From 52e636a2d2d3c692ec9546451c9fc8a4b5665a10 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Fri, 12 May 2017 18:25:42 -0400
Subject: [PATCH] ITAF Update

---
 A320-main.xml                |   4 +-
 Models/Liveries/A321/WTF.xml |   2 +-
 Nasal/it-autoflight.nas      |  86 +++++-----
 Systems/it-autoflight.xml    | 303 ++++++++++++++++-------------------
 Systems/it-fbw-b.xml         |  24 ---
 5 files changed, 184 insertions(+), 235 deletions(-)

diff --git a/A320-main.xml b/A320-main.xml
index d0065ec7..239deedd 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -301,9 +301,7 @@
 			<roll-kp>-0.9</roll-kp>
 			<roll-scale>1.6</roll-scale>
 			<vorloc>-4.0</vorloc>
-			<alt>0.025</alt>
-			<vs>0.05</vs>
-			<flch-vs>0.10</flch-vs>
+			<vs>0.01</vs>
 			<fpa>0.30</fpa>
 			<gs>0.10</gs>
 		</cmd>
diff --git a/Models/Liveries/A321/WTF.xml b/Models/Liveries/A321/WTF.xml
index ba3dea0a..3dd3041d 100644
--- a/Models/Liveries/A321/WTF.xml
+++ b/Models/Liveries/A321/WTF.xml
@@ -4,7 +4,7 @@
 	<sim>
 		<model>
 			<livery>
-				<name>it0uchpods VIP aircraft</name>
+				<name>WTF Force One</name>
 				<texture>Liveries/A321/WTF.png</texture>
 			</livery>
 		</model>
diff --git a/Nasal/it-autoflight.nas b/Nasal/it-autoflight.nas
index af5ac504..1d2a33bd 100644
--- a/Nasal/it-autoflight.nas
+++ b/Nasal/it-autoflight.nas
@@ -1,6 +1,6 @@
 # IT AUTOFLIGHT System Controller
 # Joshua Davidson (it0uchpods)
-# V3.0.0 Build 173
+# V3.0.0 Build 180
 # This program is 100% GPL!
 
 print("IT-AUTOFLIGHT: Please Wait!");
@@ -37,12 +37,10 @@ var ap_init = func {
 	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);
 	setprop("/it-autoflight/settings/use-backcourse", 0);
-	setprop("/it-autoflight/internal/min-pitch", -8);
-	setprop("/it-autoflight/internal/max-pitch", 8);
+	setprop("/it-autoflight/internal/min-vs", -500);
+	setprop("/it-autoflight/internal/max-vs", 500);
 	setprop("/it-autoflight/internal/alt", 10000);
 	setprop("/it-autoflight/internal/prof-alt", 10000);
 	setprop("/it-autoflight/internal/prof-wp-alt", 10000);
@@ -309,11 +307,11 @@ var vertical = func {
 		var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
 		var alt = getprop("/it-autoflight/internal/alt");
 		var dif = calt - alt;
-		var pitchdeg = getprop("/it-autoflight/internal/target-pitch");
+		var vsnow = getprop("/it-autoflight/internal/vert-speed-fpm");
 		if (calt < alt) {
-			setprop("/it-autoflight/internal/max-pitch", pitchdeg);
+			setprop("/it-autoflight/internal/max-vs", vsnow);
 		} else if (calt > alt) {
-			setprop("/it-autoflight/internal/min-pitch", pitchdeg);
+			setprop("/it-autoflight/internal/min-vs", vsnow);
 		}
 		minmaxtimer.start();
 		thrustmode();
@@ -435,8 +433,8 @@ var alt_on = func {
 	setprop("/it-autoflight/output/appr-armed", 0);
 	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", -5);
+	setprop("/it-autoflight/internal/max-vs", 500);
+	setprop("/it-autoflight/internal/min-vs", -500);
 	minmaxtimer.start();
 }
 
@@ -561,26 +559,26 @@ var altcapt = func {
 		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)) {
+	} else  if ((vsnow >= 1000 and vsnow < 1500) or (vsnow < -1000 and vsnow > -1500)) {
 		setprop("/it-autoflight/internal/captvs", 300);
 		setprop("/it-autoflight/internal/captvsneg", -300);
+	} else  if ((vsnow >= 1500 and vsnow < 2000) or (vsnow < -1500 and vsnow > -2000)) {
+		setprop("/it-autoflight/internal/captvs", 400);
+		setprop("/it-autoflight/internal/captvsneg", -400);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 600);
