From a42757641e809688595b2a4bd003d72070c30b18 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Mon, 26 Jun 2017 00:34:18 -0400
Subject: [PATCH] A3XX: Brand New FBW system

---
 A318-100-CFM.xml       |    1 -
 A319-100-CFM.xml       |    1 -
 A319-100-IAE.xml       |    1 -
 A320-100-CFM.xml       |    1 -
 A320-200-CFM.xml       |    1 -
 A320-200-IAE.xml       |    1 -
 A320-main.xml          |    2 +-
 A320neo-CFM.xml        |    1 -
 A321-200-CFM.xml       |    1 -
 A321-200-IAE.xml       |    1 -
 A321neo-CFM.xml        |    1 -
 Nasal/it-fbw.nas       |   50 +-
 Systems/hydraulics.xml |   30 +-
 Systems/it-fbw-b.xml   | 1029 -----------------------------
 Systems/it-fbw.xml     | 1393 ++++++++++++++++++++++++++++++++++++----
 15 files changed, 1308 insertions(+), 1206 deletions(-)
 delete mode 100644 Systems/it-fbw-b.xml

diff --git a/A318-100-CFM.xml b/A318-100-CFM.xml
index 01056deb..4c80c637 100644
--- a/A318-100-CFM.xml
+++ b/A318-100-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A319-100-CFM.xml b/A319-100-CFM.xml
index 2184c0f0..c42eeda5 100644
--- a/A319-100-CFM.xml
+++ b/A319-100-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A319-100-IAE.xml b/A319-100-IAE.xml
index b9fd1a32..00aadc6e 100644
--- a/A319-100-IAE.xml
+++ b/A319-100-IAE.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A320-100-CFM.xml b/A320-100-CFM.xml
index 87cd7c95..94396426 100644
--- a/A320-100-CFM.xml
+++ b/A320-100-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A320-200-CFM.xml b/A320-200-CFM.xml
index 805b218f..94ae417e 100644
--- a/A320-200-CFM.xml
+++ b/A320-200-CFM.xml
@@ -583,7 +583,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
     <system file="pushback" />
     <system file="fuel" />
     <system file="glass-effect1" />
-    <system file="it-fbw" />
     <system file="fmgc" />
     <system file="fcs" />
 
diff --git a/A320-200-IAE.xml b/A320-200-IAE.xml
index 29ac2975..3eb2f7a5 100644
--- a/A320-200-IAE.xml
+++ b/A320-200-IAE.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A320-main.xml b/A320-main.xml
index e063591e..5f6f071b 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -104,7 +104,7 @@
 				<path>Aircraft/A320Family/Systems/hydraulics.xml</path>
 			</autopilot>
 			<autopilot n="2">
-				<path>Aircraft/A320Family/Systems/it-fbw-b.xml</path>
+				<path>Aircraft/A320Family/Systems/it-fbw.xml</path>
 			</autopilot>
 			<autopilot n="3">
 				<path>Aircraft/A320Family/Systems/fmgc-b.xml</path>
diff --git a/A320neo-CFM.xml b/A320neo-CFM.xml
index 3b65ca22..12b821ef 100644
--- a/A320neo-CFM.xml
+++ b/A320neo-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A321-200-CFM.xml b/A321-200-CFM.xml
index 5e8879b0..cd910f07 100644
--- a/A321-200-CFM.xml
+++ b/A321-200-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A321-200-IAE.xml b/A321-200-IAE.xml
index aede0e54..bac1a2f5 100644
--- a/A321-200-IAE.xml
+++ b/A321-200-IAE.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/A321neo-CFM.xml b/A321neo-CFM.xml
index 1df9fa88..227b95bb 100644
--- a/A321neo-CFM.xml
+++ b/A321neo-CFM.xml
@@ -557,7 +557,6 @@ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
 <system file="pushback" />
 <system file="fuel" />
 <system file="glass-effect1" />
-<system file="it-fbw" />
 <system file="fmgc" />
 <system file="fcs" />
 
diff --git a/Nasal/it-fbw.nas b/Nasal/it-fbw.nas
index f692b3a1..960b56b2 100644
--- a/Nasal/it-fbw.nas
+++ b/Nasal/it-fbw.nas
@@ -30,6 +30,9 @@ var fctlInit = func {
 	setprop("/systems/fctl/fac2", 0);
 }
 
+setprop("/it-fbw/roll-back", 0);
+setprop("/it-fbw/spd-hold", 0);
+
 ###################
 # Update Function #
 ###################
@@ -96,47 +99,16 @@ var update_loop = func {
 
 	var ail = getprop("/controls/flight/aileron");
 	
-	if (getprop("/it-fbw/law") == 0) {
-		if (ail > 0.4 or ail < -0.4) {
-			setprop("/it-fbw/roll-lim-max", "67");
-			setprop("/it-fbw/roll-lim-min", "-67");
-		} else if (ail < 0.05 and ail > -0.05) {
-			setprop("/it-fbw/roll-lim-max", "33");
-			setprop("/it-fbw/roll-lim-min", "-33");
-		} else {
-			if (getprop("/it-fbw/roll-deg") > 33) {
-				setprop("/it-fbw/roll-deg", "33");
-			} else if (getprop("/it-fbw/roll-deg") < -33) {
-				setprop("/it-fbw/roll-deg", "-33");
-			}
+	if (ail > 0.4 or ail < -0.4) {
+		setprop("/it-fbw/roll-lim", "67");
+		if (getprop("/it-fbw/roll-back") == 0 and (getprop("/orientation/roll-deg") > 33.5 or getprop("/orientation/roll-deg") < -33.5)) {
+			setprop("/it-fbw/roll-back", 1);
 		}
-	} else if (getprop("/it-fbw/law") == 1) {
-		setprop("/it-fbw/roll-lim-max", "160");
-		setprop("/it-fbw/roll-lim-min", "-160");
-	} else {
-		setprop("/it-fbw/roll-lim-max", "33");
-		setprop("/it-fbw/roll-lim-min", "-33");
-	}
-
-	var elev = getprop("/controls/flight/elevator");
-	
-	if (getprop("/it-fbw/law") == 0) {
-		if (getprop("/position/gear-agl-ft") <= 2) {
-			setprop("/it-fbw/pitch-lim-max", "15");
-			setprop("/it-fbw/pitch-lim-min", "-5");
-		} else if (getprop("/controls/flight/flap-lever") == 4) {
-			setprop("/it-fbw/pitch-lim-max", "25");
-			setprop("/it-fbw/pitch-lim-min", "-15");
-		} else {
-			setprop("/it-fbw/pitch-lim-max", "30");
-			setprop("/it-fbw/pitch-lim-min", "-15");
+	} else if (ail < 0.05 and ail > -0.05) {
+		setprop("/it-fbw/roll-lim", "33");
+		if (getprop("/it-fbw/roll-back") == 1 and getprop("/orientation/roll-deg") <= 33.5 and getprop("/orientation/roll-deg") >= -33.5) {
+			setprop("/it-fbw/roll-back", 0);
 		}
-	} else if (getprop("/it-fbw/law") == 1) {
-		setprop("/it-fbw/pitch-lim-max", "160");
-		setprop("/it-fbw/pitch-lim-min", "-160");
-	} else {
-		setprop("/it-fbw/pitch-lim-max", "15");
-		setprop("/it-fbw/pitch-lim-min", "-15");
 	}
 
