From be097a736e7004a30d5cf084a06881bf6f5c3fc2 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Thu, 10 Jan 2019 13:37:15 -0500
Subject: [PATCH] Control: FMGC AP Improvements

---
 Systems/fmgc-pitch.xml    | 33 +++++++++++++++++++--
 Systems/fmgc-roll-yaw.xml | 60 ++++++++++++++++++---------------------
 revision.txt              |  2 +-
 3 files changed, 59 insertions(+), 36 deletions(-)

diff --git a/Systems/fmgc-pitch.xml b/Systems/fmgc-pitch.xml
index 28cd2678..e7675c61 100644
--- a/Systems/fmgc-pitch.xml
+++ b/Systems/fmgc-pitch.xml
@@ -36,6 +36,18 @@
 		<max>/it-autoflight/internal/max-vs</max>
 	</filter>
 	
+	<filter>
+		<name>FPA ERROR</name>
+		<debug>false</debug>
+		<type>gain</type>
+		<gain>1.0</gain>
+		<input>/it-autoflight/internal/fpa</input>
+		<reference>/it-autoflight/input/fpa</reference>
+		<output>/it-autoflight/internal/fpa-error</output>
+		<min>-1.5</min>
+		<max>1.5</max>
+	</filter>
+	
 	<pid-controller>
 		<name>FPA HOLD</name>
 		<debug>false</debug>
@@ -67,8 +79,8 @@
 				</and>
 			</condition>
 		</enable>
-		<input>/it-autoflight/internal/fpa</input>
-		<reference>/it-autoflight/input/fpa</reference>
+		<input>/it-autoflight/internal/fpa-error</input>
+		<reference>0</reference>
 		<output>/it-autoflight/internal/target-fpm-d</output>
 		<config>
 			<Kp>
@@ -80,7 +92,22 @@
 					</table>
 				</expression>
 			</Kp>
-			<Ti>2.0</Ti>
+			<Ti>
+				<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>
+				<value>2.0</value>
+			</Ti>
+			<Ti>10.0</Ti>
 			<Td>0.002</Td>
 			<u_min>
 				<expression>
diff --git a/Systems/fmgc-roll-yaw.xml b/Systems/fmgc-roll-yaw.xml
index 3e94e558..d1c1d319 100644
--- a/Systems/fmgc-roll-yaw.xml
+++ b/Systems/fmgc-roll-yaw.xml
@@ -8,9 +8,19 @@
 	
 	<!-- Roll Axis -->
 	
-	<pi-simple-controller>
-		<name>ROLL CONTROLLER: HDG/LNAV</name>
+	<filter>
+		<name>IT-CONTROLLER: HDG/LNAV ROLL</name>
 		<debug>false</debug>
+		<type>gain</type>
+		<gain>
+			<expression>
+				<table>
+					<property>/fdm/jsbsim/velocities/vc-kts</property>
+					<entry><ind>140</ind><dep>1.8</dep></entry>
+					<entry><ind>360</ind><dep>2.8</dep></entry>
+				</table>
+			</expression>
+		</gain>
 		<enable>
 			<condition>
 				<and>
@@ -48,28 +58,18 @@
 		<input>/it-autoflight/internal/heading-error-deg</input>
 		<reference>0</reference>
 		<output>/it-autoflight/internal/target-roll-deg</output>
-		<config>
-			<Kp>
-				<expression>
-					<table>
-						<property>/fdm/jsbsim/velocities/vc-kts</property>
-						<entry><ind>140</ind><dep>-1.8</dep></entry>
-						<entry><ind>360</ind><dep>-2.8</dep></entry>
-					</table>
-				</expression>
-			</Kp>
-			<Ki>-0.000001</Ki>
-			<min>
-				<property>/it-autoflight/internal/bank-limit</property>
-				<scale>-1.0</scale>
-			</min>
-			<max>/it-autoflight/internal/bank-limit</max>
-		</config>
-	</pi-simple-controller>
+		<min>
+			<property>/it-autoflight/internal/bank-limit</property>
+			<scale>-1.0</scale>
+		</min>
+		<max>/it-autoflight/internal/bank-limit</max>
+	</filter>
 	
-	<pi-simple-controller>
-		<name>VORLOC TRK</name>
+	<filter>
+		<name>IT-CONTROLLER: VORLOC ROLL</name>
 		<debug>false</debug>
+		<type>gain</type>
+		<gain>2.8</gain>
 		<enable>
 			<condition>
 				<and>
@@ -101,16 +101,12 @@
 		<input>/it-autoflight/internal/nav-heading-error-deg</input>
 		<reference>0</reference>
 		<output>/it-autoflight/internal/target-roll-deg</output>
-		<config>
-			<Kp>-2.8</Kp>
-			<Ki>-0.0001</Ki>
-			<min>
-				<property>/it-autoflight/internal/bank-limit</property>
-				<scale>-1.0</scale>
-			</min>
-			<max>/it-autoflight/internal/bank-limit</max>
-		</config>
-	</pi-simple-controller>
+		<min>
+			<property>/it-autoflight/internal/bank-limit</property>
+			<scale>-1.0</scale>
+		</min>
+		<max>/it-autoflight/internal/bank-limit</max>
+	</filter>
 	
 	<filter>
 		<name>ROLL DEG SYNC</name>
diff --git a/revision.txt b/revision.txt
index 24d6a6b6..2b74097d 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4732
\ No newline at end of file
+4733
\ No newline at end of file