||
<greater-than>
|
||||
<property>/controls/flight/elevator-input</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/e-i</property>
|
||||
<value>0</value>
|
||||
</greater-than>
|
||||
</condition>
|
||||
<property>/controls/flight/elevator-input</property>
|
||||
<property>/fdm/jsbsim/fbw/pitch/e-i</property>
|
||||
</max>
|
||||
<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>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 1</ind><dep>-5.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>-1</ind><dep> 5.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>-15.00000</ind><dep>1</dep></entry>
|
||||
<entry><ind>-14.99999</ind><dep>0</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind>1</ind><dep>5.0</dep></entry>
|
||||
<entry><ind>0</ind><dep>0.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>29.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>30.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>-1</ind><dep>-5.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>-18</ind><dep> 5</dep></entry>
|
||||
<entry><ind>-15</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 30</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 33</ind><dep>-5</dep></entry>
|
||||
</table>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 1</ind><dep>-5.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>-1</ind><dep> 5.0</dep></entry>
|
||||
</table>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
|
||||
<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>29.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>30.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 0</ind><dep>-1.5</dep></entry>
|
||||
<entry><ind>-1</ind><dep>-5.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind> 30</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 33</ind><dep>-5</dep></entry>
|
||||
</table>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
<equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 1.0</ind><dep>-3.5</dep></entry>
|
||||
<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
|
||||
<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>-15.00000</ind><dep>1</dep></entry>
|
||||
<entry><ind>-14.99999</ind><dep>0</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind>1</ind><dep> 3.5</dep></entry>
|
||||
<entry><ind>0</ind><dep>-1.5</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>29.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>30.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/it-fbw/g-elevator</property>
|
||||
<entry><ind> 0</ind><dep>-1.5</dep></entry>
|
||||
<entry><ind>-1</ind><dep>-5.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<table>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
<entry><ind>-18</ind><dep> 5</dep></entry>
|
||||
<entry><ind>-15</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 30</ind><dep> 0</dep></entry>
|
||||
<entry><ind> 33</ind><dep>-5</dep></entry>
|
||||
</table>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/pitch-rate</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: PITCH KP (P Gain)</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/velocities/mach</property>
|
||||
<entry><ind>0.2</ind><dep>-0.31</dep></entry>
|
||||
<entry><ind>0.9</ind><dep>-0.15</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/pitch-kp</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: PITCH TI (I Time)</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/velocities/mach</property>
|
||||
<entry><ind>0.2</ind><dep>0.75</dep></entry>
|
||||
<entry><ind>0.9</ind><dep>0.55</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/pitch-ti</output>
|
||||
</filter>
|
||||
|
||||
<pid-controller>
|
||||
<name>IT-CONTROLLER: PITCH</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/orientation/pitch-rate-degps</property>
|
||||
</input>
|
||||
<reference>
|
||||
<property>/it-fbw/pitch-rate</property>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/controls/flight/elevator-fbw-pid</property>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>
|
||||
<property>/it-fbw/pitch-kp</property>
|
||||
</Kp>
|
||||
<beta>1</beta>
|
||||
<alpha>0.1</alpha>
|
||||
<gamma>0</gamma>
|
||||
<Ti>
|
||||
<property>/it-fbw/pitch-ti</property>
|
||||
</Ti>
|
||||
<Td>0.005</Td>
|
||||
<u_min>-1</u_min>
|
||||
<u_max>1</u_max>
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: 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>/controls/flight/elevator-fbw-pid</property>
|
||||
</input>
|
||||
<input>
