From 568fa31d8b69b025578cb31f248808f9308a2467 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Fri, 19 Oct 2018 17:45:13 -0400
Subject: [PATCH] Control: Rework AP, fix lots of stuff

---
 Systems/fmgc-drivers.xml  | 220 ++++++++++++++------------------------
 Systems/fmgc-pitch.xml    |  54 +++-------
 Systems/fmgc-roll-yaw.xml | 151 +++++++++++---------------
 Systems/fmgc-thrust.xml   | 138 ++++++------------------
 revision.txt              |   2 +-
 5 files changed, 190 insertions(+), 375 deletions(-)

diff --git a/Systems/fmgc-drivers.xml b/Systems/fmgc-drivers.xml
index 5df5e0e7..8e360728 100644
--- a/Systems/fmgc-drivers.xml
+++ b/Systems/fmgc-drivers.xml
@@ -9,11 +9,9 @@
 <!-- IT-AUTOFLIGHT -->
 
 <PropertyList>
-
- <!-- =============================================================== -->
- <!-- Predictors                                                      -->
- <!-- =============================================================== -->
- 
+	
+	<!-- Predictors -->
+	
 	<predict-simple>
 		<name>IAS 5 SECOND PREDICTOR</name>
 		<debug>false</debug>
@@ -22,7 +20,7 @@
 		<seconds>5.0</seconds>
 		<filter-gain>0.0</filter-gain>
 	</predict-simple>
-
+	
 	<predict-simple>
 		<name>IAS 10 SECOND PREDICTOR</name>
 		<debug>false</debug>
@@ -49,7 +47,7 @@
 		<seconds>5.0</seconds>
 		<filter-gain>0.0</filter-gain>
 	</predict-simple>
-
+	
 	<predict-simple>
 		<name>MACH 10 SECOND PREDICTOR</name>
 		<debug>false</debug>
@@ -67,16 +65,13 @@
 		<seconds>15.0</seconds>
 		<filter-gain>0.0</filter-gain>
 	</predict-simple>
-  
- <!-- =============================================================== -->
- <!-- Autopilot Helpers/Calculators                                   -->
- <!-- =============================================================== -->
-
+	
+	<!-- Autopilot Helpers/Calculators -->
+	
 	<filter>
 		<name>AUTOLAND FD FPM</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
 		<input> 
 			<expression>
 				<table>
@@ -89,12 +84,11 @@
 		</input>
 		<output>/it-autoflight/internal/target-fpm-c2</output>
 	</filter>
- 
+	
 	<filter>
 		<name>AUTOLAND FPM</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
 		<input> 
 			<expression>
 				<table>
@@ -111,12 +105,11 @@
 		</input>
 		<output>/it-autoflight/internal/target-fpm-c</output>
 	</filter>
- 
+	
 	<filter>
 		<name>FMGC MNG SPD</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
 		<input>
 			<expression>
 				<product>
@@ -138,7 +131,6 @@
 		<name>FMGC MNG MACH</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
 		<input> 
 			<expression>
 				<product>
@@ -164,7 +156,6 @@
 		<name>FMGC Target IAS PFD</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.1</update-interval-secs>
 		<input>
 			<condition>
 				<equals>
@@ -193,10 +184,11 @@
 		</input>
 		<output>/FMGC/internal/target-ias-pfd</output>
 	</filter>
- 
+	
 	<filter>
 		<name>KTS INPUT FILTER</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
 		<input>
@@ -218,32 +210,6 @@
 			<property>/it-autoflight/settings/togaspd</property>
 		</input>
 		<output>/it-autoflight/internal/flch-kts</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<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>
-					</and>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>100</value>
-		</max-rate-of-change>
 		<max-rate-of-change>
 			<condition>
 				<and>
@@ -257,6 +223,10 @@
 							<value>7</value>
 						</equals>
 					</or>
+					<equals>
+						<property>/it-autoflight/input/kts-mach</property>
+						<value>0</value>
+					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -269,43 +239,33 @@
 			</condition>
 			<value>5</value>
 		</max-rate-of-change>
+		<max-rate-of-change>100</max-rate-of-change>
 	</filter>
 	