 	if (getprop("/it-fbw/override") == 0) {
diff --git a/Systems/hydraulics.xml b/Systems/hydraulics.xml
index 7d6acf96..87777a83 100644
--- a/Systems/hydraulics.xml
+++ b/Systems/hydraulics.xml
@@ -159,7 +159,7 @@
 		<type>noise-spike</type>
 		<input>/controls/flight/aileron-left-cmd</input>
 		<output>/controls/flight/aileron-left</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
+		<max-rate-of-change>2.5</max-rate-of-change>
 	</filter>
 	
 	<!-- Aileron R -->
@@ -276,7 +276,7 @@
 		<type>noise-spike</type>
 		<input>/controls/flight/aileron-right-cmd</input>
 		<output>/controls/flight/aileron-right</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
+		<max-rate-of-change>2.5</max-rate-of-change>
 	</filter>
 	
  <!-- =============================================================== -->
@@ -1441,15 +1441,25 @@
             <expression>
 				<product>
 					<sum>
-						<property>/controls/flight/aileron-left</property>
-						<property>/controls/flight/aileron-right</property>
 						<product>
-							<property>/controls/flight/spoiler-l-sum</property>
-							<value>-1.0</value>
+							<sum>
+								<property>/controls/flight/aileron-left</property>
+								<property>/controls/flight/aileron-right</property>
+							</sum>
+							<value>1.75</value>
+						</product>
+						<product>
+							<sum>
+								<product>
+									<property>/controls/flight/spoiler-l-sum</property>
+									<value>-1.0</value>
+								</product>
+								<property>/controls/flight/spoiler-r-sum</property>
+							</sum>
+							<value>0.25</value>
 						</product>
-						<property>/controls/flight/spoiler-r-sum</property>
 					</sum>
-					<value>0.3571</value>
+					<value>0.444444</value>
 				</product>
             </expression>
 		</input>
@@ -1523,7 +1533,7 @@
 		<type>noise-spike</type>
 		<input>/controls/flight/elevator-left-cmd</input>
 		<output>/controls/flight/elevator-left</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
+		<max-rate-of-change>2.5</max-rate-of-change>
 	</filter>
 	
 	<filter>
@@ -1587,7 +1597,7 @@
 		<type>noise-spike</type>
 		<input>/controls/flight/elevator-right-cmd</input>
 		<output>/controls/flight/elevator-right</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
+		<max-rate-of-change>2.5</max-rate-of-change>
 	</filter>
 	