+		setprop("/it-autoflight/internal/captvsneg", -600);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 900);
+		setprop("/it-autoflight/internal/captvsneg", -900);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 1200);
+		setprop("/it-autoflight/internal/captvsneg", -1200);
 	} else  if ((vsnow >= 5000) or (vsnow < -5000)) {
-		setprop("/it-autoflight/internal/captvs", 1250);
-		setprop("/it-autoflight/internal/captvsneg", -1250);
+		setprop("/it-autoflight/internal/captvs", 1500);
+		setprop("/it-autoflight/internal/captvsneg", -1500);
 	}
 	var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
 	var alt = getprop("/it-autoflight/internal/alt");
@@ -604,8 +602,8 @@ var minmax = func {
 	var alt = getprop("/it-autoflight/internal/alt");
 	var dif = calt - alt;
 	if (dif < 50 and dif > -50) {
-		setprop("/it-autoflight/internal/max-pitch", 8);
-		setprop("/it-autoflight/internal/min-pitch", -5);
+		setprop("/it-autoflight/internal/max-vs", 500);
+		setprop("/it-autoflight/internal/min-vs", -500);
 		var vertmode = getprop("/it-autoflight/output/vert");
 		if (vertmode == 1 or vertmode == 2 or vertmode == 4 or vertmode == 5 or vertmode == 6 or vertmode == 7) {
 			# Do not change the vertical mode because we are not trying to capture altitude.
@@ -937,7 +935,7 @@ var vnav_des_tod = func {
 		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 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")) {
@@ -992,8 +990,8 @@ var vnav_alt_selector = func {
 
 # VNAV Selector
 var vnav_alt_sel = func {
-	setprop("/it-autoflight/internal/max-pitch", 8);
-	setprop("/it-autoflight/internal/min-pitch", -5);
+	setprop("/it-autoflight/internal/max-vs", 500);
+	setprop("/it-autoflight/internal/min-vs", -500);
 	setprop("/it-autoflight/output/thr-mode", 0);
 	setprop("/it-autoflight/output/prof-vert", 0);
 	setprop("/it-autoflight/mode/thr", "THRUST");
@@ -1043,26 +1041,26 @@ var vnav_altcapt = func {
 		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)) {
+	} else  if ((vsnow >= 1000 and vsnow < 1500) or (vsnow < -1000 and vsnow > -1500)) {
 		setprop("/it-autoflight/internal/captvs", 300);
 		setprop("/it-autoflight/internal/captvsneg", -300);
+	} else  if ((vsnow >= 1500 and vsnow < 2000) or (vsnow < -1500 and vsnow > -2000)) {
+		setprop("/it-autoflight/internal/captvs", 400);
+		setprop("/it-autoflight/internal/captvsneg", -400);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 600);
+		setprop("/it-autoflight/internal/captvsneg", -600);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 900);
+		setprop("/it-autoflight/internal/captvsneg", -900);
 	} 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);
+		setprop("/it-autoflight/internal/captvs", 1200);
+		setprop("/it-autoflight/internal/captvsneg", -1200);
 	} else  if ((vsnow >= 5000) or (vsnow < -5000)) {
-		setprop("/it-autoflight/internal/captvs", 1250);
-		setprop("/it-autoflight/internal/captvsneg", -1250);
+		setprop("/it-autoflight/internal/captvs", 1500);
+		setprop("/it-autoflight/internal/captvsneg", -1500);
 	}
 	var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
 	var valt = getprop("/it-autoflight/internal/prof-alt");
@@ -1078,11 +1076,11 @@ var vnav_capture_alt = func {
 	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");
+	var vsnow = getprop("/it-autoflight/internal/vert-speed-fpm");
 	if (calt < valt) {
-		setprop("/it-autoflight/internal/max-pitch", pitchdeg);
+		setprop("/it-autoflight/internal/max-vs", vsnow);
