From 61d4caf6de5d3294953f548cde7a1be27facd933 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Sun, 3 Dec 2017 09:38:57 -0500
Subject: [PATCH] A3XX: Add Rate Based Decel for Autobrake

---
 Nasal/brakes.nas       | 15 +++----
 Systems/hydraulics.xml | 92 ++++++++++++++++++++++++++++++++----------
 Systems/libraries.xml  | 77 +++++++++++++++++++++--------------
 revision.txt           |  2 +-
 4 files changed, 123 insertions(+), 63 deletions(-)

diff --git a/Nasal/brakes.nas b/Nasal/brakes.nas
index d6e01775..8079a6df 100644
--- a/Nasal/brakes.nas
+++ b/Nasal/brakes.nas
@@ -7,6 +7,7 @@
 
 setprop("/controls/autobrake/active", 0);
 setprop("/controls/autobrake/mode", 0);
+setprop("/controls/autobrake/decel-rate", 0);
 
 setlistener("/sim/signals/fdm-initialized", func {
 	var thr1 = 0;
@@ -46,14 +47,18 @@ var arm_autobrake = func(mode) {
 			setprop("/controls/gear/brake-left", 0);
 			setprop("/controls/gear/brake-right", 0);
 		}
+		setprop("/controls/autobrake/decel-rate", 0);
 		setprop("/controls/autobrake/mode", 0);
 	} else if (mode == 1 and wow0 != 1) { # LO
+		setprop("/controls/autobrake/decel-rate", 1.7);
 		setprop("/controls/autobrake/mode", 1);
 		absChk.start();
 	} else if (mode == 2 and wow0 != 1) { # MED
+		setprop("/controls/autobrake/decel-rate", 3);
 		setprop("/controls/autobrake/mode", 2);
 		absChk.start();
 	} else if (mode == 3 and wow0 == 1) { # MAX
+		setprop("/controls/autobrake/decel-rate", 6);
 		setprop("/controls/autobrake/mode", 3);
 		absChk.start();
 	}
@@ -68,16 +73,6 @@ var absChk = maketimer(0.2, func {
 	if (gnd_speed > 72) {
 		if (getprop("/controls/autobrake/mode") != 0 and thr1 < 0.15 and thr2 < 0.15 and wow0 == 1) {
 			setprop("/controls/autobrake/active", 1);
-			if (getprop("/controls/autobrake/mode") == 1) { # LO
-				interpolate("/controls/gear/brake-left", 0.4, 0.5);
-				interpolate("/controls/gear/brake-right", 0.4, 0.5);
-			} else if (getprop("/controls/autobrake/mode") == 2) { # MED
-				interpolate("/controls/gear/brake-left", 0.65, 0.5);
-				interpolate("/controls/gear/brake-right", 0.65, 0.5);
-			} else if (getprop("/controls/autobrake/mode") == 3) { # MAX
-				interpolate("/controls/gear/brake-left", 0.9, 0.5);
-				interpolate("/controls/gear/brake-right", 0.9, 0.5);
-			}
 		} else {
 			setprop("/controls/autobrake/active", 0);
 			setprop("/controls/gear/brake-left", 0);
diff --git a/Systems/hydraulics.xml b/Systems/hydraulics.xml
index 13d5555a..6a765580 100644
--- a/Systems/hydraulics.xml
+++ b/Systems/hydraulics.xml
@@ -17,9 +17,9 @@
 	<filter>
 		<name>Aileron Droop</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/velocities/airspeed-kt</property>
@@ -34,9 +34,9 @@
 	<filter>
 		<name>Elevator Droop</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/velocities/airspeed-kt</property>