 	<filter>
diff --git a/Systems/it-fbw-b.xml b/Systems/it-fbw-b.xml
deleted file mode 100644
index 9d34141b..00000000
--- a/Systems/it-fbw-b.xml
+++ /dev/null
@@ -1,1029 +0,0 @@
-<?xml version="1.0"?>
-
-<!-- Airbus A3XX FBW System by Joshua Davidson (it0uchpods) -->
-<!-- For Roll, Pitch, and Yaw -->
-
-<PropertyList>
-
-
- <!-- =============================================================== -->
- <!-- Surface Position Feeding                                        -->
- <!-- =============================================================== -->
-	
-	<filter>
-		<debug>false</debug>
-		<type>noise-spike</type>
-		<input>/controls/flight/aileron</input>
-		<output>/controls/flight/aileron-input-fast</output>
-		<max-rate-of-change>5</max-rate-of-change>
-	</filter>
-	
-	<filter>
-		<debug>false</debug>
-		<type>noise-spike</type>
-		<input>/controls/flight/elevator</input>
-		<output>/controls/flight/elevator-input-fast</output>
-		<max-rate-of-change>5</max-rate-of-change>
-	</filter>
-	
-
-	<filter>
-		<debug>false</debug>
-		<type>noise-spike</type>
-		<input>/controls/flight/aileron</input>
-		<output>/controls/flight/aileron-input</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
-	</filter>
-
-	<filter>
-		<debug>false</debug>
-		<type>noise-spike</type>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</less-than>
-					<greater-than-equals>
-						<property>/controls/flight/flap-pos</property>
-						<value>4</value>
-					</greater-than-equals>
-					<less-than>
-						<property>/controls/engines/engine[0]/throttle</property>
-						<value>0.65</value>
-					</less-than>
-					<less-than>
-						<property>/controls/engines/engine[1]/throttle</property>
-						<value>0.65</value>
-					</less-than>
-					<equals>
-						<property>/FMGC/status/to-state</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-            <expression>
-				<sum>
-					<property>/controls/flight/elevator</property>
-					<value>0.15</value>
-				</sum>
-            </expression>
-		</input>
-		<input>
-			<property>/controls/flight/elevator</property>
-		</input>
-		<output>/controls/flight/elevator-input</output>
-		<max-rate-of-change>3.5</max-rate-of-change>
-	</filter>
-
- <!-- =============================================================== -->
- <!-- Lateral                                                         -->
- <!-- =============================================================== -->
-	
-	<pid-controller>
-		<name>IT-FBW: ROLL</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/orientation/roll-deg</property>
-		</input>
-		<reference>
-			<property>/it-fbw/roll-deg</property>
-		</reference>
-		<output>
-			<property>/controls/flight/aileron-fbw-cmd</property>
-		</output>
-		<config>
-			<Kp>0.11</Kp>
-			<beta>1</beta>
-			<alpha>0.1</alpha>
-			<gamma>0</gamma>
-			<Ti>5</Ti>
-			<Td>0.005</Td>
-			<u_min>-1</u_min>
-			<u_max>1</u_max>
-		</config>
-	</pid-controller>
-	
-	<filter>
-		<name>IT-FBW: ROLL OPTION</name>
-		<debug>false</debug>
-		<type>gain</type>
-		<gain>1</gain>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-			<property>/controls/flight/aileron-fbw-cmd</property>
-		</input>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/gear/gear[1]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/gear/gear[2]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>2</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-			<property>/controls/flight/aileron-input</property>
-		</input>
-		<input>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<property>/controls/flight/aileron-fmgc</property>
-		</input>
-		<input>
-			<condition>
-				<equals>
-					<property>/it-fbw/law</property>
-					<value>3</value>
-				</equals>
-			</condition>
-			<value>0</value>
-		</input>
-		<output>/controls/flight/roll-fbw</output>
-	</filter>
-	
-	<filter>
-		<name>IT-FBW: AILERON</name>
-		<type>gain</type>
-		<gain>1</gain>
-		<input>/controls/flight/roll-fbw</input>
-		<output>/controls/flight/aileron-fbw</output>
-	</filter>
-	
-	<filter>
-		<name>IT-FBW: LEFT SPOILER</name>
-		<type>gain</type>
-		<gain>1</gain>
-		<input>
-			<condition>
-				<equals>
-					<property>/systems/failures/aileron-left</property>
-					<value>0</value>
-				</equals>
-			</condition>
-			<expression>
-				<table>
-					<property>/controls/flight/roll-fbw</property>
-					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
-					<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
-					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
-					<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
-					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
-				</table>
-			</expression>
-		</input>
-		<input>
-			<condition>
-				<equals>
-					<property>/systems/failures/aileron-left</property>
-					<value>1</value>
-				</equals>
-			</condition>
-			<expression>
-				<table>
-					<property>/controls/flight/roll-fbw</property>
-					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
-					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
-					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
-				</table>
-			</expression>
-		</input>
-		<output>/controls/flight/spoiler-left-fbw-cmd</output>
-		<min>-1</min>
-		<max>1</max>
-	</filter>
-	
-	<filter>
-		<name>IT-FBW: RIGHT SPOILER</name>
-		<type>gain</type>
-		<gain>1</gain>
-		<input>
-			<condition>
-				<equals>
-					<property>/systems/failures/aileron-right</property>
-					<value>0</value>
-				</equals>
-			</condition>
-			<expression>
-				<table>
-					<property>/controls/flight/roll-fbw</property>
-					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
-					<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
-					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
-					<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
-					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
-				</table>
-			</expression>
-		</input>
-		<input>
-			<condition>
-				<equals>
-					<property>/systems/failures/aileron-right</property>
-					<value>1</value>
-				</equals>
-			</condition>
-			<expression>
-				<table>
-					<property>/controls/flight/roll-fbw</property>
-					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
-					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
-					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
-				</table>
-			</expression>
-		</input>
-		<output>/controls/flight/spoiler-right-fbw-cmd</output>
-		<min>-1</min>
-		<max>1</max>
-	</filter>
-	
- <!-- =============================================================== -->
- <!-- Vertical                                                        -->
- <!-- =============================================================== -->
-	
-	<pid-controller>
-		<name>IT-FBW: PITCH</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/spd-hold</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/orientation/pitch-deg</property>
-		</input>
-		<reference>
-			<property>/it-fbw/pitch-deg</property>
-		</reference>
-		<output>
-			<property>/controls/flight/elevator-fbw-cmd</property>
-		</output>
-		<config>
-			<Kp>-0.20</Kp>
-			<beta>1</beta>
-			<alpha>0.1</alpha>
-			<gamma>0</gamma>
-			<Ti>5</Ti>
-			<Td>0.002</Td>
-			<u_min>-1</u_min>
-			<u_max>1</u_max>
-		</config>
-	</pid-controller>
-	
-	<filter>
-		<name>IT-FBW: SPD PITCH TARGET CMD</name>
-		<type>noise-spike</type>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/spd-hold</property>
-						<value>1</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input> 
-			<expression>
-				<table>
-					<property>/controls/flight/elevator-input</property>
-					<entry><ind> 0</ind><dep>129</dep></entry>
-					<entry><ind>-1</ind><dep>106</dep></entry>
-				</table>
-			</expression>
-		</input>
-		<output>/it-fbw/spd-pitch-target</output>
-		<max-rate-of-change>10</max-rate-of-change>
-	</filter>
-	
-	<pid-controller>
-		<name>IT-FBW: SPD PITCH TARGET</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/spd-hold</property>
-						<value>1</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
-		</input>
-		<reference>
-			<property>/it-fbw/spd-pitch-target</property>
