A3XX: Improve A/THR
This commit is contained in:
Joshua Davidson
parent
535e77bdf8
commit
c6e2bfc8d3
3 changed files with 39 additions and 260 deletions
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@ -109,7 +109,6 @@
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</max-rate-of-change>
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</filter>
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<!-- Engine 1 -->
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<!-- Auto throttle -->
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<pid-controller>
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<name>IAS THR</name>
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@ -155,7 +154,7 @@
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<property>/it-autoflight/internal/kts</property>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.05</Kp>
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@ -165,9 +164,7 @@
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[0]/throttle-man</property>
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</u_max>
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<u_max>1.000</u_max>
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</config>
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</pid-controller>
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@ -219,7 +216,7 @@
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<scale>500.0</scale>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.05</Kp>
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@ -229,9 +226,7 @@
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[0]/throttle-man</property>
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</u_max>
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<u_max>1.000</u_max>
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</config>
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</pid-controller>
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@ -274,7 +269,7 @@
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<value>0</value>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.008</Kp>
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@ -284,9 +279,7 @@
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[0]/throttle-man</property>
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</u_max>
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<u_max>1.000</u_max>
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</config>
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</pid-controller>
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@ -329,7 +322,7 @@
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<value>900</value>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.008</Kp>
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@ -339,265 +332,51 @@
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[0]/throttle-man</property>
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</u_max>
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<u_max>1.000</u_max>
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</config>
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</pid-controller>
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<!-- Engine 1 -->
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<filter>
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<name>Thrust Filter</name>
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<name>Thrust Filter CMD 1</name>
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<type>gain</type>
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<gain>1</gain>
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<input>/controls/engines/throttle-cmd-pid</input>
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<output>/controls/engines/engine[0]/throttle-cmd-cmd</output>
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<max>
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<property>/controls/engines/engine[0]/throttle-man</property>
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</max>
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</filter>
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<filter>
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<name>Thrust Filter 1</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>/controls/engines/engine[0]/throttle-cmd-pid</input>
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<input>/controls/engines/engine[0]/throttle-cmd-cmd</input>
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<output>/controls/engines/engine[0]/throttle-cmd</output>
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<type>noise-spike</type>
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<max-rate-of-change>0.1</max-rate-of-change>
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</filter>
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<!-- Engine 2 -->
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<!-- Auto throttle -->
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<pid-controller>
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<name>IAS THR</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/input/kts-mach</property>
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<value>0</value>
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</equals>
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<or>
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<and>
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<equals>
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<property>/it-autoflight/output/fd1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/fd2</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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</and>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>0</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/velocities/airspeed-kt</property>
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</input>
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<reference>
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<property>/it-autoflight/internal/kts</property>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.05</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<filter>
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<name>Thrust Filter CMD 2</name>
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<type>gain</type>
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<gain>1</gain>
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<input>/controls/engines/throttle-cmd-pid</input>
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<output>/controls/engines/engine[1]/throttle-cmd-cmd</output>
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<max>
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<property>/controls/engines/engine[1]/throttle-man</property>
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</u_max>
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</config>
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</pid-controller>
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<!-- Auto throttle (Mach Hold)-->
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<pid-controller>
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<name>MACH THR</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/input/kts-mach</property>
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<value>1</value>
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</equals>
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<or>
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<and>
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<equals>
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<property>/it-autoflight/output/fd1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/fd2</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>0</value>
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</equals>
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</and>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>0</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/velocities/mach</property>
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<scale>500.0</scale>
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</input>
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<reference>
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<property>/it-autoflight/internal/mach</property>
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<scale>500.0</scale>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.05</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[1]/throttle-man</property>
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</u_max>
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</config>
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</pid-controller>
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<!-- IDLE THR -->
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<pid-controller>
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<name>IDLE</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<or>
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<equals>
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<property>/it-autoflight/output/fd1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/fd2</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>1</value>
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</equals>
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</and>
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</condition>
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</enable>
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<input>
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<property>/velocities/airspeed-kt</property>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.008</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[1]/throttle-man</property>
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</u_max>
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</config>
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</pid-controller>
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<!-- CLB THR -->
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<pid-controller>
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<name>CLB</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<or>
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<equals>
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<property>/it-autoflight/output/fd1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/fd2</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>2</value>
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</equals>
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</and>
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</condition>
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</enable>
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<input>
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<property>/velocities/airspeed-kt</property>
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</input>
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<reference>
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<value>900</value>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.008</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>0.005</u_min>
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<u_max>
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<property>/controls/engines/engine[1]/throttle-man</property>
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</u_max>
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</config>
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</pid-controller>
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</max>
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</filter>
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<filter>
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<name>Thrust Filter</name>
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<name>Thrust Filter 2</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<input>/controls/engines/engine[1]/throttle-cmd-pid</input>
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<input>/controls/engines/engine[1]/throttle-cmd-cmd</input>
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<output>/controls/engines/engine[1]/throttle-cmd</output>
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<type>noise-spike</type>
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<max-rate-of-change>0.1</max-rate-of-change>
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@ -133,7 +133,7 @@
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<input>
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<expression>
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<table>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/engine[0]/throttle-cmd-cmd</property>
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<entry><ind>0.00</ind><dep> 22.4</dep></entry>
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<entry><ind>1.00</ind><dep>105.8</dep></entry>
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</table>
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@ -150,7 +150,7 @@
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<input>
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<expression>
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<table>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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<property>/controls/engines/engine[1]/throttle-cmd-cmd</property>
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<entry><ind>0.00</ind><dep> 22.4</dep></entry>
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<entry><ind>1.00</ind><dep>105.8</dep></entry>
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</table>
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@ -274,7 +274,7 @@
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<input>
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<expression>
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<table>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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<property>/controls/engines/engine[0]/throttle-cmd-cmd</property>
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<entry><ind>0.000</ind><dep>0.03</dep></entry>
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<entry><ind>1.000</ind><dep>1.00</dep></entry>
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</table>
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@ -308,7 +308,7 @@
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<input>
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<expression>
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<table>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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<property>/controls/engines/engine[1]/throttle-cmd-cmd</property>
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<entry><ind>0.000</ind><dep>0.03</dep></entry>
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<entry><ind>1.000</ind><dep>1.00</dep></entry>
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</table>
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Reference in a new issue