@@ -1853,9 +1853,9 @@
 	<filter>
 		<name>Left Press</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/controls/gear/brake-left</property>
@@ -1872,9 +1872,9 @@
 	<filter>
 		<name>Right Press</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/controls/gear/brake-right</property>
@@ -1895,9 +1895,9 @@
 	<filter>
 		<name>Left Door</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/gear/gear[1]/position-norm</property>
@@ -1914,9 +1914,9 @@
 	<filter>
 		<name>Left Door Conversion to Degrees</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/hydraulic/gear/door-left</property>
@@ -1931,9 +1931,9 @@
 	<filter>
 		<name>Right Door</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/gear/gear[2]/position-norm</property>
@@ -1950,9 +1950,9 @@
 	<filter>
 		<name>Right Door Conversion to Degrees</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/hydraulic/gear/door-right</property>
@@ -1967,9 +1967,9 @@
 	<filter>
 		<name>Nose Door</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/gear/gear[0]/position-norm</property>
@@ -1986,9 +1986,9 @@
 	<filter>
 		<name>NLG Left Door Conversion to Degrees</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/hydraulic/gear/door-nose</property>
@@ -2003,9 +2003,9 @@
 	<filter>
 		<name>NLG Right Door Conversion to Degrees</name>
 		<type>gain</type>
-		<gain>1</gain>
+		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/hydraulic/gear/door-nose</property>
@@ -2016,5 +2016,53 @@
 		</input>
 		<output>/ECAM/Lower/door-nose-right</output>
 	</filter>
+	
+ <!-- =============================================================== -->
+ <!-- Autobrake                                                       -->
+ <!-- =============================================================== -->
+
+	<filter>
+		<name>Autobrake Decel Error</name>
+		<type>gain</type>
+		<gain>1.0</gain>
+		<input>
+			<expression>
+				<dif>
+					<property>/velocities/groundspeed-mps</property>
+					<property>/velocities/groundspeed-mps-ahead</property>
+				</dif>
+			</expression>
+		</input>
+		<output>/controls/autobrake/decel-error</output>
+	</filter>
+	
+	<pi-simple-controller>
+		<name>IT-CONTROLLER: AUTOBRAKE DECEL</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<equals>
+					<property>/controls/autobrake/active</property>
+					<value>1</value>
+				</equals>
+			</condition>
+		</enable>
+		<input>
+			<property>/controls/autobrake/decel-error</property>
+		</input>
+		<reference>
+			<property>/controls/autobrake/decel-rate</property>
+		</reference>
+		<output>
+			<property>/controls/gear/brake-left</property>
+			<property>/controls/gear/brake-right</property>
+		</output>
+		<config>
+			<Kp>0.45</Kp>
+			<Ki>0.25</Ki>
+			<min>0.0</min>
+			<max>1.0</max>
+		</config>
+	</pi-simple-controller>
 