-		</reference>
-		<output>
-			<property>/it-fbw/spd-pitch-deg</property>
-		</output>
-		<config>
-			<Kp>-0.50</Kp>
-			<beta>1.0</beta>    
-			<alpha>0.1</alpha>  
-			<gamma>0.0</gamma>  
-			<Ti>5.0</Ti>        
-			<Td>0.0001</Td>    
-			<u_min>-10</u_min>
-			<u_max>30</u_max>
-		</config>
-	</pid-controller>
-	
-	<pid-controller>
-		<name>IT-FBW: SPD PITCH</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/spd-hold</property>
-						<value>1</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/orientation/pitch-deg</property>
-		</input>
-		<reference>
-			<property>/it-fbw/spd-pitch-deg</property>
-		</reference>
-		<output>
-			<property>/controls/flight/elevator-fbw-cmd</property>
-		</output>
-		<config>
-			<Kp>-0.08</Kp>
-			<beta>1</beta>
-			<alpha>0.1</alpha>
-			<gamma>0</gamma>
-			<Ti>5</Ti>
-			<Td>0.001</Td>
-			<u_min>-1</u_min>
-			<u_max>1</u_max>
-		</config>
-	</pid-controller>
-	
-	<filter>
-		<name>IT-FBW: PITCH OPTION</name>
-		<debug>false</debug>
-		<type>gain</type>
-		<gain>1</gain>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-			<property>/controls/flight/elevator-fbw-cmd</property>
-		</input>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/gear/gear[1]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/gear/gear[2]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>2</value>
-						</equals>
-						<greater-than-equals>
-							<property>/orientation/roll-deg</property>
-							<value>40</value>
-						</greater-than-equals>
-						<less-than-equals>
-							<property>/orientation/roll-deg</property>
-							<value>-40</value>
-						</less-than-equals>
-					</or>
-				</and>
-			</condition>
-			<property>/controls/flight/elevator-input</property>
-		</input>
-		<input>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<property>/controls/flight/elevator-fmgc</property>
-		</input>
-		<input>
-			<condition>
-				<equals>
-					<property>/it-fbw/law</property>
-					<value>3</value>
-				</equals>
-			</condition>
-			<value>0</value>
-		</input>
-		<output>/controls/flight/elevator-fbw</output>
-	</filter>
-	
-	<pid-controller>
-		<name>FBW PITCH HELPER PLUS</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<greater-than>
-						<property>/controls/flight/elevator-fbw</property>
-						<value>0.01</value>
-					</greater-than>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-					<greater-than-equals>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</greater-than-equals>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<value>0</value>
-		</input>
-		<reference>
-			<value>1</value>
-		</reference>
-		<output>
-			<property>/controls/flight/elevator-trim-cmd</property>
-		</output>
-		<config>
-			<Kp>0.09</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
-			<Ti>10</Ti>
-			<Td>0.00001</Td>
-			<u_min>-1.00</u_min>
-			<u_max>1.00</u_max>
-		</config>
-	</pid-controller>
-	
-	<pid-controller>
-		<name>FBW PITCH HELPER MINUS</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<less-than>
-						<property>/controls/flight/elevator-fbw</property>
-						<value>-0.01</value>
-					</less-than>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-					</or>
-					<greater-than-equals>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</greater-than-equals>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<value>0</value>
-		</input>
-		<reference>
-			<value>1</value>
-		</reference>
-		<output>
-			<property>/controls/flight/elevator-trim-cmd</property>
-		</output>
-		<config>
-			<Kp>-0.09</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
-			<Ti>10</Ti>
-			<Td>0.00001</Td>
-			<u_min>-1.00</u_min>
-			<u_max>1.00</u_max>
-		</config>
-	</pid-controller>
-		
-	<filter>
-		<name>IT-FBW: PITCH TRIM FILTER</name>
-		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<enable>
-			<condition>
-				<and>
-					<and>
-						<equals>
-							<property>/it-autoflight/output/ap1</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-autoflight/output/ap2</property>
-							<value>0</value>
-						</equals>
-						<or>
-							<equals>
-								<property>/it-fbw/law</property>
-								<value>0</value>
-							</equals>
-							<equals>
-								<property>/it-fbw/law</property>
-								<value>1</value>
-							</equals>
-						</or>
-						<greater-than-equals>
-							<property>/position/gear-agl-ft</property>
-							<value>50</value>
-						</greater-than-equals>
-					</and>
-					<less-than>
-						<property>/orientation/roll-deg</property>
-						<value>40</value>
-					</less-than>
-					<greater-than>
-						<property>/orientation/roll-deg</property>
-						<value>-40</value>
-					</greater-than>
-					<or>
-						<greater-than>
-							<property>/controls/flight/elevator-fbw</property>
-							<value>0.01</value>
-						</greater-than>
-						<less-than>
-							<property>/controls/flight/elevator-fbw</property>
-							<value>-0.01</value>
-						</less-than>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/controls/flight/elevator-trim-cmd</property>
-		</input>
-		<output>/controls/flight/elevator-trim</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>0.01</max-rate-of-change>
-	</filter>
-	
- <!-- =============================================================== -->
- <!-- Yaw Damper/Turn Coordinator                                     -->
- <!-- =============================================================== -->
-	
-	<pid-controller>
-		<name>IT-FBW: YAW DAMPER/TURN COORDINATOR</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</equals>
-					<greater-than-equals>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</greater-than-equals>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>4</value>
-					</not-equals>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/instrumentation/slip-skid-ball/indicated-slip-skid</property>
-		</input>
-		<reference>
-			<value>0</value>
-		</reference>
-		<output>
-			<property>/controls/flight/rudder-fbw-cmd</property>
-		</output>
-		<config>
-			<Kp>0.025</Kp>
-			<beta>1</beta>
-			<alpha>0.1</alpha>
-			<gamma>0</gamma>
-			<Ti>3.0</Ti>
-			<Td>0.00001</Td>
-			<u_min>-0.2</u_min>
-			<u_max>0.2</u_max>
-		</config>
-	</pid-controller>
-	
-	<filter>
-		<name>IT-FBW: RUDDER OPTION</name>
-		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</equals>
-					<less-than>
-						<property>/controls/flight/rudder</property>
-						<value>0.1</value>
-					</less-than>
-					<greater-than>
-						<property>/controls/flight/rudder</property>
-						<value>-0.1</value>
-					</greater-than>
-					<greater-than-equals>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</greater-than-equals>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>4</value>
-					</not-equals>
-				</and>
-			</condition>
-			<property>/controls/flight/rudder-fbw-cmd</property>
-		</input>
-		<input>
-			<condition>
-				<or>
-					<equals>
-						<property>/gear/gear[1]/wow</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/gear/gear[2]/wow</property>
-						<value>1</value>
-					</equals>
-					<not-equals>
-						<property>/it-fbw/law</property>
-						<value>0</value>
-					</not-equals>
-					<greater-than-equals>
-						<property>/controls/flight/rudder</property>
-						<value>0.1</value>
-					</greater-than-equals>
-					<less-than-equals>
-						<property>/controls/flight/rudder</property>
-						<value>-0.1</value>
-					</less-than-equals>
-					<less-than>
-						<property>/position/gear-agl-ft</property>
-						<value>50</value>
-					</less-than>
-					<equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>4</value>
-					</equals>
-				</or>
-			</condition>
-			<property>/controls/flight/rudder</property>
-		</input>
-		<output>/controls/flight/rudder-fbw</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>2.5</max-rate-of-change>
-	</filter>
-
-</PropertyList>
diff --git a/Systems/it-fbw.xml b/Systems/it-fbw.xml
index 77925aef..1125ffec 100644
--- a/Systems/it-fbw.xml
+++ b/Systems/it-fbw.xml
@@ -1,140 +1,1299 @@
+<?xml version="1.0"?>
+
 <!-- Airbus A3XX FBW System by Joshua Davidson (it0uchpods) -->
+<!-- For Roll, Pitch, and Yaw -->
 
