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A3XX: Fix FBW bug where aircraft can get stuck in excessive bank, fix rollback lag

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This commit is contained in:
Joshua Davidson 2017-10-08 12:03:56 -04:00
parent 12aa8b761a
commit 7ef432b5ed
3 changed files with 119 additions and 129 deletions
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228
Systems/hydraulics.xml
View file

@ -14,39 +14,39 @@
<!-- Surface Droop --> <!-- Surface Droop -->
<!-- =============================================================== --> <!-- =============================================================== -->
<filter> <filter>
<name>Aileron Droop</name> <name>Aileron Droop</name>
<type>gain</type> <type>gain</type>
<gain>1</gain> <gain>1</gain>
<update-interval-secs type="double">0.05</update-interval-secs> <update-interval-secs type="double">0.05</update-interval-secs>
<input> <input>
<expression> <expression>
<table> <table>
<property>/velocities/airspeed-kt</property> <property>/velocities/airspeed-kt</property>
<entry><ind> 62</ind><dep>0.5</dep></entry> <entry><ind> 62</ind><dep>0.5</dep></entry>
<entry><ind>116</ind><dep>0.0</dep></entry> <entry><ind>116</ind><dep>0.0</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/systems/hydraulic/aileron-droop</output> <output>/systems/hydraulic/aileron-droop</output>
</filter> </filter>
<filter> <filter>
<name>Elevator Droop</name> <name>Elevator Droop</name>
<type>gain</type> <type>gain</type>
<gain>1</gain> <gain>1</gain>
<update-interval-secs type="double">0.05</update-interval-secs> <update-interval-secs type="double">0.05</update-interval-secs>
<input> <input>
<expression> <expression>
<table> <table>
<property>/velocities/airspeed-kt</property> <property>/velocities/airspeed-kt</property>
<entry><ind> 72</ind><dep>0.5</dep></entry> <entry><ind> 72</ind><dep>0.5</dep></entry>
<entry><ind>121</ind><dep>0.0</dep></entry> <entry><ind>121</ind><dep>0.0</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/systems/hydraulic/elevator-droop</output> <output>/systems/hydraulic/elevator-droop</output>
</filter> </filter>
<!-- =============================================================== --> <!-- =============================================================== -->
<!-- Aileron Control --> <!-- Aileron Control -->
@ -141,7 +141,7 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<sum> <sum>
<table> <table>
<property>/controls/flight/roll-fbw</property> <property>/controls/flight/roll-fbw</property>
@ -155,7 +155,7 @@
<entry><ind>5</ind><dep>0.13</dep></entry> <entry><ind>5</ind><dep>0.13</dep></entry>
</table> </table>
</sum> </sum>
</expression> </expression>
</input> </input>
<output>/controls/flight/aileron-left-cmd</output> <output>/controls/flight/aileron-left-cmd</output>
<min>-0.5</min> <min>-0.5</min>
@ -260,7 +260,7 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<sum> <sum>
<table> <table>
<property>/controls/flight/roll-fbw</property> <property>/controls/flight/roll-fbw</property>
@ -274,7 +274,7 @@
<entry><ind>5</ind><dep>-0.13</dep></entry> <entry><ind>5</ind><dep>-0.13</dep></entry>
</table> </table>
</sum> </sum>
</expression> </expression>
</input> </input>
<output>/controls/flight/aileron-right-cmd</output> <output>/controls/flight/aileron-right-cmd</output>
<min>-0.5</min> <min>-0.5</min>
@ -474,13 +474,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-left-fbw-cmd</property> <property>/controls/flight/spoiler-left-fbw-cmd</property>
<entry><ind>-0.1</ind><dep> 0</dep></entry> <entry><ind>-0.1</ind><dep> 0</dep></entry>