|
||||
<property>/controls/flight/elevator-fbw-pid</property>
|
||||
<scale>-1.0</scale>
|
||||
</input>
|
||||
<output>/controls/flight/elevator-fbw-cmd</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: PITCH OPTION</name>
|
||||
<debug>false</debug>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<feedback-if-disabled>true</feedback-if-disabled>
|
||||
<initialize-to>output</initialize-to>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/elevator-fbw-cmd</property>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>2</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/elevator-input-fast</property>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
||||
<value>0.1</value>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</equals>
|
||||
</condition>
|
||||
<value>0</value>
|
||||
</input>
|
||||
<output>/controls/flight/elevator-fbw</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: PITCH TRIM</name>
|
||||
<debug>false</debug>
|
||||
<initialize-to>output</initialize-to>
|
||||
<type>noise-spike</type>
|
||||
<enable>
|
||||
<condition>
|
||||
<and>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
<or>
|
||||
<and>
|
||||
<greater-than-equals>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>100</value>
|
||||
</greater-than-equals>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
<and>
|
||||
<greater-than-equals>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>50</value>
|
||||
</greater-than-equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</or>
|
||||
<less-than>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<value>40</value>
|
||||
</less-than>
|
||||
<greater-than>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<value>-40</value>
|
||||
</greater-than>
|
||||
<or>
|
||||
<greater-than>
|
||||
<property>/controls/flight/elevator-fbw</property>
|
||||
<value>0.01</value>
|
||||
</greater-than>
|
||||
<less-than>
|
||||
<property>/controls/flight/elevator-fbw</property>
|
||||
<value>-0.01</value>
|
||||
</less-than>
|
||||
</or>
|
||||
<less-than>
|
||||
<property>/fdm/jsbsim/forces/load-factor</property>
|
||||
<value>-0.5</value>
|
||||
</less-than>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<condition>
|
||||
<greater-than>
|
||||
<property>/controls/flight/elevator-fbw</property>
|
||||
<value>0.01</value>
|
||||
</greater-than>
|
||||
</condition>
|
||||
<value>1</value>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<less-than>
|
||||
<property>/controls/flight/elevator-fbw</property>
|
||||
<value>-0.01</value>
|
||||
</less-than>
|
||||
</condition>
|
||||
<value>-1</value>
|
||||
</input>
|
||||
<output>/controls/flight/elevator-trim</output>
|
||||
<min>-1.0</min>
|
||||
<max>0.32</max>
|
||||
<max-rate-of-change>0.01</max-rate-of-change>
|
||||
</filter>
|
||||
|
||||
</PropertyList>
|
||||
|
|
|
|||
|
|
@ -1,747 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
##############################################
|
||||
# Copyright (c) Joshua Davidson (it0uchpods) #
|
||||
##############################################
|
||||
-->
|
||||
|
||||
<!-- Airbus A3XX FBW System -->
|
||||
<!-- Joshua Davidson (it0uchpods) -->
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Lateral -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: ROLL</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/roll-lim</property>
|
||||
<value>33</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/roll-back</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>-15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1</ind><dep> 15.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>-33.00000</ind><dep>1</dep></entry>
|
||||
<entry><ind>-32.99999</ind><dep>0</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>32.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>33.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>1</ind><dep>-15.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/roll-lim</property>
|
||||
<value>67</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>-15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1</ind><dep> 15.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>-67.00000</ind><dep>1</dep></entry>
|
||||
<entry><ind>-66.99999</ind><dep>0</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>66.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>67.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>1</ind><dep>-15.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/roll-back</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>-67</ind><dep> 25.0</dep></entry>