-<system name="it-fbw">
-	<property value="0">/it-fbw/law</property>
-	<property value="0">/it-fbw/roll-deg</property>
-	<property value="0">/it-fbw/pitch-deg</property>
-	<property value="33">/it-fbw/roll-lim-max</property>
-	<property value="-33">/it-fbw/roll-lim-min</property>
-	<property value="30">/it-fbw/pitch-lim-max</property>
-	<property value="-15">/it-fbw/pitch-lim-min</property>
-	<property value="0">/it-fbw/spd-hold</property>
+<PropertyList>
 
-	<channel name="FBW Aileron">
-		<fcs_function name="/it-fbw/roll-deg">
-			<function>
-				<ifthen>
-					<and>
-						<eq>
-							<property>/it-autoflight/output/ap1</property>
-							<value>0</value>
-						</eq>
-						<eq>
-							<property>/it-autoflight/output/ap2</property>
-							<value>0</value>
-						</eq>
-						<eq>
+
+ <!-- =============================================================== -->
+ <!-- Surface Position Feeding                                        -->
+ <!-- =============================================================== -->
+	
+	<filter>
+		<debug>false</debug>
+		<type>noise-spike</type>
+		<input>/controls/flight/aileron</input>
+		<output>/controls/flight/aileron-input-fast</output>
+		<max-rate-of-change>5</max-rate-of-change>
+	</filter>
+	
+	<filter>
+		<debug>false</debug>
+		<type>noise-spike</type>
+		<input>/controls/flight/elevator</input>
+		<output>/controls/flight/elevator-input-fast</output>
+		<max-rate-of-change>5</max-rate-of-change>
+	</filter>
+	
+
+	<filter>
+		<debug>false</debug>
+		<type>noise-spike</type>
+		<input>/controls/flight/aileron</input>
+		<output>/controls/flight/aileron-input</output>
+		<max-rate-of-change>2.5</max-rate-of-change>
+	</filter>
+
+	<filter>
+		<debug>false</debug>
+		<type>noise-spike</type>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</less-than>
+					<greater-than-equals>
+						<property>/controls/flight/flap-pos</property>
+						<value>4</value>
+					</greater-than-equals>
+					<less-than>
+						<property>/controls/engines/engine[0]/throttle</property>
+						<value>0.65</value>
+					</less-than>
+					<less-than>
+						<property>/controls/engines/engine[1]/throttle</property>
+						<value>0.65</value>
+					</less-than>
+					<equals>
+						<property>/FMGC/status/to-state</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</equals>
+				</and>
+			</condition>
+            <expression>
+				<sum>
+					<property>/controls/flight/elevator</property>
+					<value>0.15</value>
+				</sum>
+            </expression>
+		</input>
+		<input>
+			<property>/controls/flight/elevator</property>
+		</input>
+		<output>/controls/flight/elevator-input</output>
+		<max-rate-of-change>2.5</max-rate-of-change>
+	</filter>
+
+ <!-- =============================================================== -->
+ <!-- Lateral                                                         -->
+ <!-- =============================================================== -->
+ 
+    <filter>
+       <name>IT-CONTROLLER: ROLL</name>
+        <type>gain</type>
+        <gain>1</gain>
+        <update-interval-secs type="double">0.05</update-interval-secs>
+        <input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-fbw/roll-lim</property>
+						<value>33</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/roll-back</property>
+						<value>0</value>
+					</equals>
+				</and>
+			</condition>
+            <expression>
+				<sum>
+					<table>
+						<property>/controls/flight/aileron-input</property> 
+						<entry><ind>-1</ind><dep>-15.0</dep></entry>
+						<entry><ind> 0</ind><dep>  0.0</dep></entry>
+						<entry><ind> 1</ind><dep> 15.0</dep></entry>
+					</table>
+					<product>
+						<table>
+							<property>/orientation/roll-deg</property>
+							<entry><ind>-33.00000</ind><dep>1</dep></entry>
+							<entry><ind>-32.99999</ind><dep>0</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/aileron-input</property> 
+							<entry><ind>-1</ind><dep>15.0</dep></entry>
+							<entry><ind> 0</ind><dep> 0.0</dep></entry>
+						</table>
+					</product>
+					<product>
+						<table>
+							<property>/orientation/roll-deg</property>
+							<entry><ind>32.99999</ind><dep>0</dep></entry>
+							<entry><ind>33.00000</ind><dep>1</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/aileron-input</property> 
+							<entry><ind>0</ind><dep>  0.0</dep></entry>
+							<entry><ind>1</ind><dep>-15.0</dep></entry>
+						</table>
+					</product>
+				</sum>
+            </expression>
+        </input>
+        <input>
+			<condition>
+				<equals>
+					<property>/it-fbw/roll-lim</property>
+					<value>67</value>
+				</equals>
+			</condition>
+            <expression>
+				<sum>
+					<table>
+						<property>/controls/flight/aileron-input</property> 
+						<entry><ind>-1</ind><dep>-15.0</dep></entry>
+						<entry><ind> 0</ind><dep>  0.0</dep></entry>
+						<entry><ind> 1</ind><dep> 15.0</dep></entry>
+					</table>
+					<product>
+						<table>
+							<property>/orientation/roll-deg</property>
+							<entry><ind>-67.00000</ind><dep>1</dep></entry>
+							<entry><ind>-66.99999</ind><dep>0</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/aileron-input</property> 
+							<entry><ind>-1</ind><dep>15.0</dep></entry>
+							<entry><ind> 0</ind><dep> 0.0</dep></entry>
+						</table>
+					</product>
+					<product>
+						<table>
+							<property>/orientation/roll-deg</property>
+							<entry><ind>66.99999</ind><dep>0</dep></entry>
+							<entry><ind>67.00000</ind><dep>1</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/aileron-input</property> 
+							<entry><ind>0</ind><dep>  0.0</dep></entry>
+							<entry><ind>1</ind><dep>-15.0</dep></entry>
+						</table>
+					</product>
+				</sum>
+            </expression>
+        </input>
+        <input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-fbw/roll-back</property>
+						<value>1</value>
+					</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>
+            <expression>
+				<table>
+					<property>/orientation/roll-deg</property>
+					<entry><ind>-67</ind><dep> 25.0</dep></entry>
+					<entry><ind>-40</ind><dep> 10.0</dep></entry>
+					<entry><ind>-33</ind><dep>  0.0</dep></entry>
+					<entry><ind> 33</ind><dep>  0.0</dep></entry>
+					<entry><ind> 40</ind><dep>-10.0</dep></entry>
+					<entry><ind> 67</ind><dep>-25.0</dep></entry>
+				</table>
+            </expression>
+        </input>
+		<output>/it-fbw/roll-rate</output>
+    </filter>
+	
+	<pid-controller>
+		<name>IT-FBW: ROLL</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</equals>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/orientation/roll-rate-degps</property>
+		</input>
+		<reference>
+			<property>/it-fbw/roll-rate</property>
+		</reference>
+		<output>
+			<property>/controls/flight/aileron-fbw-cmd</property>
+		</output>
+		<config>
+			<Kp>0.11</Kp>
+			<beta>1</beta>
+			<alpha>0.1</alpha>
+			<gamma>0</gamma>
+			<Ti>0.45</Ti>
+			<Td>0.002</Td>
+			<u_min>-1</u_min>
+			<u_max>1</u_max>
+		</config>
+	</pid-controller>
+	
+	<filter>
+		<name>IT-FBW: ROLL OPTION</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<gain>1</gain>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</equals>
+				</and>
+			</condition>
+			<property>/controls/flight/aileron-fbw-cmd</property>
+		</input>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<or>
+						<equals>
 							<property>/gear/gear[1]/wow</property>
-							<value>0</value>
-						</eq>
-						<eq>
+							<value>1</value>
+						</equals>
+						<equals>
 							<property>/gear/gear[2]/wow</property>
-							<value>0</value>
-						</eq>
-						<eq>
+							<value>1</value>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>2</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+			<property>/controls/flight/aileron-input</property>
+		</input>
+		<input>
+			<condition>
+				<or>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</equals>
+				</or>
+			</condition>
