A3XX: Major autopilot improvements
This commit is contained in:
Joshua Davidson
parent
b0d2dde31f
commit
b0cb06af84
4 changed files with 15 additions and 64 deletions
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@ -388,29 +388,6 @@
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<it-autoflight>
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<config>
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<altitude-dial-mode>0</altitude-dial-mode>
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<roll>
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<gain>-0.1</gain>
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<min>-0.4</min>
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<max>0.4</max>
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</roll>
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<pitch>
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<gain>0.15</gain>
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<min>-0.3</min>
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<max>0.3</max>
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</pitch>
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<cmd>
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<roll-kp>-0.9</roll-kp>
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<roll-scale>1.4</roll-scale>
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<vorloc>-2.8</vorloc>
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<vs>0.01</vs>
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</cmd>
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<autoland>
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<kp-pitch>0.035</kp-pitch>
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<kp-rudder>-0.05</kp-rudder>
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</autoland>
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<rollout>
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<kp-rudder>-0.02</kp-rudder>
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</rollout>
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</config>
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<output>
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<ap1>0</ap1>
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@ -469,7 +469,6 @@
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</enable>
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<input>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<scale>0.16667</scale>
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</input>
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<reference>
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<condition>
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@ -491,7 +490,6 @@
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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@ -501,7 +499,6 @@
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</equals>
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</condition>
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<property>/it-autoflight/internal/vs</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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@ -527,7 +524,6 @@
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm-b</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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@ -537,7 +533,6 @@
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-c</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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@ -547,7 +542,6 @@
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-d</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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@ -557,7 +551,6 @@
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</equals>
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</condition>
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<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
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<scale>0.16667</scale>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-pitch-deg</property>
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@ -570,7 +563,7 @@
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<value>6</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/config/cmd/vs</property>
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<value>0.0017</value>
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</Kp>
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<Kp>
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<condition>
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@ -579,7 +572,7 @@
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<value>6</value>
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</equals>
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</condition>
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<property>/it-autoflight/config/autoland/kp-pitch</property>
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<value>0.0055</value>
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</Kp>
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<Ti>3.0</Ti>
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<Td>0.0001</Td>
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@ -663,9 +656,7 @@
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<name>System Command: Pitch Rate</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>
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<property>/it-autoflight/config/pitch/gain</property>
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</gain>
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<gain>0.15</gain>
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<enable>
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<condition>
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<or>
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@ -689,12 +680,8 @@
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<output>
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<property>/it-autoflight/internal/elevator-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
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</output>
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<min>
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<property>/it-autoflight/config/pitch/min</property>
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</min>
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<max>
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<property>/it-autoflight/config/pitch/max</property>
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</max>
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<min>-0.3</min>
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<max>0.3</max>
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</filter>
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</PropertyList>
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@ -53,9 +53,6 @@
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</enable>
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<input>
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<property>/it-autoflight/internal/heading-error-deg</property>
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<scale>
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<property>/it-autoflight/config/cmd/roll-scale</property>
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</scale>
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</input>
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<reference>
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<value>0</value>
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@ -64,10 +61,8 @@
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<property>/it-autoflight/internal/target-roll-deg</property>
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</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/cmd/roll-kp</property>
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</Kp>
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<Ki>0.0</Ki>
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<Kp>-1.3</Kp>
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<Ki>-0.000001</Ki>
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<min>
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<property>/it-autoflight/internal/bank-limit</property>
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<scale>-1</scale>
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@ -134,9 +129,7 @@
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<property>/it-autoflight/internal/target-roll-deg</property>
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</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/cmd/vorloc</property>
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</Kp>
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<Kp>-2.8</Kp>
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<Ki>-0.0001</Ki>
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<min>
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<property>/it-autoflight/internal/bank-limit</property>
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@ -203,9 +196,7 @@
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<name>System Command: Roll Rate</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>
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<property>/it-autoflight/config/roll/gain</property>
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</gain>
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<gain>-0.1</gain>
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<enable>
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<condition>
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<or>
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@ -256,12 +247,8 @@
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<output>
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<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW Roll Rate -->
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</output>
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<min>
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<property>/it-autoflight/config/roll/min</property>
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</min>
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<max>
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<property>/it-autoflight/config/roll/max</property>
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</max>
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<min>-0.4</min>
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<max>0.4</max>
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</filter>
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<!-- =============================================================== -->
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@ -300,7 +287,7 @@
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</equals>
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</and>
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</condition>
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<property>/it-autoflight/config/autoland/kp-rudder</property>
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<value>-0.05</value>
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</Kp>
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<Kp>
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<condition>
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@ -315,7 +302,7 @@
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</equals>
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</or>
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</condition>
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<property>/it-autoflight/config/rollout/kp-rudder</property>
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<value>-0.02</value>
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</Kp>
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<Ki>0</Ki>
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</config>
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@ -1 +1 @@
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4073
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4074
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