<entry><ind>-1.0</ind><dep>0.5</dep></entry> <entry><ind>-1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-l2-cmd</output> <output>/controls/flight/spoiler-l2-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -603,13 +603,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-left-fbw-cmd</property> <property>/controls/flight/spoiler-left-fbw-cmd</property>
<entry><ind>-0.0</ind><dep> 0</dep></entry> <entry><ind>-0.0</ind><dep> 0</dep></entry>
<entry><ind>-1.0</ind><dep>0.5</dep></entry> <entry><ind>-1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-l3-cmd</output> <output>/controls/flight/spoiler-l3-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -732,13 +732,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-left-fbw-cmd</property> <property>/controls/flight/spoiler-left-fbw-cmd</property>
<entry><ind>-0.0</ind><dep> 0</dep></entry> <entry><ind>-0.0</ind><dep> 0</dep></entry>
<entry><ind>-1.0</ind><dep>0.5</dep></entry> <entry><ind>-1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-l4-cmd</output> <output>/controls/flight/spoiler-l4-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -825,13 +825,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-left-fbw-cmd</property> <property>/controls/flight/spoiler-left-fbw-cmd</property>
<entry><ind>-0.0</ind><dep> 0</dep></entry> <entry><ind>-0.0</ind><dep> 0</dep></entry>
<entry><ind>-1.0</ind><dep>0.5</dep></entry> <entry><ind>-1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-l5-cmd</output> <output>/controls/flight/spoiler-l5-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -853,7 +853,7 @@
<type>gain</type> <type>gain</type>
<gain>1.0</gain> <gain>1.0</gain>
<input> <input>
<expression> <expression>
<sum> <sum>
<property>/controls/flight/spoiler-l1</property> <property>/controls/flight/spoiler-l1</property>
<property>/controls/flight/spoiler-l2</property> <property>/controls/flight/spoiler-l2</property>
@ -861,7 +861,7 @@
<property>/controls/flight/spoiler-l4</property> <property>/controls/flight/spoiler-l4</property>
<property>/controls/flight/spoiler-l5</property> <property>/controls/flight/spoiler-l5</property>
</sum> </sum>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-l-sum</output> <output>/controls/flight/spoiler-l-sum</output>
</filter> </filter>
@ -1047,13 +1047,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-right-fbw-cmd</property> <property>/controls/flight/spoiler-right-fbw-cmd</property>
<entry><ind>0.1</ind><dep> 0</dep></entry> <entry><ind>0.1</ind><dep> 0</dep></entry>
<entry><ind>1.0</ind><dep>0.5</dep></entry> <entry><ind>1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-r2-cmd</output> <output>/controls/flight/spoiler-r2-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -1176,13 +1176,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-right-fbw-cmd</property> <property>/controls/flight/spoiler-right-fbw-cmd</property>
<entry><ind>0.0</ind><dep> 0</dep></entry> <entry><ind>0.0</ind><dep> 0</dep></entry>
<entry><ind>1.0</ind><dep>0.5</dep></entry> <entry><ind>1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-r3-cmd</output> <output>/controls/flight/spoiler-r3-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -1305,13 +1305,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-right-fbw-cmd</property> <property>/controls/flight/spoiler-right-fbw-cmd</property>
<entry><ind>0.0</ind><dep> 0</dep></entry> <entry><ind>0.0</ind><dep> 0</dep></entry>
<entry><ind>1.0</ind><dep>0.5</dep></entry> <entry><ind>1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-r4-cmd</output> <output>/controls/flight/spoiler-r4-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -1398,13 +1398,13 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/spoiler-right-fbw-cmd</property> <property>/controls/flight/spoiler-right-fbw-cmd</property>
<entry><ind>0.0</ind><dep> 0</dep></entry> <entry><ind>0.0</ind><dep> 0</dep></entry>