+			<property>/controls/flight/aileron-fmgc</property>
+		</input>
+		<input>
+			<condition>
+				<equals>
+					<property>/it-fbw/law</property>
+					<value>3</value>
+				</equals>
+			</condition>
+			<value>0</value>
+		</input>
+		<output>/controls/flight/roll-fbw</output>
+	</filter>
+	
+	<filter>
+		<name>IT-FBW: AILERON</name>
+		<type>gain</type>
+		<gain>1</gain>
+		<input>/controls/flight/roll-fbw</input>
+		<output>/controls/flight/aileron-fbw</output>
+	</filter>
+	
+	<filter>
+		<name>IT-FBW: SPOILER</name>
+		<type>gain</type>
+		<gain>1</gain>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/roll-back</property>
+						<value>0</value>
+					</equals>
+				</and>
+			</condition>
+			<expression>
+				<product>
+					<property>/controls/flight/aileron-input</property>
+					<table>
+						<property>/instrumentation/airspeed-indicator/indicated-mach</property>
+						<entry><ind>0.2</ind><dep>1.00</dep></entry>
+						<entry><ind>0.9</ind><dep>0.25</dep></entry>
+					</table>
+				</product>
+			</expression>
+		</input>
+		<input>
+			<condition>
+				<or>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</equals>
+				</or>
+			</condition>
+			<expression>
+				<product>
+					<property>/controls/flight/aileron-fmgc</property>
+					<table>
+						<property>/instrumentation/airspeed-indicator/indicated-mach</property>
+						<entry><ind>0.2</ind><dep>1.00</dep></entry>
+						<entry><ind>0.9</ind><dep>0.25</dep></entry>
+					</table>
+				</product>
+			</expression>
+		</input>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/roll-back</property>
+						<value>1</value>
+					</equals>
+				</and>
+			</condition>
+			<value>0</value>
+		</input>
+		<output>/controls/flight/spoiler-input</output>
+	</filter>
+	
+	<filter>
+		<name>IT-FBW: LEFT SPOILER</name>
+		<type>gain</type>
+		<gain>1</gain>
+		<input>
+			<condition>
+				<equals>
+					<property>/systems/failures/aileron-left</property>
+					<value>0</value>
+				</equals>
+			</condition>
+			<expression>
+				<table>
+					<property>/controls/flight/spoiler-input</property>
+					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
+					<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
+					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
+					<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
+					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
+				</table>
+			</expression>
+		</input>
+		<input>
+			<condition>
+				<equals>
+					<property>/systems/failures/aileron-left</property>
+					<value>1</value>
+				</equals>
+			</condition>
+			<expression>
+				<table>
+					<property>/controls/flight/roll-fbw</property>
+					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
+					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
+					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
+				</table>
+			</expression>
+		</input>
+		<output>/controls/flight/spoiler-left-fbw-cmd</output>
+		<min>-1</min>
+		<max>1</max>
+	</filter>
+	
+	<filter>
+		<name>IT-FBW: RIGHT SPOILER</name>
+		<type>gain</type>
+		<gain>1</gain>
+		<input>
+			<condition>
+				<equals>
+					<property>/systems/failures/aileron-right</property>
+					<value>0</value>
+				</equals>
+			</condition>
+			<expression>
+				<table>
+					<property>/controls/flight/spoiler-input</property>
+					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
+					<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
+					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
+					<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
+					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
+				</table>
+			</expression>
+		</input>
+		<input>
+			<condition>
+				<equals>
+					<property>/systems/failures/aileron-right</property>
+					<value>1</value>
+				</equals>
+			</condition>
+			<expression>
+				<table>
+					<property>/controls/flight/roll-fbw</property>
+					<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
+					<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
+					<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
+				</table>
+			</expression>
+		</input>
+		<output>/controls/flight/spoiler-right-fbw-cmd</output>
+		<min>-1</min>
+		<max>1</max>
+	</filter>
+	
+ <!-- =============================================================== -->
+ <!-- Vertical                                                        -->
+ <!-- =============================================================== -->
+ 
+    <filter>
+       <name>IT-CONTROLLER: PITCH RATE CMD</name>
+        <type>gain</type>
+        <gain>1</gain>
+        <input>
+			<condition>
+				<not-equals>
+					<property>/it-fbw/law</property>
+					<value>1</value>
+				</not-equals>
+			</condition>
+            <expression>
+				<sum>
+					<table>
+						<property>/controls/flight/elevator-input</property> 
+						<entry><ind> 1</ind><dep>-7.0</dep></entry>
+						<entry><ind> 0</ind><dep> 0.0</dep></entry>
+						<entry><ind>-1</ind><dep> 7.0</dep></entry>
+					</table>
+					<product>
+						<table>
+							<property>/orientation/pitch-deg</property>
+							<entry><ind>-15.00000</ind><dep>1</dep></entry>
+							<entry><ind>-14.99999</ind><dep>0</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/elevator-input</property> 
+							<entry><ind>1</ind><dep>7.0</dep></entry>
+							<entry><ind>0</ind><dep>0.0</dep></entry>
+						</table>
+					</product>
+					<product>
+						<table>
+							<property>/orientation/pitch-deg</property>
+							<entry><ind>29.99999</ind><dep>0</dep></entry>
+							<entry><ind>30.00000</ind><dep>1</dep></entry>
+						</table>
+						<table>
+							<property>/controls/flight/elevator-input</property> 
+							<entry><ind> 0</ind><dep> 0.0</dep></entry>
+							<entry><ind>-1</ind><dep>-7.0</dep></entry>
+						</table>
+					</product>
+				</sum>
+            </expression>
+        </input>
+        <input>
+			<condition>
+				<equals>
+					<property>/it-fbw/law</property>
+					<value>1</value>
+				</equals>
+			</condition>
+            <expression>
+				<table>
+					<property>/controls/flight/elevator-input</property> 
+					<entry><ind> 1</ind><dep>-7.0</dep></entry>
+					<entry><ind> 0</ind><dep> 0.0</dep></entry>
+					<entry><ind>-1</ind><dep> 7.0</dep></entry>
+				</table>
+            </expression>
+        </input>
+		<output>/it-fbw/pitch-rate</output>
+    </filter>
+	
+	<pid-controller>
+		<name>IT-FBW: PITCH</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value> 
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/spd-hold</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
 							<property>/it-fbw/law</property>
 							<value>0</value>
-						</eq>
-					</and>
-					<sum>
-						<property>/it-fbw/roll-deg</property>
-						<table>
-							<independentVar lookup="row">/controls/flight/aileron-input</independentVar>
-							<tableData>
-							-1.0     -0.1500
-							-0.7     -0.1000
-							-0.5     -0.0500
-							-0.3     -0.0270
-							-0.15    -0.0140
-							-0.05    -0.0055
-							 0.00     0.0000
-							 0.05     0.0055
-							 0.15     0.0140
-							 0.3      0.0270
-							 0.5      0.0500
-							 0.7      0.1000
-							 1.0      0.1500
-							</tableData>
-						</table>
-					</sum>
-					<property>/orientation/roll-deg</property>
-				</ifthen>
-			</function>
-			<clipto>
-				<min><property>/it-fbw/roll-lim-min</property></min>
-				<max><property>/it-fbw/roll-lim-max</property></max>
-			</clipto>
-		</fcs_function>
-	</channel>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/orientation/pitch-rate-degps</property>
+		</input>
+		<reference>
+			<property>/it-fbw/pitch-rate</property>
+		</reference>
+		<output>
+			<property>/controls/flight/elevator-fbw-cmd</property>
+		</output>
+		<config>
+			<Kp>-0.20</Kp>
+			<beta>1</beta>
+			<alpha>0.1</alpha>
+			<gamma>0</gamma>
+			<Ti>0.45</Ti>
+			<Td>0.002</Td>
+			<u_min>-1</u_min>
+			<u_max>1</u_max>
+		</config>
+	</pid-controller>
 	
