A3XX: FBW: Switch Pitch Control to G-Based and add G Protections
This commit is contained in:
Joshua Davidson
parent
712afc6899
commit
6981745c24
6 changed files with 189 additions and 44 deletions
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@ -15,10 +15,155 @@
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<!-- Vertical -->
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<!-- =============================================================== -->
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<filter>
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<name>IT-CONTROLLER: LOAD FACTOR CMD</name>
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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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||||
<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<entry><ind> 1</ind><dep>-0.5</dep></entry>
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<entry><ind> 0</ind><dep> 1.0</dep></entry>
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<entry><ind>-1</ind><dep> 2.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<output>/it-fbw/g-target</output>
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<min>
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<condition>
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<not-equals>
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<property>/controls/flight/flap-pos</property>
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<value>0</value>
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</not-equals>
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</condition>
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<value>0.0</value>
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</min>
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<min>-1.0</min>
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<max>
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<condition>
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<not-equals>
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<property>/controls/flight/flap-pos</property>
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<value>0</value>
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</not-equals>
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</condition>
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<value>2.0</value>
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</max>
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<max>2.5</max>
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</filter>
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<filter>
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<name>IT-CONTROLLER: COMPUTED G</name>
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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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<sum>
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<product>
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<property>/fdm/jsbsim/forces/load-factor</property>
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<value>-1</value>
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</product>
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<div>
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<value>-1</value>
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<cos>
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<deg2rad>
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<product>
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<property>/orientation/roll-deg</property>
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<value>0.965</value>
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</product>
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</deg2rad>
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</cos>
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</div>
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<value>1</value>
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</sum>
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</expression>
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</input>
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<output>/it-fbw/g-computed</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: G ERROR</name>
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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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<property>/it-fbw/g-target</property>
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<property>/it-fbw/g-computed</property>
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</dif>
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</expression>
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</input>
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<output>/it-fbw/g-error</output>
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</filter>
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<pi-simple-controller>
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<name>IT-CONTROLLER: G ELEVATOR</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</property>
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<value>1</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/it-fbw/g-error</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-fbw/g-elevator</property>
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</output>
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<config>
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<Kp>-2.5</Kp>
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<Ki>-1.5</Ki>
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<min>
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<condition>
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<less-than>
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<property>/controls/flight/elevator-input</property>
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<value>0</value>
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</less-than>
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</condition>
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<property>/controls/flight/elevator-input</property>
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</min>
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<min>0.0</min>
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<max>
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<condition>
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<greater-than>
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<property>/controls/flight/elevator-input</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/controls/flight/elevator-input</property>
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</max>
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<max>0.0</max>
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</config>
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</pi-simple-controller>
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<filter>
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<name>IT-CONTROLLER: PITCH RATE CMD</name>
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<type>gain</type>
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<gain>1</gain>
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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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@ -35,7 +180,7 @@
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1</ind><dep>-5.0</dep></entry>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep> 5.0</dep></entry>
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@ -47,7 +192,7 @@
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<entry><ind>-14.99999</ind><dep>0</dep></entry>
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</table>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind>1</ind><dep>5.0</dep></entry>
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<entry><ind>0</ind><dep>0.0</dep></entry>
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</table>
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@ -59,7 +204,7 @@
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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@ -90,7 +235,7 @@
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1</ind><dep>-5.0</dep></entry>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep> 5.0</dep></entry>
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@ -114,7 +259,7 @@
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
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<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
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</table>
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@ -125,7 +270,7 @@
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep>-1.5</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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@ -154,7 +299,7 @@
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1.0</ind><dep>-3.5</dep></entry>
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<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
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<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
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@ -166,7 +311,7 @@
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<entry><ind>-14.99999</ind><dep>0</dep></entry>
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</table>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind>1</ind><dep> 3.5</dep></entry>
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<entry><ind>0</ind><dep>-1.5</dep></entry>
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</table>
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@ -178,7 +323,7 @@
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/controls/flight/elevator-input</property>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep>-1.5</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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@ -197,9 +342,9 @@
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</filter>
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<filter>
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<name>IT-FBW: PITCH KP (P Gain)</name>
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<name>IT-CONTROLLER: PITCH KP (P Gain)</name>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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@ -213,9 +358,9 @@
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</filter>
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<filter>
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<name>IT-FBW: PITCH TI (I Time)</name>
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<name>IT-CONTROLLER: PITCH TI (I Time)</name>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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@ -229,7 +374,7 @@
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</filter>
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<pid-controller>
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<name>IT-FBW: PITCH</name>
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<name>IT-CONTROLLER: PITCH</name>
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<debug>false</debug>