 </PropertyList>
diff --git a/Systems/libraries.xml b/Systems/libraries.xml
index 6e817033..199a7977 100644
--- a/Systems/libraries.xml
+++ b/Systems/libraries.xml
@@ -8,12 +8,30 @@
 
 <PropertyList>
 
+	<filter>
+		<name>Groundspeed Meters Per Second</name>
+		<type>gain</type>
+		<gain>0.51444444444</gain>
+		<input>/velocities/groundspeed-kt</input>
+		<output>/velocities/groundspeed-mps</output>
+		<min>0</min>
+		<max>1000</max>
+	</filter>
+	
+	<predict-simple>
+		<name>Groundspeed Meters Per Second Ahead</name>
+		<debug>false</debug>
+		<input>/velocities/groundspeed-mps</input>
+		<output>/velocities/groundspeed-mps-ahead</output>
+		<seconds>1.5</seconds>
+		<filter-gain>0.0</filter-gain>
+	</predict-simple>
+
 	<filter>
 		<name>Gear AGL Altitude FT</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<dif>
 					<property>/position/altitude-agl-ft</property>
@@ -30,8 +48,7 @@
 		<name>Gear AGL Altitude M</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<product>
 					<property>/position/gear-agl-ft</property>
@@ -58,7 +75,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/controls/flight/rudder-trim</property>
@@ -76,7 +93,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/engines/engine[0]/fuel-flow_pph</property> 
@@ -94,7 +111,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/engines/engine[1]/fuel-flow_pph</property> 
@@ -112,7 +129,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/engines/engine[0]/n2-actual</property> 
@@ -129,7 +146,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/engines/engine[1]/n2-actual</property> 
@@ -146,7 +163,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<floor>
 					<div>
@@ -163,7 +180,7 @@
 		<name>V/S PFD</name>
 		<type>noise-spike</type>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<floor>
 					<div>
@@ -242,7 +259,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/instrumentation/altimeter/indicated-altitude-ft</property>
@@ -264,7 +281,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<condition>
 				<or>
 					<equals>
@@ -279,7 +296,7 @@
 			</condition>
 			<property>/systems/pressurization/cabinalt-norm</property>
 		</input>
-		<input> 
+		<input>
 			<condition>
 				<not>
 					<property>/gear/gear[1]/wow</property>
@@ -296,7 +313,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/pressurization/cabinalt-norm</property>
@@ -322,7 +339,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<condition>
 				<equals>
 					<property>/gear/gear[1]/wow</property>
@@ -331,7 +348,7 @@
 			</condition>
 			<property>/systems/pressurization/ambientpsi</property>
 		</input>
-		<input> 
+		<input>
 			<condition>
 				<not>
 					<property>/gear/gear[1]/wow</property>
@@ -348,7 +365,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/instrumentation/altimeter/indicated-altitude-ft</property>
@@ -396,7 +413,7 @@
 	<filter>
 		<name>Outflow Valve</name>
 		<type>noise-spike</type>
-		<input> 
+		<input>
 			<property>/systems/pressurization/outflowpos</property> 
 		</input>
 		<output>/systems/pressurization/outflowpos-norm</output>
@@ -408,7 +425,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<condition>
 				<equals>
 					<property>/systems/pressurization/auto</property>
@@ -417,7 +434,7 @@
 			</condition>
 			<property>/systems/pressurization/outflowpos-man</property>
 		</input>
-		<input> 
+		<input>
 			<condition>
 				<equals>
 					<property>/systems/pressurization/auto</property>
@@ -432,7 +449,7 @@
 	<filter>
 		<name>Cabin VS</name>
 		<type>noise-spike</type>
-		<input> 
+		<input>
 			<property>/systems/pressurization/vs</property> 
 		</input>
 		<output>/systems/pressurization/vs-norm</output>
@@ -442,7 +459,7 @@
 	<filter>
 		<name>Cabin Differential</name>
 		<type>noise-spike</type>
-		<input> 
+		<input>
 			<property>/systems/pressurization/deltap</property>
 		</input>
 		<output>/systems/pressurization/deltap-norm</output>
@@ -508,7 +525,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<condition>
 				<equals>
 					<property>/gear/gear[1]/wow</property>
@@ -517,7 +534,7 @@
 			</condition>
 			<value>0</value>
 		</input>
-		<input> 
+		<input>
 			<condition>
 				<not>
 					<property>/gear/gear[1]/wow</property>
@@ -534,7 +551,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/systems/icing/severity</property>
@@ -554,7 +571,7 @@
 		<name>TAS</name>
 		<type>gain</type>
 		<gain>1.0</gain>
-		<input> 
+		<input>
 			<expression>
 				<product>
 					<property>velocities/uBody-fps</property> 
@@ -616,7 +633,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/instrumentation/altimeter/indicated-altitude-ft</property>
@@ -666,7 +683,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.1</update-interval-secs>
-		<input> 
+		<input>
 			<difference>
 				<property>/environment/temperature-degc</property>
 				<property>/FMGC/internal/ISAtemp</property>
@@ -680,7 +697,7 @@
 		<type>gain</type>
 		<gain>1.0</gain>
 		<update-interval-secs type="double">0.05</update-interval-secs>
-		<input> 
+		<input>
 			<expression>
 				<table>
 					<property>/velocities/airspeed-kt</property>
diff --git a/revision.txt b/revision.txt
index 467ba129..f42f6466 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4058
\ No newline at end of file
+4059
\ No newline at end of file