-	<channel name="FBW Elevator">
-		<fcs_function name="/it-fbw/pitch-deg">
-			<function>
-				<ifthen>
-					<and>
-						<eq>
-							<property>/it-autoflight/output/ap1</property>
+	<filter>
+		<name>IT-FBW: SPD PITCH TARGET CMD</name>
+		<type>noise-spike</type>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value> 
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/spd-hold</property>
+						<value>1</value>
+					</equals>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
 							<value>0</value>
-						</eq>
-						<eq>
-							<property>/it-autoflight/output/ap2</property>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+		</enable>
+		<input> 
+			<expression>
+				<table>
+					<property>/controls/flight/elevator-input</property>
+					<entry><ind> 0</ind><dep>129</dep></entry>
+					<entry><ind>-1</ind><dep>106</dep></entry>
+				</table>
+			</expression>
+		</input>
+		<output>/it-fbw/spd-pitch-target</output>
+		<max-rate-of-change>10</max-rate-of-change>
+	</filter>
+	
+	<pid-controller>
+		<name>IT-FBW: SPD PITCH TARGET</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value> 
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/spd-hold</property>
+						<value>1</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
 							<value>0</value>
-						</eq>
-						<eq>
-							<property>/gear/gear[0]/wow</property>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
+		</input>
+		<reference>
+			<property>/it-fbw/spd-pitch-target</property>
+		</reference>
+		<output>
+			<property>/it-fbw/spd-pitch-deg</property>
+		</output>
+		<config>
+			<Kp>-0.50</Kp>
+			<beta>1.0</beta>    
+			<alpha>0.1</alpha>  
+			<gamma>0.0</gamma>  
+			<Ti>5.0</Ti>        
+			<Td>0.0001</Td>    
+			<u_min>-10</u_min>
+			<u_max>30</u_max>
+		</config>
+	</pid-controller>
+	
+	<pid-controller>
+		<name>IT-FBW: SPD PITCH</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value> 
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/spd-hold</property>
+						<value>1</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
 							<value>0</value>
-						</eq>
-						<eq>
-							<property>/it-fbw/spd-hold</property>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/orientation/pitch-deg</property>
+		</input>
+		<reference>
+			<property>/it-fbw/spd-pitch-deg</property>
+		</reference>
+		<output>
+			<property>/controls/flight/elevator-fbw-cmd</property>
+		</output>
+		<config>
+			<Kp>-0.08</Kp>
+			<beta>1</beta>
+			<alpha>0.1</alpha>
+			<gamma>0</gamma>
+			<Ti>5</Ti>
+			<Td>0.001</Td>
+			<u_min>-1</u_min>
+			<u_max>1</u_max>
+		</config>
+	</pid-controller>
+	
+	<filter>
+		<name>IT-FBW: PITCH OPTION</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<gain>1</gain>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
 							<value>0</value>
-						</eq>
-						<lt>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+				</and>
+			</condition>
+			<property>/controls/flight/elevator-fbw-cmd</property>
+		</input>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<or>
+						<equals>
+							<property>/gear/gear[1]/wow</property>
+							<value>1</value>
+						</equals>
+						<equals>
+							<property>/gear/gear[2]/wow</property>
+							<value>1</value>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>2</value>
+						</equals>
+						<greater-than-equals>
 							<property>/orientation/roll-deg</property>
 							<value>40</value>
-						</lt>
-						<gt>
+						</greater-than-equals>
+						<less-than-equals>
 							<property>/orientation/roll-deg</property>
 							<value>-40</value>
-						</gt>
+						</less-than-equals>
+					</or>
+				</and>
+			</condition>
+			<property>/controls/flight/elevator-input</property>
+		</input>
+		<input>
+			<condition>
+				<or>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</equals>
+				</or>
+			</condition>
+			<property>/controls/flight/elevator-fmgc</property>
+		</input>
+		<input>
+			<condition>
+				<equals>
+					<property>/it-fbw/law</property>
+					<value>3</value>
+				</equals>
+			</condition>
+			<value>0</value>
+		</input>
+		<output>/controls/flight/elevator-fbw</output>
+	</filter>
+	
+	<pid-controller>
+		<name>FBW PITCH HELPER PLUS</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<greater-than>
+						<property>/controls/flight/elevator-fbw</property>
+						<value>0.01</value>
+					</greater-than>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>0</value>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+					<greater-than-equals>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</greater-than-equals>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<value>0</value>
+		</input>
+		<reference>
+			<value>1</value>
+		</reference>
+		<output>
+			<property>/controls/flight/elevator-trim-cmd</property>
+		</output>
+		<config>
+			<Kp>0.09</Kp>
+			<beta>1.0</beta>
+			<alpha>0.1</alpha>
+			<gamma>0.0</gamma>
+			<Ti>10</Ti>
+			<Td>0.00001</Td>
+			<u_min>-1.00</u_min>
+			<u_max>1.00</u_max>
+		</config>
+	</pid-controller>
+	
+	<pid-controller>
+		<name>FBW PITCH HELPER MINUS</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<less-than>
+						<property>/controls/flight/elevator-fbw</property>
+						<value>-0.01</value>
+					</less-than>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>0</value>
+						</equals>
+						<equals>
+							<property>/it-fbw/law</property>
+							<value>1</value>
+						</equals>
+					</or>
+					<greater-than-equals>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</greater-than-equals>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<value>0</value>
+		</input>
+		<reference>
+			<value>1</value>