 	} else if (calt > valt) {
-		setprop("/it-autoflight/internal/min-pitch", pitchdeg);
+		setprop("/it-autoflight/internal/min-vs", vsnow);
 	}
 	vnav_minmaxt.start();
 	setprop("/it-autoflight/output/thr-mode", 0);
@@ -1097,8 +1095,8 @@ var vnav_minmax = func {
 	var valt = getprop("/it-autoflight/internal/prof-alt");
 	var vdif = calt - valt;
 	if (vdif < 50 and vdif > -50) {
-		setprop("/it-autoflight/internal/max-pitch", 8);
-		setprop("/it-autoflight/internal/min-pitch", -5);
+		setprop("/it-autoflight/internal/max-vs", 500);
+		setprop("/it-autoflight/internal/min-vs", -500);
 		var vertmode = getprop("/it-autoflight/output/prof-vert");
 		if (vertmode == 0) {
 			setprop("/it-autoflight/mode/prof", "VNAV HLD");
diff --git a/Systems/it-autoflight.xml b/Systems/it-autoflight.xml
index d6b048a8..0f3c0024 100644
--- a/Systems/it-autoflight.xml
+++ b/Systems/it-autoflight.xml
@@ -14,7 +14,7 @@
 		<input>/instrumentation/altimeter/indicated-altitude-ft</input>
 		<output>/it-autoflight/internal/altitude-5-sec-ahead</output>
 		<seconds>5.0</seconds>
-		<filter-gain>0.1</filter-gain>
+		<filter-gain>0.0</filter-gain>
 	</predict-simple>
 
 	<predict-simple>
@@ -214,7 +214,34 @@
 		<type>gain</type>
 		<input>/velocities/vertical-speed-fps</input>
 		<output>/it-autoflight/internal/vert-speed-fpm</output>
-		<gain>55</gain>
+		<gain>55.5</gain>
+	</filter>
+	
+	<filter>
+		<name>INTERNAL VERTICAL SPEED COMPUTER</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<enable>
+			<condition>
+				<and>
+					<not-equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>4</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>7</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>8</value>
+					</not-equals>
+				</and>
+			</condition>
+		</enable>
+		<input>/velocities/vertical-speed-fps</input>
+		<output>/it-autoflight/internal/target-fpm-b</output>
+		<gain>55.5</gain>
 	</filter>
 
 	<filter>
@@ -563,38 +590,19 @@
  <!-- Vertical Modes                                                  -->
  <!-- =============================================================== -->
 	
-	<pid-controller>
+	<filter>
 		<name>ALTITUDE CAPTURE/HOLD</name>
 		<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>
+		<type>gain</type>
 		<input>
 			<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
 		</input>
 		<reference>
 			<condition>
-				<equals>
+				<not-equals>
 					<property>/it-autoflight/output/vert</property>
-					<value>0</value>
-				</equals>
+					<value>8</value>
+				</not-equals>
 			</condition>
 			<property>/it-autoflight/internal/alt</property>
 		</reference>
@@ -607,27 +615,18 @@
 			</condition>
 			<property>/it-autoflight/internal/prof-alt</property>
 		</reference>
+		<gain>-8</gain>
 		<output>
-			<property>/it-autoflight/internal/target-pitch-deg</property>
+			<property>/it-autoflight/internal/target-fpm</property>
 		</output>
-		<config>
-			<Kp>
-				<property>/it-autoflight/config/cmd/alt</property>
-			</Kp>      
-			<beta>1.0</beta>       
-			<alpha>0.5</alpha>     
-			<gamma>0.0</gamma>     
-			<Ti>5.0</Ti>
-			<Td>0.00001</Td>
-			<u_min>
-				<property>/it-autoflight/internal/min-pitch</property>
-			</u_min>
-			<u_max>
-				<property>/it-autoflight/internal/max-pitch</property>
-			</u_max>
-		</config>
-	</pid-controller>
-	
+		<min>
+			<property>/it-autoflight/internal/min-vs</property>
+		</min>
+		<max>
+			<property>/it-autoflight/internal/max-vs</property>