<entry><ind>1.0</ind><dep>0.5</dep></entry> <entry><ind>1.0</ind><dep>0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-r5-cmd</output> <output>/controls/flight/spoiler-r5-cmd</output>
<min>0.0</min> <min>0.0</min>
@ -1426,7 +1426,7 @@
<type>gain</type> <type>gain</type>
<gain>1.0</gain> <gain>1.0</gain>
<input> <input>
<expression> <expression>
<sum> <sum>
<property>/controls/flight/spoiler-r1</property> <property>/controls/flight/spoiler-r1</property>
<property>/controls/flight/spoiler-r2</property> <property>/controls/flight/spoiler-r2</property>
@ -1434,7 +1434,7 @@
<property>/controls/flight/spoiler-r4</property> <property>/controls/flight/spoiler-r4</property>
<property>/controls/flight/spoiler-r5</property> <property>/controls/flight/spoiler-r5</property>
</sum> </sum>
</expression> </expression>
</input> </input>
<output>/controls/flight/spoiler-r-sum</output> <output>/controls/flight/spoiler-r-sum</output>
</filter> </filter>
@ -1448,7 +1448,7 @@
<type>gain</type> <type>gain</type>
<gain>1.0</gain> <gain>1.0</gain>
<input> <input>
<expression> <expression>
<product> <product>
<sum> <sum>
<product> <product>
@ -1471,7 +1471,7 @@
</sum> </sum>
<value>0.444444</value> <value>0.444444</value>
</product> </product>
</expression> </expression>
</input> </input>
<output>/controls/flight/aileron-sum</output> <output>/controls/flight/aileron-sum</output>
<min>-1.0</min> <min>-1.0</min>
@ -1526,14 +1526,14 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/elevator-fbw</property> <property>/controls/flight/elevator-fbw</property>
<entry><ind>-1</ind><dep>-0.5</dep></entry> <entry><ind>-1</ind><dep>-0.5</dep></entry>
<entry><ind> 0</ind><dep> 0.0</dep></entry> <entry><ind> 0</ind><dep> 0.0</dep></entry>
<entry><ind> 1</ind><dep> 0.5</dep></entry> <entry><ind> 1</ind><dep> 0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/elevator-left-cmd</output> <output>/controls/flight/elevator-left-cmd</output>
<min>-0.5</min> <min>-0.5</min>
@ -1592,14 +1592,14 @@
</equals> </equals>
</and> </and>
</condition> </condition>
<expression> <expression>
<table> <table>
<property>/controls/flight/elevator-fbw</property> <property>/controls/flight/elevator-fbw</property>
<entry><ind>-1</ind><dep>-0.5</dep></entry> <entry><ind>-1</ind><dep>-0.5</dep></entry>
<entry><ind> 0</ind><dep> 0.0</dep></entry> <entry><ind> 0</ind><dep> 0.0</dep></entry>
<entry><ind> 1</ind><dep> 0.5</dep></entry> <entry><ind> 1</ind><dep> 0.5</dep></entry>
</table> </table>
</expression> </expression>
</input> </input>
<output>/controls/flight/elevator-right-cmd</output> <output>/controls/flight/elevator-right-cmd</output>
<min>-0.5</min> <min>-0.5</min>
@ -1619,12 +1619,12 @@
<type>gain</type> <type>gain</type>
<gain>1.0</gain> <gain>1.0</gain>
<input> <input>
<expression> <expression>
<sum> <sum>
<property>/controls/flight/elevator-left</property> <property>/controls/flight/elevator-left</property>
<property>/controls/flight/elevator-right</property> <property>/controls/flight/elevator-right</property>
</sum> </sum>
</expression> </expression>
</input> </input>
<output>/controls/flight/elevator-sum</output> <output>/controls/flight/elevator-sum</output>
<min>-1.0</min> <min>-1.0</min>

18
Systems/it-fbw.xml
View file

@ -351,20 +351,10 @@
</input> </input>
<input> <input>
<condition> <condition>
<and> <equals>
<equals> <property>/it-fbw/roll-back</property>
<property>/it-fbw/roll-back</property> <value>1</value>
<value>1</value> </equals>
</equals>
<less-than>
<property>/controls/flight/aileron-input</property>
<value>0.05</value>
</less-than>
<greater-than>
<property>/controls/flight/aileron-input</property>
<value>-0.05</value>
</greater-than>
</and>
</condition> </condition>
<expression> <expression>
<table> <table>

2
revision.txt
View file

@ -1 +1 @@
2109 2110