|
||||
<entry><ind>-40</ind><dep> 10.0</dep></entry>
|
||||
<entry><ind>-33</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 33</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 40</ind><dep>-10.0</dep></entry>
|
||||
<entry><ind> 67</ind><dep>-25.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/protections/overspeed-roll-back</property>
|
||||
<value>1</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<sum>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>-15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1</ind><dep> 15.0</dep></entry>
|
||||
</table>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>-40.00000</ind><dep>1</dep></entry>
|
||||
<entry><ind>-39.99999</ind><dep>0</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>-1</ind><dep>15.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
<product>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>39.99999</ind><dep>0</dep></entry>
|
||||
<entry><ind>40.00000</ind><dep>1</dep></entry>
|
||||
</table>
|
||||
<table>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<entry><ind>0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind>1</ind><dep>-15.0</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
</sum>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-fbw/protections/overspeed</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/protections/overspeed-roll-back</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/orientation/roll-deg</property>
|
||||
<entry><ind>-40</ind><dep> 25.0</dep></entry>
|
||||
<entry><ind>-15</ind><dep> 10.0</dep></entry>
|
||||
<entry><ind> 0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 15</ind><dep>-10.0</dep></entry>
|
||||
<entry><ind> 40</ind><dep>-25.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/roll-rate</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: ROLL KP (P Gain)</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/velocities/mach</property>
|
||||
<entry><ind>0.2</ind><dep>0.13</dep></entry>
|
||||
<entry><ind>0.9</ind><dep>0.06</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/roll-kp</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: ROLL TI (I Time)</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/velocities/mach</property>
|
||||
<entry><ind>0.2</ind><dep>0.75</dep></entry>
|
||||
<entry><ind>0.9</ind><dep>0.65</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<output>/it-fbw/roll-ti</output>
|
||||
</filter>
|
||||
|
||||
<pid-controller>
|
||||
<name>IT-CONTROLLER: ROLL</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/orientation/roll-rate-degps</property>
|
||||
</input>
|
||||
<reference>
|
||||
<property>/it-fbw/roll-rate</property>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/controls/flight/aileron-fbw-cmd</property>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>
|
||||
<property>/it-fbw/roll-kp</property>
|
||||
</Kp>
|
||||
<beta>1</beta>
|
||||
<alpha>0.1</alpha>
|
||||
<gamma>0</gamma>
|
||||
<Ti>
|
||||
<property>/it-fbw/roll-ti</property>
|
||||
</Ti>
|
||||
<Td>0.005</Td>
|
||||
<u_min>-1</u_min>
|
||||
<u_max>1</u_max>
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: ROLL OPTION</name>
|
||||
<debug>false</debug>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<feedback-if-disabled>true</feedback-if-disabled>
|
||||
<initialize-to>output</initialize-to>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</or>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/aileron-fbw-cmd</property>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>2</value>
|
||||
</equals>
|
||||
</or>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/aileron-input-fast</property>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<scale>-1</scale>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</equals>
|
||||
</condition>
|
||||
<value>0</value>
|
||||
</input>
|
||||
<output>/controls/flight/roll-fbw</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: SPOILER</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<condition>
|
||||
<equals>
|
||||
<property>/it-fbw/roll-back</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
</condition>
|
||||
<expression>
|
||||
<product>
|
||||
<property>/controls/flight/aileron-input</property>
|
||||
<table>
|
||||
<property>/instrumentation/airspeed-indicator/indicated-mach</property>
|
||||
<entry><ind>0.2</ind><dep>1.00</dep></entry>
|
||||
