Control: Rework AP, fix lots of stuff
This commit is contained in:
Joshua Davidson
parent
e25c114c62
commit
568fa31d8b
5 changed files with 190 additions and 375 deletions
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@ -10,9 +10,7 @@
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Predictors -->
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<!-- =============================================================== -->
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<predict-simple>
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<name>IAS 5 SECOND PREDICTOR</name>
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@ -68,15 +66,12 @@
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<!-- =============================================================== -->
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<!-- Autopilot Helpers/Calculators -->
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<!-- =============================================================== -->
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<filter>
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<name>AUTOLAND FD FPM</name>
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<type>gain</type>
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<gain>1.0</gain>
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<update-interval-secs type="double">0.05</update-interval-secs>
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<input>
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<expression>
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<table>
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@ -94,7 +89,6 @@
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<name>AUTOLAND FPM</name>
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<type>gain</type>
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<gain>1.0</gain>
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<update-interval-secs type="double">0.05</update-interval-secs>
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<input>
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<expression>
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<table>
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@ -116,7 +110,6 @@
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<name>FMGC MNG SPD</name>
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<type>gain</type>
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<gain>1.0</gain>
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<update-interval-secs type="double">0.05</update-interval-secs>
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<input>
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<expression>
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<product>
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@ -138,7 +131,6 @@
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<name>FMGC MNG MACH</name>
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<type>gain</type>
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<gain>1.0</gain>
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<update-interval-secs type="double">0.05</update-interval-secs>
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<input>
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<expression>
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<product>
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@ -164,7 +156,6 @@
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<name>FMGC Target IAS PFD</name>
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<type>gain</type>
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<gain>1.0</gain>
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<update-interval-secs type="double">0.1</update-interval-secs>
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<input>
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<condition>
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<equals>
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@ -197,6 +188,7 @@
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<filter>
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<name>KTS INPUT FILTER</name>
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<debug>false</debug>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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@ -218,32 +210,6 @@
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<property>/it-autoflight/settings/togaspd</property>
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</input>
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<output>/it-autoflight/internal/flch-kts</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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<condition>
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<or>
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<and>
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<not-equals>
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<property>/it-autoflight/output/vert</property>
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<value>4</value>
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</not-equals>
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<not-equals>
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<property>/it-autoflight/output/vert</property>
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<value>7</value>
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</not-equals>
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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>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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</condition>
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<value>100</value>
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</max-rate-of-change>
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<max-rate-of-change>
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<condition>
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<and>
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@ -257,6 +223,10 @@
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<value>7</value>
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</equals>
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</or>
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<equals>
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<property>/it-autoflight/input/kts-mach</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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@ -269,44 +239,34 @@
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</condition>
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<value>5</value>
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</max-rate-of-change>
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<max-rate-of-change>100</max-rate-of-change>
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</filter>
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<filter>
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<name>MACH INPUT FILTER</name>
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<debug>false</debug>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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<property>/it-autoflight/input/spd-mach</property>
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</input>
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<input>/it-autoflight/input/spd-mach</input>
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<output>/it-autoflight/internal/flch-mach</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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<condition>
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<or>
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<not-equals>
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<property>/it-autoflight/output/vert</property>
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<value>4</value>
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</not-equals>
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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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</condition>
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<value>1</value>
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</max-rate-of-change>
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<max-rate-of-change>
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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/vert</property>
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<value>4</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>7</value>
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</equals>
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</or>
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<equals>
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<property>/it-autoflight/input/kts-mach</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[1]/wow</property>
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<value>0</value>
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@ -319,6 +279,7 @@
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</condition>
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<value>0.05</value>
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</max-rate-of-change>
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<max-rate-of-change>1</max-rate-of-change>
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</filter>
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<filter>
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@ -333,7 +294,6 @@
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</equals>
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</condition>
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</enable>
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<update-interval-secs type="double">0.5</update-interval-secs>
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<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
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<output>/it-autoflight/input/spd-kts</output>
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</filter>
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@ -350,7 +310,6 @@
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</equals>
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</condition>
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</enable>
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<update-interval-secs type="double">0.5</update-interval-secs>
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<input>/instrumentation/airspeed-indicator/indicated-mach</input>
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<output>/it-autoflight/input/spd-mach</output>
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</filter>
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@ -365,9 +324,7 @@
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</condition>
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<property>/orientation/heading-deg</property>
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</input>
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<input>
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<property>/orientation/heading-magnetic-deg</property>
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</input>
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<input>/orientation/heading-magnetic-deg</input>
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<reference>0</reference>
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<output>/it-autoflight/internal/heading-deg</output>
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<output>/instrumentation/pfd/heading-deg</output>
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@ -522,7 +479,10 @@
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<input>
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<expression>
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<floor>
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<sum>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<value>0.5</value>
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</sum>
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</floor>
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</expression>
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</input>
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@ -532,31 +492,18 @@
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<filter>
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<name>VERT SPEED FILTER</name>
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<debug>false</debug>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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<property>/it-autoflight/input/vs</property>
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</input>
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<input>/it-autoflight/input/vs</input>