+		</max>
+	</filter>
+
 	<pid-controller>
 		<name>FPA HOLD</name>
 		<debug>false</debug>
@@ -756,16 +755,10 @@
 		<debug>false</debug>
 		<enable>
 			<condition>
-				<and>
-					<not-equals>
-						<property>/it-autoflight/output/vert</property>
-						<value>7</value>
-					</not-equals>
-					<not-equals>
-						<property>/it-autoflight/output/vert</property>
-						<value>8</value>
-					</not-equals>
-				</and>
+				<equals>
+					<property>/it-autoflight/output/vert</property>
+					<value>4</value>
+				</equals>
 			</condition>
 		</enable>
 		<input>
@@ -785,7 +778,7 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
-			<scale>500.0</scale>
+			<scale>350.0</scale>
 		</input>
 		<reference>
 			<condition>
@@ -804,18 +797,18 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/input/spd-mach</property>
-			<scale>500.0</scale>
+			<scale>350.0</scale>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/target-fps</property>
+			<property>/it-autoflight/internal/target-fpm-b</property>
 		</output>
 		<config>
-			<Kp>-4.0</Kp>
+			<Kp>-70</Kp>
 			<beta>1.0</beta>    
 			<alpha>0.1</alpha>  
 			<gamma>0.0</gamma>  
-			<Ti>10.0</Ti>        
-			<Td>0.00001</Td>    
+			<Ti>2.5</Ti>        
+			<Td>0.001</Td>    
 			<u_min>
 				<condition>
 					<greater-than>
@@ -823,16 +816,16 @@
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</greater-than>
 				</condition>
-				<value>1.6</value>
+				<value>100</value>
 			</u_min>
 			<u_min>
-			<condition>
+				<condition>
 					<less-than>
 						<property>/it-autoflight/internal/alt</property>
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</less-than>
 				</condition>
-				<value>-100</value>
+				<value>-6000</value>
 			</u_min>
 			<u_max>
 				<condition>
@@ -841,7 +834,7 @@
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</greater-than>
 				</condition>
-				<value>166</value>
+				<value>10000</value>
 			</u_max>
 			<u_max>
 				<condition>
@@ -850,7 +843,7 @@
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</less-than>
 				</condition>
-				<value>-1.6</value>
+				<value>-100</value>
 			</u_max>
 		</config>
 	</pid-controller>
@@ -867,7 +860,7 @@
 			</condition>
 		</enable>
 		<input>
-			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
+			<property>/it-autoflight/internal/lookahead-5-sec-airspeed-kt</property>
 		</input>
 		<reference>
 			<condition>
@@ -888,20 +881,20 @@
 			<property>/it-autoflight/input/spd-kts</property>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/target-fps</property>
+			<property>/it-autoflight/internal/target-fpm-b</property>
 		</output>
 		<config>
-			<Kp>-4.0</Kp>
+			<Kp>-70</Kp>
 			<beta>1.0</beta>    
 			<alpha>0.1</alpha>  
 			<gamma>0.0</gamma>  
-			<Ti>10.0</Ti>        
-			<Td>0.00001</Td>    
+			<Ti>2.5</Ti>        
+			<Td>0.001</Td>   
 			<u_min>
-				<value>1.6</value>
+				<value>100</value>
 			</u_min>
 			<u_max>
-				<value>166</value>
+				<value>10000</value>
 			</u_max>
 		</config>
 	</pid-controller>
@@ -934,7 +927,7 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
-			<scale>500.0</scale>
+			<scale>350.0</scale>
 		</input>
 		<reference>
 			<condition>
@@ -953,18 +946,18 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/input/spd-mach</property>
-			<scale>500.0</scale>
+			<scale>350.0</scale>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/target-fps</property>
+			<property>/it-autoflight/internal/target-fpm-b</property>