 	<filter>
 		<name>MACH INPUT FILTER</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/input/spd-mach</property>
-		</input>
+		<input>/it-autoflight/input/spd-mach</input>
 		<output>/it-autoflight/internal/flch-mach</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<not-equals>
-						<property>/it-autoflight/output/vert</property>
-						<value>4</value>
-					</not-equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>1</value>
-		</max-rate-of-change>
 		<max-rate-of-change>
 			<condition>
 				<and>
+					<or>
+						<equals>
+							<property>/it-autoflight/output/vert</property>
+							<value>4</value>
+						</equals>
+						<equals>
+							<property>/it-autoflight/output/vert</property>
+							<value>7</value>
+						</equals>
+					</or>
 					<equals>
-						<property>/it-autoflight/output/vert</property>
-						<value>4</value>
+						<property>/it-autoflight/input/kts-mach</property>
+						<value>1</value>
 					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
@@ -319,8 +279,9 @@
 			</condition>
 			<value>0.05</value>
 		</max-rate-of-change>
+		<max-rate-of-change>1</max-rate-of-change>
 	</filter>
- 
+	
 	<filter>
 		<name>IAS SYNC</name>
 		<type>gain</type>
@@ -333,7 +294,6 @@
 				</equals>
 			</condition>
 		</enable>
-		<update-interval-secs type="double">0.5</update-interval-secs>
 		<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
 		<output>/it-autoflight/input/spd-kts</output>
 	</filter>
@@ -350,7 +310,6 @@
 				</equals>
 			</condition>
 		</enable>
-		<update-interval-secs type="double">0.5</update-interval-secs>
 		<input>/instrumentation/airspeed-indicator/indicated-mach</input>
 		<output>/it-autoflight/input/spd-mach</output>
 	</filter>
@@ -365,9 +324,7 @@
 			</condition>
 			<property>/orientation/heading-deg</property>
 		</input>
-		<input>
-			<property>/orientation/heading-magnetic-deg</property>
-		</input>
+		<input>/orientation/heading-magnetic-deg</input>
 		<reference>0</reference>
 		<output>/it-autoflight/internal/heading-deg</output>
 		<output>/instrumentation/pfd/heading-deg</output>
@@ -522,7 +479,10 @@
 		<input>
 			<expression>
 				<floor>
-					<property>/it-autoflight/internal/vert-speed-fpm</property>
+					<sum>
+						<property>/it-autoflight/internal/vert-speed-fpm</property>
+						<value>0.5</value>
+					</sum>
 				</floor>
 			</expression>
 		</input>
@@ -532,31 +492,18 @@
 	<filter>
 		<name>VERT SPEED FILTER</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/input/vs</property>
-		</input>
+		<input>/it-autoflight/input/vs</input>
 		<output>/it-autoflight/internal/vs</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>2000</value>
-		</max-rate-of-change>
 		<max-rate-of-change>
 			<condition>
 				<and>
+					<equals>
+						<property>/it-autoflight/output/vert</property>
+						<value>1</value>
+					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -569,8 +516,9 @@
 			</condition>
 			<value>300</value>
 		</max-rate-of-change>
+		<max-rate-of-change>2000</max-rate-of-change>
 	</filter>
-
+	
 	<filter>
 		<name>NAV ERROR DEG</name>
 		<debug>false</debug>
@@ -589,7 +537,7 @@
 			<max>180</max>
 		</period>
 	</filter>
-
+	
 	<filter>
 		<name>INTERNAL VERTICAL SPEED COMPUTER</name>
 		<debug>false</debug>
@@ -830,49 +778,13 @@
 		</input>
 		<output>/it-autoflight/internal/fpa</output>
 	</filter>
-
- <!-- =============================================================== -->
- <!-- Flight Director                                                 -->
- <!-- =============================================================== -->
- 
+	
+	<!-- Flight Director -->
+	
 	<filter>
 		<name>IT-CONTROLLER: TARGET ROLL CMD</name>
 		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/internal/target-roll-deg</property>
-		</input>
-		<output>/it-autoflight/internal/target-roll-fd</output>
 		<type>noise-spike</type>
-		<max-rate-of-change>15</max-rate-of-change>
-	</filter>
-	
-	<filter>
-		<name>FD: ROLL</name>
-		<debug>false</debug>
-		<type>gain</type>
-		<gain>1.0</gain>
-		<input>
-			<condition>
-				<and>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>4</value>
-					</not-equals>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>5</value>
-					</not-equals>
-				</and>
-			</condition>
-			<expression>
-				<dif>
-					<property>/it-autoflight/internal/target-roll-fd</property>
-					<property>/orientation/roll-deg</property>
-				</dif>
-			</expression>
-		</input>
 		<input>
 			<condition>
 				<or>
@@ -886,9 +798,37 @@
 					</equals>
 				</or>
 			</condition>
+			<value>0</value>
+		</input>
+		<input>/it-autoflight/internal/target-roll-deg</input>
+		<output>/it-autoflight/internal/target-roll-fd</output>
+		<max-rate-of-change>
+			<condition>
+				<and>
+					<not-equals>
+						<property>/it-autoflight/output/fd1</property>
+						<value>1</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/fd1</property>
+						<value>1</value>
+					</not-equals>
+				</and>
+			</condition>
+			<value>50</value>
+		</max-rate-of-change>
+		<max-rate-of-change>15</max-rate-of-change>
+	</filter>
+	
+	<filter>
+		<name>FD: ROLL</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<gain>1.0</gain>
+		<input>
 			<expression>
 				<dif>
-					<value>0</value>
+					<property>/it-autoflight/internal/target-roll-fd</property>
 					<property>/orientation/roll-deg</property>
 				</dif>
 			</expression>
@@ -897,7 +837,7 @@
 		<min>-30</min>
 		<max>30</max>
 	</filter>
-
+	
 	<filter>
 		<name>FD: PITCH</name>
 		<debug>false</debug>
diff --git a/Systems/fmgc-pitch.xml b/Systems/fmgc-pitch.xml
index ed8a1e6e..117cb06c 100644
--- a/Systems/fmgc-pitch.xml
+++ b/Systems/fmgc-pitch.xml
@@ -45,15 +45,9 @@
 				</condition>
 			<property>/it-autoflight/internal/mng-alt</property>
 		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-fpm</property>
-		</output>
-		<min>
-			<property>/it-autoflight/internal/min-vs</property>
-		</min>
-		<max>
-			<property>/it-autoflight/internal/max-vs</property>
-		</max>
+		<output>/it-autoflight/internal/target-fpm</output>
+		<min>/it-autoflight/internal/min-vs</min>
+		<max>/it-autoflight/internal/max-vs</max>
 	</filter>
 
