From b76752a1a4fbce68a7b92c4dddf2fa0bcef230f8 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Fri, 21 Jul 2017 22:32:12 -0400
Subject: [PATCH] A3XX: New autopilot based on pitch rate and roll rate for FBW

---
 A320-main.xml             | 17 +++++-------
 Systems/fmgc-pitch.xml    | 38 ++++++++++-----------------
 Systems/fmgc-roll-yaw.xml | 55 +++++++++++----------------------------
 3 files changed, 35 insertions(+), 75 deletions(-)

diff --git a/A320-main.xml b/A320-main.xml
index c693c382..f0b29467 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -336,19 +336,14 @@
 		<config>
 			<altitude-dial-mode>0</altitude-dial-mode>
 			<roll>
-				<umin>-0.4</umin>
-				<umax>0.4</umax>
-				<kp>0.1</kp>
-				<kp-vloc>0.11</kp-vloc>
-				<ti>5.0</ti>
-				<td>0.001</td>
+				<gain>-0.1</gain>
+				<min>-0.4</min>
+				<max>0.4</max>
 			</roll>
 			<pitch>
-				<umin>-0.3</umin>
-				<umax>0.3</umax>
-				<kp>-0.1</kp>
-				<ti>5.0</ti>
-				<td>0.001</td>
+				<gain>0.1</gain>
+				<min>-0.2</min>
+				<max>0.2</max>
 			</pitch>
 			<cmd>
 				<roll-kp>-0.9</roll-kp>
diff --git a/Systems/fmgc-pitch.xml b/Systems/fmgc-pitch.xml
index 328133e9..7b42d7f4 100644
--- a/Systems/fmgc-pitch.xml
+++ b/Systems/fmgc-pitch.xml
@@ -625,9 +625,13 @@
 		<max>30</max>
 	</filter>
 
-	<pid-controller>
-		<name>IT-CONTROLLER: PITCH</name>
+	<filter>
+		<name>System Command: Pitch Rate</name>
 		<debug>false</debug>
+		<type>gain</type>
+		<gain>
+			<property>/it-autoflight/config/pitch/gain</property>
+		</gain>
 		<enable>
 			<condition>
 				<or>
@@ -649,28 +653,14 @@
 			<property>/it-autoflight/internal/target-pitch-deg</property>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/elevator-cmd</property> <!-- Inputs to the FBW -->
+			<property>/it-autoflight/internal/elevator-cmd</property> <!-- Inputs to the FBW Pitch Rate -->
 		</output>
-		<config>
-			<Kp>
-				<property>/it-autoflight/config/pitch/kp</property>
-			</Kp>
-			<beta>1.0</beta>    
-			<alpha>0.1</alpha>  
-			<gamma>0.0</gamma>  
-			<Ti>
-				<property>/it-autoflight/config/pitch/ti</property>
-			</Ti>      
-			<Td>
-				<property>/it-autoflight/config/pitch/td</property>
-			</Td>   
-			<u_min>
-				<property>/it-autoflight/config/pitch/umin</property>
-			</u_min>
-			<u_max>
-				<property>/it-autoflight/config/pitch/umax</property>
-			</u_max>
-		</config>
-	</pid-controller>
+		<min>
+			<property>/it-autoflight/config/pitch/min</property>
+		</min>
+		<max>
+			<property>/it-autoflight/config/pitch/max</property>
+		</max>
+	</filter>
 
 </PropertyList>
diff --git a/Systems/fmgc-roll-yaw.xml b/Systems/fmgc-roll-yaw.xml
index 5e9ee76c..c45bd256 100644
--- a/Systems/fmgc-roll-yaw.xml
+++ b/Systems/fmgc-roll-yaw.xml
@@ -199,9 +199,13 @@
 		<max-rate-of-change>6</max-rate-of-change>
 	</filter>
 	
-	<pid-controller>
-		<name>IT-CONTROLLER: ROLL</name>
+	<filter>
+		<name>System Command: Roll Rate</name>
 		<debug>false</debug>
+		<type>gain</type>
+		<gain>
+			<property>/it-autoflight/config/roll/gain</property>
+		</gain>
 		<enable>
 			<condition>
 				<or>
@@ -250,44 +254,15 @@
 			<value>0</value>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW -->
-		</output>
-		<config>
-			<Kp>
-				<condition>
-					<not-equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>2</value>
-					</not-equals>
-				</condition>
-				<property>/it-autoflight/config/roll/kp</property>
-			</Kp>
-			<Kp>
-				<condition>
-					<equals>
-						<property>/it-autoflight/output/lat</property>
-						<value>2</value>
-					</equals>
-				</condition>
-				<property>/it-autoflight/config/roll/kp-vloc</property>
-			</Kp>
-			<beta>1.0</beta>	
-			<alpha>0.1</alpha>	
-			<gamma>0.0</gamma>	
-			<Ti>
-				<property>/it-autoflight/config/roll/ti</property>
-			</Ti>    
-			<Td>
-				<property>/it-autoflight/config/roll/td</property>
-			</Td>    	
-			<u_min>
-				<property>/it-autoflight/config/roll/umin</property>
-			</u_min>
-			<u_max>
-				<property>/it-autoflight/config/roll/umax</property>
-			</u_max>
-		</config>
-	</pid-controller>
+			<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW Roll Rate -->
+		</output>   	
+		<min>
+			<property>/it-autoflight/config/roll/min</property>
+		</min>
+		<max>
+			<property>/it-autoflight/config/roll/max</property>
+		</max>
+	</filter>
 	
  <!-- =============================================================== -->
  <!-- Yaw Control                                                     -->