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<output>/it-autoflight/internal/vs</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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<condition>
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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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</condition>
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<value>2000</value>
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</max-rate-of-change>
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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>/it-autoflight/output/vert</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[1]/wow</property>
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<value>0</value>
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@ -569,6 +516,7 @@
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</condition>
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<value>300</value>
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</max-rate-of-change>
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<max-rate-of-change>2000</max-rate-of-change>
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</filter>
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<filter>
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@ -831,48 +779,12 @@
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<output>/it-autoflight/internal/fpa</output>
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</filter>
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<!-- =============================================================== -->
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<!-- Flight Director -->
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<!-- =============================================================== -->
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<filter>
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<name>IT-CONTROLLER: TARGET ROLL CMD</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</input>
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<output>/it-autoflight/internal/target-roll-fd</output>
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<type>noise-spike</type>
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<max-rate-of-change>15</max-rate-of-change>
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</filter>
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<filter>
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<name>FD: ROLL</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</not-equals>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>5</value>
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</not-equals>
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</and>
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</condition>
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<expression>
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<dif>
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<property>/it-autoflight/internal/target-roll-fd</property>
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<property>/orientation/roll-deg</property>
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</dif>
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</expression>
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</input>
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<input>
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<condition>
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<or>
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@ -886,9 +798,37 @@
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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>/it-autoflight/internal/target-roll-deg</input>
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<output>/it-autoflight/internal/target-roll-fd</output>
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<max-rate-of-change>
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<condition>
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<and>
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<not-equals>
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<property>/it-autoflight/output/fd1</property>
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<value>1</value>
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</not-equals>
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<not-equals>
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<property>/it-autoflight/output/fd1</property>
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<value>1</value>
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</not-equals>
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</and>
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</condition>
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<value>50</value>
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</max-rate-of-change>
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<max-rate-of-change>15</max-rate-of-change>
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</filter>
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<filter>
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<name>FD: ROLL</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<dif>
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<value>0</value>
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<property>/it-autoflight/internal/target-roll-fd</property>
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<property>/orientation/roll-deg</property>
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</dif>
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</expression>
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@ -45,15 +45,9 @@
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</condition>
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<property>/it-autoflight/internal/mng-alt</property>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-fpm</property>
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</output>
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<min>
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<property>/it-autoflight/internal/min-vs</property>
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</min>
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<max>
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<property>/it-autoflight/internal/max-vs</property>
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</max>
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<output>/it-autoflight/internal/target-fpm</output>
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<min>/it-autoflight/internal/min-vs</min>
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<max>/it-autoflight/internal/max-vs</max>
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</filter>
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<pid-controller>
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@ -87,15 +81,9 @@
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</and>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/fpa</property>
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</input>
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<reference>
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<property>/it-autoflight/input/fpa</property>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-fpm-d</property>
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</output>
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<input>/it-autoflight/internal/fpa</input>
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<reference>/it-autoflight/input/fpa</reference>
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<output>/it-autoflight/internal/target-fpm-d</output>
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<config>
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<Kp>
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<expression>
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@ -106,9 +94,6 @@
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</table>
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</expression>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>2.0</Ti>
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<Td>0.002</Td>
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<u_min>
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@ -215,9 +200,7 @@
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<property>/it-autoflight/internal/flch-mach</property>
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<scale>1000.0</scale>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-fpm-b</property>
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</output>
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<output>/it-autoflight/internal/target-fpm-b</output>
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<config>
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<Kp>
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<condition>
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@ -237,9 +220,6 @@
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</condition>
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<value>-60</value>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>2.5</Ti>
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<Td>0.001</Td>
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<u_min>
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@ -505,9 +485,7 @@
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</and>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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</input>
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<input>/it-autoflight/internal/vert-speed-fpm</input>
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<reference>
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<condition>
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<or>
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@ -590,9 +568,7 @@
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</condition>
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<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-pitch-deg</property>
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</output>
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<output>/it-autoflight/internal/target-pitch-deg</output>
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<config>
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<Kp>
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<condition>
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@ -717,15 +693,9 @@
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<debug>false</debug>
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<type>gain</type>
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<gain>0.15</gain>
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<input>
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<property>/orientation/pitch-deg</property>
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</input>
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<reference>
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<property>/it-autoflight/internal/target-pitch-deg</property>
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</reference>
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<output>
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<property>/fdm/jsbsim/fbw/fmgc/pitch-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
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</output>
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<input>/orientation/pitch-deg</input>
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<reference>/it-autoflight/internal/target-pitch-deg</reference>
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<output>/fdm/jsbsim/fbw/fmgc/pitch-cmd</output> <!-- Inputs to the FBW Pitch -->
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<min>-0.3</min>
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<max>0.3</max>
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</filter>
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@ -51,15 +51,9 @@
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</and>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/heading-error-deg</property>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</output>
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<input>/it-autoflight/internal/heading-error-deg</input>
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<reference>0</reference>
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<output>/it-autoflight/internal/target-roll-deg</output>
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||||
<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>
|
||||
|
||||
|
|
|
|||
|
|
@ -8,43 +8,16 @@
|
|||
|
||||
<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>
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
4678
|
||||
4679
|
||||
Reference in a new issue