+		</reference>
+		<output>
+			<property>/controls/flight/elevator-trim-cmd</property>
+		</output>
+		<config>
+			<Kp>-0.09</Kp>
+			<beta>1.0</beta>
+			<alpha>0.1</alpha>
+			<gamma>0.0</gamma>
+			<Ti>10</Ti>
+			<Td>0.00001</Td>
+			<u_min>-1.00</u_min>
+			<u_max>1.00</u_max>
+		</config>
+	</pid-controller>
+		
+	<filter>
+		<name>IT-FBW: PITCH TRIM FILTER</name>
+		<debug>false</debug>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<enable>
+			<condition>
+				<and>
+					<and>
+						<equals>
+							<property>/it-autoflight/output/ap1</property>
+							<value>0</value>
+						</equals>
+						<equals>
+							<property>/it-autoflight/output/ap2</property>
+							<value>0</value>
+						</equals>
 						<or>
-							<eq>
+							<equals>
 								<property>/it-fbw/law</property>
 								<value>0</value>
-							</eq>
-							<eq>
+							</equals>
+							<equals>
 								<property>/it-fbw/law</property>
 								<value>1</value>
-							</eq>
+							</equals>
 						</or>
+						<greater-than-equals>
+							<property>/position/gear-agl-ft</property>
+							<value>50</value>
+						</greater-than-equals>
 					</and>
-					<sum>
-						<property>/it-fbw/pitch-deg</property>
-						<table>
-							<independentVar lookup="row">/controls/flight/elevator-input</independentVar>
-							<tableData>
-							-1.0      0.075
-							-0.7      0.053
-							-0.5      0.022
-							-0.3      0.0115
-							-0.15     0.0045
-							-0.05     0.0007
-							 0.00     0.0000
-							 0.05    -0.0007
-							 0.15    -0.0045
-							 0.3     -0.0115
-							 0.5     -0.022
-							 0.7     -0.053
-							 1.0     -0.075
-							</tableData>
-						</table>
-					</sum>
-					<property>/orientation/pitch-deg</property>
-				</ifthen>
-			</function>
-			<clipto>
-				<min><property>/it-fbw/pitch-lim-min</property></min>
-				<max><property>/it-fbw/pitch-lim-max</property></max>
-			</clipto>
-		</fcs_function>
-	</channel>
-</system>
+					<less-than>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</less-than>
+					<greater-than>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</greater-than>
+					<or>
+						<greater-than>
+							<property>/controls/flight/elevator-fbw</property>
+							<value>0.01</value>
+						</greater-than>
+						<less-than>
+							<property>/controls/flight/elevator-fbw</property>
+							<value>-0.01</value>
+						</less-than>
+					</or>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/controls/flight/elevator-trim-cmd</property>
+		</input>
+		<output>/controls/flight/elevator-trim</output>
+		<type>noise-spike</type>
+		<max-rate-of-change>0.01</max-rate-of-change>
+	</filter>
+	
+ <!-- =============================================================== -->
+ <!-- Yaw Damper/Turn Coordinator                                     -->
+ <!-- =============================================================== -->
+	
+	<pid-controller>
+		<name>IT-FBW: YAW DAMPER/TURN COORDINATOR</name>
+		<debug>false</debug>
+		<enable>
+			<condition>
+				<and>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</equals>
+					<greater-than-equals>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</greater-than-equals>
+					<not-equals>
+						<property>/it-autoflight/output/lat</property>
+						<value>4</value>
+					</not-equals>
+				</and>
+			</condition>
+		</enable>
+		<input>
+			<property>/instrumentation/slip-skid-ball/indicated-slip-skid</property>
+		</input>
+		<reference>
+			<value>0</value>
+		</reference>
+		<output>
+			<property>/controls/flight/rudder-fbw-cmd</property>
+		</output>
+		<config>
+			<Kp>0.025</Kp>
+			<beta>1</beta>
+			<alpha>0.1</alpha>
+			<gamma>0</gamma>
+			<Ti>3.0</Ti>
+			<Td>0.00001</Td>
+			<u_min>-0.2</u_min>
+			<u_max>0.2</u_max>
+		</config>
+	</pid-controller>
+	
+	<filter>
+		<name>IT-FBW: RUDDER OPTION</name>
+		<debug>false</debug>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<input>
+			<condition>
+				<and>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>0</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</equals>
+					<less-than>
+						<property>/controls/flight/rudder</property>
+						<value>0.1</value>
+					</less-than>
+					<greater-than>
+						<property>/controls/flight/rudder</property>
+						<value>-0.1</value>
+					</greater-than>
+					<greater-than-equals>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</greater-than-equals>
+					<not-equals>
+						<property>/it-autoflight/output/lat</property>
+						<value>4</value>
+					</not-equals>
+				</and>
+			</condition>
+			<property>/controls/flight/rudder-fbw-cmd</property>
+		</input>
+		<input>
+			<condition>
+				<or>
+					<equals>
+						<property>/gear/gear[1]/wow</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/gear/gear[2]/wow</property>
+						<value>1</value>
+					</equals>
+					<not-equals>
+						<property>/it-fbw/law</property>
+						<value>0</value>
+					</not-equals>
+					<greater-than-equals>
+						<property>/controls/flight/rudder</property>
+						<value>0.1</value>
+					</greater-than-equals>
+					<less-than-equals>
+						<property>/controls/flight/rudder</property>
+						<value>-0.1</value>
+					</less-than-equals>
+					<less-than>
+						<property>/position/gear-agl-ft</property>
+						<value>50</value>
+					</less-than>
+					<equals>
+						<property>/it-autoflight/output/lat</property>
+						<value>4</value>
+					</equals>
+				</or>
+			</condition>
+			<property>/controls/flight/rudder</property>
+		</input>
+		<output>/controls/flight/rudder-fbw</output>
+		<type>noise-spike</type>
+		<max-rate-of-change>2.5</max-rate-of-change>
+	</filter>
+
+</PropertyList>