<entry><ind>0.9</ind><dep>0.25</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<equals>
|
||||
<property>/it-fbw/roll-back</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</condition>
|
||||
<value>0</value>
|
||||
</input>
|
||||
<output>/controls/flight/spoiler-input</output>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: LEFT SPOILER</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/systems/failures/aileron-left</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/controls/flight/spoiler-input</property>
|
||||
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
||||
<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/systems/failures/aileron-left</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/controls/flight/roll-fbw</property>
|
||||
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
||||
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<input>0</input>
|
||||
<output>/controls/flight/spoiler-left-fbw-cmd</output>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</filter>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: RIGHT SPOILER</name>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/systems/failures/aileron-right</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/controls/flight/spoiler-input</property>
|
||||
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
||||
<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/systems/failures/aileron-right</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>3</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<expression>
|
||||
<table>
|
||||
<property>/controls/flight/roll-fbw</property>
|
||||
<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
|
||||
<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
|
||||
<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
|
||||
</table>
|
||||
</expression>
|
||||
</input>
|
||||
<input>0</input>
|
||||
<output>/controls/flight/spoiler-right-fbw-cmd</output>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</filter>
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Yaw Damper/Turn Coordinator -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: YAW DAMPER/TURN COORDINATOR FEEDBACK IF DISABLED</name>
|
||||
<enable>
|
||||
<condition>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
<greater-than-equals>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>0.1</value>
|
||||
</greater-than-equals>
|
||||
<less-than-equals>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>-0.1</value>
|
||||
</less-than-equals>
|
||||
<less-than>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>50</value>
|
||||
</less-than>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/lat</property>
|
||||
<value>4</value>
|
||||
</equals>
|
||||
</or>
|
||||
</condition>
|
||||
</enable>
|
||||
<type>gain</type>
|
||||
<gain>1.0</gain>
|
||||
<input>0</input>
|
||||
<output>/controls/flight/rudder-fbw-cmd</output>
|
||||
<min>-0.2</min>
|
||||
<max>0.2</max>
|
||||
</filter>
|
||||
|
||||
<pid-controller>
|
||||
<name>IT-CONTROLLER: YAW DAMPER/TURN COORDINATOR</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<greater-than-equals>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>50</value>
|
||||
</greater-than-equals>
|
||||
<not-equals>
|
||||
<property>/it-autoflight/output/lat</property>
|
||||
<value>4</value>
|
||||
</not-equals>
|
||||
<less-than>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>0.1</value>
|
||||
</less-than>
|
||||
<greater-than>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>-0.1</value>
|
||||
</greater-than>
|
||||
</and>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/instrumentation/slip-skid-ball/indicated-slip-skid</property>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/controls/flight/rudder-fbw-cmd</property>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.025</Kp>
|
||||
<beta>1</beta>
|
||||
<alpha>0.1</alpha>
|
||||
<gamma>0</gamma>
|
||||
<Ti>3.0</Ti>
|
||||
<Td>0.00001</Td>
|
||||
<u_min>-0.2</u_min>
|
||||
<u_max>0.2</u_max>
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<filter>
|
||||
<name>IT-CONTROLLER: RUDDER OPTION</name>
|
||||
<debug>false</debug>
|
||||
<feedback-if-disabled>true</feedback-if-disabled>
|
||||
<initialize-to>output</initialize-to>
|
||||
<input>
|
||||
<condition>
|
||||
<and>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</equals>
|
||||
<less-than>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>0.1</value>
|
||||
</less-than>
|
||||