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<enable>
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<condition>
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@ -281,10 +426,10 @@
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</pid-controller>
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<filter>
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<name>IT-FBW: PITCH OPTION</name>
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<name>IT-CONTROLLER: PITCH OPTION</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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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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@ -381,7 +526,7 @@
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</filter>
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<filter>
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<name>IT-FBW: PITCH TRIM</name>
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<name>IT-CONTROLLER: PITCH TRIM</name>
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<debug>false</debug>
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<initialize-to>output</initialize-to>
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<enable>
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@ -18,7 +18,7 @@
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<filter>
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<name>IT-CONTROLLER: ROLL</name>
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<type>gain</type>
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<gain>1</gain>
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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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<condition>
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@ -221,9 +221,9 @@
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</filter>
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<filter>
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<name>IT-FBW: ROLL KP (P Gain)</name>
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<name>IT-CONTROLLER: ROLL KP (P Gain)</name>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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@ -237,9 +237,9 @@
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</filter>
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<filter>
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<name>IT-FBW: ROLL TI (I Time)</name>
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<name>IT-CONTROLLER: ROLL TI (I Time)</name>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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@ -253,7 +253,7 @@
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</filter>
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<pid-controller>
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<name>IT-FBW: ROLL</name>
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<name>IT-CONTROLLER: ROLL</name>
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<debug>false</debug>
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<enable>
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<condition>
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@ -299,10 +299,10 @@
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</pid-controller>
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<filter>
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<name>IT-FBW: ROLL OPTION</name>
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<name>IT-CONTROLLER: ROLL OPTION</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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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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@ -414,9 +414,9 @@
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</filter>
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<filter>
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<name>IT-FBW: SPOILER</name>
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<name>IT-CONTROLLER: SPOILER</name>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>
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<condition>
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<equals>
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@ -448,9 +448,9 @@
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</filter>
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<filter>
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<name>IT-FBW: LEFT SPOILER</name>
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<name>IT-CONTROLLER: LEFT SPOILER</name>
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<type>gain</type>
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<gain>1</gain>
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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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@ -504,9 +504,9 @@
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</filter>
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<filter>
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<name>IT-FBW: RIGHT SPOILER</name>
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<name>IT-CONTROLLER: RIGHT SPOILER</name>
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<type>gain</type>
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<gain>1</gain>
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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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@ -564,7 +564,7 @@
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<!-- =============================================================== -->
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<filter>
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<name>IT-FBW: YAW DAMPER/TURN COORDINATOR FEEDBACK IF DISABLED</name>
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<name>IT-CONTROLLER: YAW DAMPER/TURN COORDINATOR FEEDBACK IF DISABLED</name>
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<enable>
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<condition>
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<or>
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@ -600,7 +600,7 @@
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</condition>
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</enable>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<input>0</input>
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<output>/controls/flight/rudder-fbw-cmd</output>
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<min>-0.2</min>
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@ -608,7 +608,7 @@
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</filter>
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<pid-controller>
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<name>IT-FBW: YAW DAMPER/TURN COORDINATOR</name>
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<name>IT-CONTROLLER: YAW DAMPER/TURN COORDINATOR</name>
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<debug>false</debug>
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<enable>
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<condition>
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@ -666,7 +666,7 @@
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</pid-controller>
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<filter>
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<name>IT-FBW: RUDDER OPTION</name>
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<name>IT-CONTROLLER: RUDDER OPTION</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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@ -638,7 +638,7 @@
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<name>PITCH DEG SYNC</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<enable>
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<condition>
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<and>
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@ -152,7 +152,7 @@
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<name>ROLL DEG SYNC</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<gain>1.0</gain>
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<enable>
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<condition>
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<and>
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@ -131,7 +131,7 @@
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<filter>
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||||
<name>Throttle Comparator</name>
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<type>gain</type>
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||||
<gain>1</gain>
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||||
<gain>1.0</gain>
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||||
<input>
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||||
<condition>
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<greater-than-equals>
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@ -286,7 +286,7 @@
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<name>IDLE</name>
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<debug>false</debug>
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||||
<type>gain</type>
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||||
<gain>1</gain>
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||||
<gain>1.0</gain>
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||||
<enable>
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||||
<condition>
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||||
<and>
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||||
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@ -337,7 +337,7 @@
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<name>CLB</name>
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<debug>false</debug>
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||||
<type>gain</type>
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||||
<gain>1</gain>
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||||
<gain>1.0</gain>
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||||
<enable>
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||||
<condition>
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||||
<and>
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||||
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@ -378,7 +378,7 @@
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|||
<filter>
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||||
<name>Thrust Filter 1</name>
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||||
<type>gain</type>
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||||
<gain>1</gain>
|
||||
<gain>1.0</gain>
|
||||
<input>/controls/engines/throttle-cmd-pid</input>
|
||||
<output>/controls/engines/engine[0]/throttle-cmd</output>
|
||||
<max>
|
||||
|
|
@ -390,7 +390,7 @@
|
|||
<filter>
|
||||
<name>Thrust Filter 2</name>
|
||||
<type>gain</type>
|
||||
<gain>1</gain>
|
||||
<gain>1.0</gain>
|
||||
<input>/controls/engines/throttle-cmd-pid</input>
|
||||
<output>/controls/engines/engine[1]/throttle-cmd</output>
|
||||
<max>
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
4048
|
||||
4050
|
||||
Reference in a new issue