 		</output>
 		<config>
-			<Kp>-4.0</Kp>
+			<Kp>-70</Kp>
 			<beta>1.0</beta>    
 			<alpha>0.1</alpha>  
 			<gamma>0.0</gamma>  
-			<Ti>10.0</Ti>        
-			<Td>0.00001</Td>    
+			<Ti>2.5</Ti>        
+			<Td>0.001</Td>   
 			<u_min>
 				<condition>
 					<greater-than>
@@ -972,7 +965,7 @@
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</greater-than>
 				</condition>
-				<value>1.6</value>
+				<value>100</value>
 			</u_min>
 			<u_min>
 			<condition>
@@ -981,56 +974,72 @@
 						<property>/instrumentation/altimeter/indicated-altitude-ft</property>
 					</less-than>
 				</condition>
+				<value>-6000</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>10000</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>-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>V/S HOLD</name>
+		<name>FPM HOLD</name>
 		<debug>false</debug>
 		<enable>
 			<condition>
 				<or>
+					<equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>0</value>
+					</equals>
 					<equals>
 						<property>/it-autoflight/output/vert</property>
 						<value>1</value>
 					</equals>
-					<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>
+					<equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>4</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>7</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>8</value>
+					</equals>
 				</or>
 			</condition>
 		</enable>
 		<input>
 			<property>/it-autoflight/internal/vert-speed-fpm</property>
-			<scale>0.01666666</scale>
+			<scale>0.16667</scale>
 		</input>
+		<reference>
+			<condition>
+				<equals>
+					<property>/it-autoflight/output/vert</property>
+					<value>0</value>
+				</equals>
+			</condition>
+			<property>/it-autoflight/internal/target-fpm</property>
+			<scale>0.16667</scale>
+		</reference>
 		<reference>
 			<condition>
 				<equals>
@@ -1039,49 +1048,9 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/input/vs</property>
-			<scale>0.01666666</scale>
+			<scale>0.16667</scale>
 		</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>1.0</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>V/S HOLD</name>
-		<debug>false</debug>
-		<enable>
 			<condition>
 				<or>
 					<equals>
@@ -1104,26 +1073,34 @@
 					</and>
 				</or>
 			</condition>
-		</enable>
-		<input>
-			<property>/instrumentation/vertical-speed-indicator/indicated-speed-fpm</property>
-			<scale>0.01666666</scale>
-		</input>
+			<property>/it-autoflight/internal/target-fpm-b</property>
+			<scale>0.16667</scale>
+		</reference>
 		<reference>
-			<property>/it-autoflight/internal/target-fps</property>
+			<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>0.16667</scale>
 		</reference>
 		<output>
 			<property>/it-autoflight/internal/target-pitch-deg</property>
 		</output>
 		<config>
 			<Kp>
-				<property>/it-autoflight/config/cmd/flch-vs</property>
+				<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>
+			<Ti>2.5</Ti>
+			<Td>0.001</Td>
 			<u_min>
 				<value>-10</value>
 			</u_min>
diff --git a/Systems/it-fbw-b.xml b/Systems/it-fbw-b.xml
index 9a1cf98a..6665c89e 100644
--- a/Systems/it-fbw-b.xml
+++ b/Systems/it-fbw-b.xml
@@ -508,14 +508,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -564,14 +556,6 @@
 		<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>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -603,14 +587,6 @@
 		<input>
 			<condition>
 				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>1</value>