<greater-than>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>-0.1</value>
|
||||
</greater-than>
|
||||
<greater-than-equals>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>50</value>
|
||||
</greater-than-equals>
|
||||
<not-equals>
|
||||
<property>/it-autoflight/output/lat</property>
|
||||
<value>4</value>
|
||||
</not-equals>
|
||||
</and>
|
||||
</condition>
|
||||
<property>/controls/flight/rudder-fbw-cmd</property>
|
||||
</input>
|
||||
<input>
|
||||
<condition>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/gear/gear[1]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/gear/gear[2]/wow</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<not-equals>
|
||||
<property>/it-fbw/law</property>
|
||||
<value>0</value>
|
||||
</not-equals>
|
||||
<greater-than-equals>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>0.1</value>
|
||||
</greater-than-equals>
|
||||
<less-than-equals>
|
||||
<property>/controls/flight/rudder</property>
|
||||
<value>-0.1</value>
|
||||
</less-than-equals>
|
||||
<less-than>
|
||||
<property>/position/gear-agl-ft</property>
|
||||
<value>50</value>
|
||||
</less-than>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/lat</property>
|
||||
<value>4</value>
|
||||
</equals>
|
||||
</or>
|
||||
</condition>
|
||||
<property>/controls/flight/rudder</property>
|
||||
</input>
|
||||
<output>/controls/flight/rudder-fbw</output>
|
||||
<type>noise-spike</type>
|
||||
<max-rate-of-change>2.5</max-rate-of-change>
|
||||
</filter>
|
||||
|
||||
</PropertyList>
|
||||
|
|
@ -657,20 +657,6 @@
|
|||
<debug>false</debug>
|
||||
<type>gain</type>
|
||||
<gain>0.15</gain>
|
||||
<enable>
|
||||
<condition>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/orientation/pitch-deg</property>
|
||||
</input>
|
||||
|
|
@ -678,7 +664,7 @@
|
|||
<property>/it-autoflight/internal/target-pitch-deg</property>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/it-autoflight/internal/elevator-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
|
||||
<property>/fdm/jsbsim/fbw/fmgc/pitch-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
|
||||
</output>
|
||||
<min>-0.3</min>
|
||||
<max>0.3</max>
|
||||
|
|
|
|||
|
|
@ -197,20 +197,6 @@
|
|||
<debug>false</debug>
|
||||
<type>gain</type>
|
||||
<gain>-0.1</gain>
|
||||
<enable>
|
||||
<condition>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<property>/orientation/roll-deg</property>
|
||||
</input>
|
||||
|
|
@ -245,7 +231,7 @@
|
|||
<value>0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW Roll Rate -->
|
||||
<property>/fdm/jsbsim/fbw/fmgc/roll-cmd</property> <!-- Inputs to the FBW Roll Rate -->
|
||||
</output>
|
||||
<min>-0.32</min>
|
||||
<max>0.32</max>
|
||||
|
|
@ -315,20 +301,6 @@
|
|||
<debug>false</debug>
|
||||
<feedback-if-disabled>true</feedback-if-disabled>
|
||||
<initialize-to>output</initialize-to>
|
||||
<enable>
|
||||
<condition>
|
||||
<or>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap1</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
<equals>
|
||||
<property>/it-autoflight/output/ap2</property>
|
||||
<value>1</value>
|
||||
</equals>
|
||||
</or>
|
||||
</condition>
|
||||
</enable>
|
||||
<input>
|
||||
<condition>
|
||||
<not-equals>
|
||||
|
|
@ -347,7 +319,7 @@
|
|||
</condition>
|
||||
<property>/it-autoflight/internal/rudder-cmd</property>
|
||||
</input>
|
||||
<output>/controls/flight/rudder</output>
|
||||
<output>/fdm/jsbsim/fbw/fmgc/yaw-cmd</output>
|
||||
<type>noise-spike</type>
|
||||
<max-rate-of-change>0.6</max-rate-of-change>
|
||||
</filter>
|
||||
|
|
|
|||
|
|
@ -276,8 +276,8 @@
|
|||
<product>
|
||||
<table>
|
||||
<product><property>/engines/engine[0]/n1-actual</property><value>0.01</value> </product>
|
||||
<entry><ind>0.15</ind> <dep>0.40</dep></entry>
|
||||
<entry><ind>0.22</ind> <dep>0.85</dep></entry>
|
||||
<entry><ind>0.15</ind> <dep>0.50</dep></entry>
|
||||
<entry><ind>0.22</ind> <dep>1.00</dep></entry>
|
||||
<entry><ind>0.50</ind> <dep>1.30</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
|
|
@ -296,8 +296,8 @@
|
|||
<product>
|
||||
<table>
|
||||
<product><property>/engines/engine[1]/n1-actual</property><value>0.01</value> </product>
|
||||
<entry><ind>0.15</ind> <dep>0.40</dep></entry>
|
||||
<entry><ind>0.22</ind> <dep>0.85</dep></entry>
|
||||
<entry><ind>0.15</ind> <dep>0.50</dep></entry>
|
||||
<entry><ind>0.22</ind> <dep>1.00</dep></entry>
|
||||
<entry><ind>0.50</ind> <dep>1.30</dep></entry>
|
||||
</table>
|
||||
</product>
|
||||
|
|
|
|||
Reference in a new issue