 	<pid-controller>
@@ -87,15 +81,9 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<property>/it-autoflight/internal/fpa</property>
-		</input>
-		<reference>
-			<property>/it-autoflight/input/fpa</property>
-		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-fpm-d</property>
-		</output>
+		<input>/it-autoflight/internal/fpa</input>
+		<reference>/it-autoflight/input/fpa</reference>
+		<output>/it-autoflight/internal/target-fpm-d</output>
 		<config>
 			<Kp>
 				<expression>
@@ -106,9 +94,6 @@
 					</table>
 				</expression>
 			</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
 			<Ti>2.0</Ti>
 			<Td>0.002</Td>
 			<u_min>
@@ -215,9 +200,7 @@
 			<property>/it-autoflight/internal/flch-mach</property>
 			<scale>1000.0</scale>
 		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-fpm-b</property>
-		</output>
+		<output>/it-autoflight/internal/target-fpm-b</output>
 		<config>
 			<Kp>
 				<condition>
@@ -237,9 +220,6 @@
 				</condition>
 				<value>-60</value>
 			</Kp>
-			<beta>1.0</beta>    
-			<alpha>0.1</alpha>  
-			<gamma>0.0</gamma>  
 			<Ti>2.5</Ti>        
 			<Td>0.001</Td>
 			<u_min>
@@ -505,9 +485,7 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<property>/it-autoflight/internal/vert-speed-fpm</property>
-		</input>
+		<input>/it-autoflight/internal/vert-speed-fpm</input>
 		<reference>
 			<condition>
 				<or>
@@ -590,9 +568,7 @@
 			</condition>
 			<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
 		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-pitch-deg</property>
-		</output>
+		<output>/it-autoflight/internal/target-pitch-deg</output>
 		<config>
 			<Kp>
 				<condition>
@@ -717,15 +693,9 @@
 		<debug>false</debug>
 		<type>gain</type>
 		<gain>0.15</gain>
-		<input>
-			<property>/orientation/pitch-deg</property>
-		</input>
-		<reference>
-			<property>/it-autoflight/internal/target-pitch-deg</property>
-		</reference>
-		<output>
-			<property>/fdm/jsbsim/fbw/fmgc/pitch-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
-		</output>
+		<input>/orientation/pitch-deg</input>
+		<reference>/it-autoflight/internal/target-pitch-deg</reference>
+		<output>/fdm/jsbsim/fbw/fmgc/pitch-cmd</output> <!-- Inputs to the FBW Pitch -->
 		<min>-0.3</min>
 		<max>0.3</max>
 	</filter>
diff --git a/Systems/fmgc-roll-yaw.xml b/Systems/fmgc-roll-yaw.xml
index 662a5d59..78719d0b 100644
--- a/Systems/fmgc-roll-yaw.xml
+++ b/Systems/fmgc-roll-yaw.xml
@@ -51,15 +51,9 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<property>/it-autoflight/internal/heading-error-deg</property>
-		</input>
-		<reference>
-			<value>0</value>
-		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-roll-deg</property>
-		</output>
+		<input>/it-autoflight/internal/heading-error-deg</input>
+		<reference>0</reference>
+		<output>/it-autoflight/internal/target-roll-deg</output>
 		<config>
 			<Kp>-1.8</Kp>
 			<Ki>-0.000001</Ki>
@@ -67,9 +61,7 @@
 				<property>/it-autoflight/internal/bank-limit</property>
 				<scale>-1</scale>
 			</min>
-			<max>
-				<property>/it-autoflight/internal/bank-limit</property>
-			</max>
+			<max>/it-autoflight/internal/bank-limit</max>
 		</config>
 	</pi-simple-controller>
 	
