From d028d44604e978a5bce4a877df64446f0d9df938 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Thu, 8 Nov 2018 15:08:30 -0500
Subject: [PATCH] Control: Refactor FBW Gains

---
 Systems/a320-fcs.xml | 86 +++++++++++++++++++-------------------------
 revision.txt         |  2 +-
 2 files changed, 37 insertions(+), 51 deletions(-)

diff --git a/Systems/a320-fcs.xml b/Systems/a320-fcs.xml
index 2d628ccf..c8bb06f2 100644
--- a/Systems/a320-fcs.xml
+++ b/Systems/a320-fcs.xml
@@ -24,7 +24,7 @@
 	<property value="0">fbw/pitch/d-gain</property>
 	<property value="0">fbw/yaw/yd-p-gain</property>
 	<property value="0">fbw/yaw/tc-p-gain</property>
-	<property value="0">fbw/yaw/tc-i-gain</property>
+	<property value="0">fbw/yaw/tc-d-gain</property>
 	
 	<!-- FMGC stuff -->
 	<property value="0">fbw/fmgc/roll-cmd</property>
@@ -79,12 +79,12 @@
 		<fcs_function name="fbw/roll/p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0     1  
-						0.2 -26.2  0.0
-						0.9 -15.5  0.0
+						140 -26.2  0.0
+						350  -9.5  0.0
 					</tableData>
 				</table>
 			</function>
@@ -93,12 +93,12 @@
 		<fcs_function name="fbw/roll/i-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0     1
-						0.2 -45.5  0.0
-						0.9 -36.0  0.0
+						140 -45.5  0.0
+						350 -29.0  0.0
 					</tableData>
 				</table>
 			</function>
@@ -107,12 +107,12 @@
 		<fcs_function name="fbw/roll/d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2 -2.1  0.0
-						0.9 -1.1  0.0
+						140 -2.1  0.0
+						350 -0.8  0.0
 					</tableData>
 				</table>
 			</function>
@@ -121,12 +121,12 @@
 		<fcs_function name="fbw/pitch/p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0   1  
-						0.2  28  0
-						0.9  23  0
+						140  28  0
+						350  23  0
 					</tableData>
 				</table>
 			</function>
@@ -135,12 +135,12 @@
 		<fcs_function name="fbw/pitch/i-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0   1
-						0.2  61  0
-						0.9  45  0
+						140  61  0
+						350  45  0
 					</tableData>
 				</table>
 			</function>
@@ -149,12 +149,12 @@
 		<fcs_function name="fbw/pitch/d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2  2.9  0.0
-						0.9  1.3  0.0
+						140  2.4  0.0
+						350  0.6  0.0
 					</tableData>
 				</table>
 			</function>
@@ -163,12 +163,12 @@
 		<fcs_function name="fbw/yaw/yd-p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2 -7.5  0.0
-						0.9 -1.5  0.0
+						140 -7.0  0.0
+						350 -1.2  0.0
 					</tableData>
 				</table>
 			</function>
@@ -177,26 +177,26 @@
 		<fcs_function name="fbw/yaw/tc-p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
-						     0     1
-						0.2  5.01  0.00
-						0.9  1.05  0.00
+						     0   1
+						140  13  0
+						350   5  0
 					</tableData>
 				</table>
 			</function>
 		</fcs_function>
 		
-		<fcs_function name="fbw/yaw/tc-i-gain">
+		<fcs_function name="fbw/yaw/tc-d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
-						     0     1
-						0.2  1.03  0.00
-						0.9  0.79  0.00
+						     0   1
+						140  16  0
+						350   9  0
 					</tableData>
 				</table>
 			</function>
@@ -520,12 +520,12 @@
 						</tableData>
 					</table>
 					<table>
-						<independentVar lookup="row">velocities/mach</independentVar>
+						<independentVar lookup="row">velocities/vc-kts</independentVar>
 						<independentVar lookup="column">position/wow</independentVar>
 						<tableData>
 							     0    1
-							0.2  0.5  1.0
-							0.9  0.1  1.0
+							140  0.5  1.0
+							350  0.1  1.0
 						</tableData>
 					</table>
 				</product>
@@ -1113,25 +1113,11 @@
 			</test>
 		</switch>
 		
-		<switch name="fbw/yaw/trigger">
-			<default value="0"/>
-			<test logic="OR" value="-1">
-				fbw/yaw/gain-switch gt 0
-				/position/gear-agl-ft lt 50
-				fbw/yaw/autoland-switch eq 1
-			</test>
-			<test logic="OR" value="1">
-				fbw/yaw/tc-pid le -0.199
-				fbw/yaw/tc-pid ge 0.199
-			</test>
-		</switch>
-		
 		<pid name="fbw/yaw/tc-pid-v">
 			<input>fbw/yaw/slip-skid</input>
 			<kp>fbw/yaw/tc-p-gain</kp>
-			<ki>fbw/yaw/tc-i-gain</ki>
-			<kd>0.0</kd>
-			<trigger>fbw/yaw/trigger</trigger>
+			<ki>0.0</ki>
+			<kd>fbw/yaw/tc-d-gain</kd>
 			<clipto>
 				<min>-0.2</min>
 				<max>0.2</max>
diff --git a/revision.txt b/revision.txt
index 03525b00..704c4158 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4695
\ No newline at end of file
+4696
\ No newline at end of file