@@ -104,30 +96,9 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<condition>
-				<equals>
-					<property>/it-autoflight/settings/use-backcourse</property>
-					<value>0</value>
-				</equals>
-			</condition>
-			<property>/it-autoflight/internal/nav-heading-error-deg</property>
-		</input>
-		<input>
-			<condition>
-				<equals>
-					<property>/it-autoflight/settings/use-backcourse</property>
-					<value>1</value>
-				</equals>
-			</condition>
-			<property>/it-autoflight/internal/nav-bc-heading-error-deg</property>
-		</input>
-		<reference>
-			<value>0.0</value>
-		</reference>
-		<output>
-			<property>/it-autoflight/internal/target-roll-deg</property>
-		</output>
+		<input>/it-autoflight/internal/nav-heading-error-deg</input>
+		<reference>0</reference>
+		<output>/it-autoflight/internal/target-roll-deg</output>
 		<config>
 			<Kp>-2.8</Kp>
 			<Ki>-0.0001</Ki>
@@ -135,9 +106,7 @@
 				<property>/it-autoflight/internal/bank-limit</property>
 				<scale>-1</scale>
 			</min>
-			<max>
-				<property>/it-autoflight/internal/bank-limit</property>
-			</max>
+			<max>/it-autoflight/internal/bank-limit</max>
 		</config>
 	</pi-simple-controller>
 
@@ -174,48 +143,14 @@
 			<property>/it-autoflight/internal/bank-limit</property>
 			<scale>-1</scale>
 		</min>
-		<max>
-			<property>/it-autoflight/internal/bank-limit</property>
-		</max>
+		<max>/it-autoflight/internal/bank-limit</max>
 	</filter>
 	
 	<filter>
 		<name>IT-CONTROLLER: TARGET ROLL CMD</name>
 		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/internal/target-roll-deg</property>
-		</input>
-		<output>/it-autoflight/internal/target-roll</output>
 		<type>noise-spike</type>
-		<max-rate-of-change>6</max-rate-of-change>
-	</filter>
-	
-	<filter>
-		<name>System Command: Roll Rate</name>
-		<debug>false</debug>
-		<type>gain</type>
-		<gain>-0.1</gain>
 		<input>
-			<property>/orientation/roll-deg</property>
-		</input>
-		<reference>
-			<condition>
-				<and>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>4</value>
-					</not-equals>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>5</value>
-					</not-equals>
-				</and>
-			</condition>
-			<property>/it-autoflight/internal/target-roll</property>
-		</reference>
-		<reference>
 			<condition>
 				<or>
 					<equals>
@@ -229,10 +164,58 @@
 				</or>
 			</condition>
 			<value>0</value>
-		</reference>
-		<output>
-			<property>/fdm/jsbsim/fbw/fmgc/roll-cmd</property> <!-- Inputs to the FBW Roll Rate -->
-		</output>   	
+		</input>
+		<input>/it-autoflight/internal/target-roll-deg</input>
+		<output>/it-autoflight/internal/target-roll</output>
+		<max-rate-of-change>
+			<condition>
+				<and>
+					<not-equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/fd1</property>
+						<value>1</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/fd2</property>
+						<value>1</value>
+					</not-equals>
+				</and>
+			</condition>
+			<value>50</value>
+		</max-rate-of-change>
+		<max-rate-of-change>
+			<condition>
+				<and>
+					<not-equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</not-equals>
+					<not-equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</not-equals>
+				</and>
+			</condition>
+			<value>15</value>
+		</max-rate-of-change>
+		<max-rate-of-change>8</max-rate-of-change>
+	</filter>
+	
+	<filter>
+		<name>System Command: Roll Rate</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<gain>-0.1</gain>
+		<input>/orientation/roll-deg</input>
+		<reference>/it-autoflight/internal/target-roll</reference>
+		<output>/fdm/jsbsim/fbw/fmgc/roll-cmd</output> <!-- Inputs to the FBW Roll -->
 		<min>-0.32</min>
 		<max>0.32</max>
 	</filter>
@@ -252,12 +235,8 @@
 				</equals>
 			</condition>
 		</enable>
-		<input>
-			<property>/it-autoflight/internal/nav-heading-error-deg</property>
-		</input>
-		<reference>
-			<value>0</value>
-		</reference>
+		<input>/it-autoflight/internal/nav-heading-error-deg</input>
+		<reference>0</reference>
 		<output>/it-autoflight/internal/rudder-cmd</output>
 		<config>
 			<Kp>
@@ -299,6 +278,7 @@
 	<filter>
 		<name>IT-CONTROLLER: RUDDER CMD</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
 		<input>
@@ -319,8 +299,7 @@
 			</condition>
 			<property>/it-autoflight/internal/rudder-cmd</property>
 		</input>
-		<output>/fdm/jsbsim/fbw/fmgc/yaw-cmd</output>
-		<type>noise-spike</type>
+		<output>/fdm/jsbsim/fbw/fmgc/yaw-cmd</output> <!-- Inputs to the FBW Yaw -->
 		<max-rate-of-change>0.6</max-rate-of-change>
 	</filter>
 
diff --git a/Systems/fmgc-thrust.xml b/Systems/fmgc-thrust.xml
index 4bb11f75..0c13a4c2 100644
--- a/Systems/fmgc-thrust.xml
+++ b/Systems/fmgc-thrust.xml
@@ -7,44 +7,17 @@
 -->
 
 <PropertyList>
-
- <!-- =============================================================== -->
- <!-- Thrust Modes                                                    -->
- <!-- =============================================================== -->
- 
+	
+	<!-- Thrust Axis -->
+	
 	<filter>
 		<name>KTS INPUT FILTER</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/input/spd-kts</property>
-		</input>
+		<input>/it-autoflight/input/spd-kts</input>
 		<output>/it-autoflight/internal/kts</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<not-equals>
-						<property>/it-autoflight/output/thr-mode</property>
-						<value>0</value>
-					</not-equals>
-					<equals>
-						<property>/it-autoflight/output/athr</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>200</value>
-		</max-rate-of-change>
 		<max-rate-of-change>
 			<condition>
 				<and>
@@ -56,6 +29,10 @@
 						<property>/it-autoflight/output/athr</property>
 						<value>1</value>
 					</equals>
+					<equals>
+						<property>/it-autoflight/input/kts-mach</property>
+						<value>0</value>
+					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -68,41 +45,17 @@
 			</condition>
 			<value>10</value>
 		</max-rate-of-change>
+		<max-rate-of-change>200</max-rate-of-change>
 	</filter>
 	
 	<filter>
 		<name>MACH INPUT FILTER</name>
 		<debug>false</debug>
+		<type>noise-spike</type>
 		<feedback-if-disabled>true</feedback-if-disabled>
 		<initialize-to>output</initialize-to>
-		<input>
-			<property>/it-autoflight/input/spd-mach</property>
-		</input>
+		<input>/it-autoflight/input/spd-mach</input>
 		<output>/it-autoflight/internal/mach</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<not-equals>
-						<property>/it-autoflight/output/thr-mode</property>
-						<value>0</value>
-					</not-equals>
-					<equals>
-						<property>/it-autoflight/output/athr</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>2</value>
-		</max-rate-of-change>
 		<max-rate-of-change>
 			<condition>
 				<and>
@@ -114,6 +67,10 @@
 						<property>/it-autoflight/output/athr</property>
 						<value>1</value>
 					</equals>
+					<equals>
+						<property>/it-autoflight/input/kts-mach</property>
+						<value>1</value>
+					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -126,6 +83,7 @@
 			</condition>
 			<value>0.1</value>
 		</max-rate-of-change>
+		<max-rate-of-change>2</max-rate-of-change>
 	</filter>
 	
 	<filter>
@@ -250,28 +208,15 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
-		</input>
-		<reference>
-			<property>/it-autoflight/internal/kts</property>
-		</reference>
-		<output>
-			<property>/controls/engines/throttle-cmd-pid</property>
-		</output>
+		<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
+		<reference>/it-autoflight/internal/kts</reference>
+		<output>/controls/engines/throttle-cmd-pid</output>
 		<config>
 			<Kp>0.055</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
 			<Ti>9.0</Ti>
 			<Td>0.00001</Td>
-			<u_min>
-				<property>/controls/engines/idle-limit</property>
-			</u_min>
-			<u_max>
-				<property>/controls/engines/throttle-pid-max</property>
-			</u_max>
+			<u_min>/controls/engines/idle-limit</u_min>
+			<u_max>/controls/engines/throttle-pid-max</u_max>
 		</config>
 	</pid-controller>
 	
@@ -390,22 +335,13 @@
 			<property>/it-autoflight/internal/mach</property>
 			<scale>1000.0</scale>
 		</reference>
-		<output>
-			<property>/controls/engines/throttle-cmd-pid</property>
-		</output>
+		<output>/controls/engines/throttle-cmd-pid</output>
 		<config>
 			<Kp>0.055</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
 			<Ti>9.0</Ti>
 			<Td>0.00001</Td>
-			<u_min>
-				<property>/controls/engines/idle-limit</property>
-			</u_min>
-			<u_max>
-				<property>/controls/engines/throttle-pid-max</property>
-			</u_max>
+			<u_min>/controls/engines/idle-limit</u_min>
+			<u_max>/controls/engines/throttle-pid-max</u_max>
 		</config>
 	</pid-controller>
 	
@@ -512,12 +448,8 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<value>0.0</value>
-		</input>
-		<output>
-			<property>/controls/engines/throttle-cmd-pid</property>
-		</output>
+		<input>0.0</input>
+		<output>/controls/engines/throttle-cmd-pid</output>
 	</filter>
 	
 	<filter>
@@ -623,12 +555,8 @@
 				</and>
 			</condition>
 		</enable>
-		<input>
-			<value>1.0</value>
-		</input>
-		<output>
-			<property>/controls/engines/throttle-cmd-pid</property>
-		</output>
+		<input>1.0</input>
+		<output>/controls/engines/throttle-cmd-pid</output>
 	</filter>
 	
 	<filter>
@@ -725,12 +653,10 @@
 					</not-equals>
 				</and>
 			</condition>
-			<value>1</value>
+			<value>1.0</value>
 		</input>
-		<input>0</input>
-		<output>
-			<property>/controls/engines/throttle-cmd-pid</property>
-		</output>
+		<input>0.0</input>
+		<output>/controls/engines/throttle-cmd-pid</output>
 	</filter>
 
 </PropertyList>
diff --git a/revision.txt b/revision.txt
index cdc309eb..8eb54da3 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4678
\ No newline at end of file
+4679
\ No newline at end of file