diff --git a/A320-main.xml b/A320-main.xml
index a6a5baf8..28ff400f 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -320,13 +320,13 @@
</autoland>
</config>
<settings>
- <default-bank-limit>30</default-bank-limit> <!-- Set the Default Bank Limit -->
+ <default-bank-limit>25</default-bank-limit> <!-- Set the Default Bank Limit -->
<enable-cws>0</enable-cws> <!-- Enable/Disable CWS -->
<land-enable>1</land-enable> <!-- Enable/Disable Autoland -->
<land-flap>0.645</land-flap> <!-- Minimum Flap used for Landing -->
<retard-ft>40</retard-ft> <!-- Enable Thrust Retard -->
<retard-enable>0</retard-enable> <!-- AGL to Thrust Retard -->
- <togaspd>162</togaspd> <!-- V2 + 10kts -->
+ <togaspd>157</togaspd> <!-- V2 + 10kts -->
<lat-agl-ft>30</lat-agl-ft> <!-- Set to 999999 if you do not want T/O to change automatically to HDG, or LNAV -->
<reduc-agl-ft>3000</reduc-agl-ft> <!-- Set to 999999 if you do not want TOGA to change automatically to FLCH -->
<autoland-without-ap>1</autoland-without-ap> <!-- Engage LAND and FLARE Modes even if the AP is off -->
diff --git a/Systems/engine-timing.xml b/Systems/engine-timing.xml
index e77f5950..4f951145 100644
--- a/Systems/engine-timing.xml
+++ b/Systems/engine-timing.xml
@@ -223,23 +223,6 @@
<max-rate-of-change>1000</max-rate-of-change>
</filter>
- <filter>
- <name>PFD IAS Sync</name>
- <type>gain</type>
- <gain>1</gain>
- <enable>
- <condition>
- <equals>
- <property>/it-autoflight/input/kts-mach</property>
- <value>1</value>
- </equals>
- </condition>
- </enable>
- <update-interval-secs type="double">0.5</update-interval-secs>
- <input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
- <output>/it-autoflight/input/spd-kts</output>
- </filter>
-
<filter>
<name>Throttle L</name>
<type>gain</type>
diff --git a/Systems/it-autoflight.xml b/Systems/it-autoflight.xml
index 19374337..fecce117 100644
--- a/Systems/it-autoflight.xml
+++ b/Systems/it-autoflight.xml
@@ -74,63 +74,285 @@
<!-- =============================================================== -->
<!-- Autopilot Helpers -->
<!-- =============================================================== -->
+
+ <filter>
+ <name>KTS INPUT FILTER</name>
+ <debug>false</debug>
+ <feedback-if-disabled>true</feedback-if-disabled>
+ <initialize-to>output</initialize-to>
+ <input>
+ <condition>
+ <not-equals>
+ <property>/it-autoflight/mode/vert</property>
+ <value>T/O CLB</value>
+ </not-equals>
+ </condition>
+ <property>/it-autoflight/input/spd-kts</property>
+ </input>
+ <input>
+ <condition>
+ <equals>
+ <property>/it-autoflight/mode/vert</property>
+ <value>T/O CLB</value>
+ </equals>
+ </condition>
+ <property>/it-autoflight/settings/togaspd</property>
+ </input>
+ <output>/it-autoflight/internal/flch-kts</output>
+ <type>noise-spike</type>
+ <max-rate-of-change>
+ <condition>
+ <or>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>1</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>1</value>
+ </equals>
+ </or>
+ </condition>
+ <value>100</value>
+ </max-rate-of-change>
+ <max-rate-of-change>
+ <condition>
+ <and>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </condition>
+ <value>5</value>
+ </max-rate-of-change>
+ </filter>
+
+ <filter>
+ <name>MACH INPUT FILTER</name>
+ <debug>false</debug>
+ <feedback-if-disabled>true</feedback-if-disabled>
+ <initialize-to>output</initialize-to>
+ <input>
+ <property>/it-autoflight/input/spd-mach</property>
+ </input>
+ <output>/it-autoflight/internal/flch-mach</output>
+ <type>noise-spike</type>
+ <max-rate-of-change>
+ <condition>
+ <or>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>1</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>1</value>
+ </equals>
+ </or>
+ </condition>
+ <value>1</value>
+ </max-rate-of-change>
+ <max-rate-of-change>
+ <condition>
+ <and>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </condition>
+ <value>0.05</value>
+ </max-rate-of-change>
+ </filter>
+
+ <filter>
+ <name>IAS SYNC</name>
+ <type>gain</type>
+ <gain>1</gain>
+ <enable>
+ <condition>
+ <equals>
+ <property>/it-autoflight/input/kts-mach</property>
+ <value>1</value>
+ </equals>
+ </condition>
+ </enable>
+ <update-interval-secs type="double">0.5</update-interval-secs>
+ <input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
+ <output>/it-autoflight/input/spd-kts</output>
+ </filter>
+
+ <filter>
+ <name>MACH SYNC</name>
+ <type>gain</type>
+ <gain>1</gain>
+ <enable>
+ <condition>
+ <equals>
+ <property>/it-autoflight/input/kts-mach</property>
+ <value>0</value>
+ </equals>
+ </condition>
+ </enable>
+ <update-interval-secs type="double">0.5</update-interval-secs>
+ <input>/instrumentation/airspeed-indicator/indicated-mach</input>
+ <output>/it-autoflight/input/spd-mach</output>
+ </filter>
<filter>
- <name>MAGNETIC HDG ERROR DEG</name>
+ <name>HEADING ERROR DEG</name>
<debug>false</debug>
<type>gain</type>
<input>
+ <condition>
+ <and>
+ <equals>
+ <property>/it-autoflight/output/lat</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/it-autoflight/input/trk</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </condition>
<property>/it-autoflight/input/hdg</property>
<offset>
<property>/orientation/heading-magnetic-deg</property>
<scale>-1.0</scale>
</offset>
</input>
- <output>/it-autoflight/internal/heading-bug-error-deg</output>
- <output>/it-autoflight/internal/fdm-heading-bug-error-deg</output>
- <period>
- <min>-180</min>
- <max>180</max>
- </period>
- <gain>1.0</gain>
- </filter>
-
- <filter>
- <name>TRUE HDG ERROR DEG</name>
- <debug>false</debug>
- <type>gain</type>
<input>
+ <condition>
+ <and>
+ <equals>
+ <property>/it-autoflight/output/lat</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/it-autoflight/input/trk</property>
+ <value>1</value>
+ </equals>
+ </and>
+ </condition>
<property>/it-autoflight/input/hdg</property>
<offset>
<property>/orientation/heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
- <output>/it-autoflight/internal/true-heading-error-deg</output>
+ <input>
+ <condition>
+ <equals>
+ <property>/it-autoflight/output/lat</property>
+ <value>1</value>
+ </equals>
+ </condition>
+ <property>/it-autoflight/input/hdg</property>
+ <offset>
+ <property>/autopilot/settings/true-heading-deg</property>
+ <scale>-1.0</scale>
+ </offset>
+ </input>
+ <output>/it-autoflight/internal/heading-error-deg-cmd</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
-
+
<filter>
- <name>LNAV HDG ERROR DEG</name>
+ <name>HEADING ERROR FILTER</name>
<debug>false</debug>
- <type>gain</type>
+ <feedback-if-disabled>true</feedback-if-disabled>
+ <initialize-to>output</initialize-to>
<input>
- <property>/autopilot/settings/true-heading-deg</property>
- <offset>
- <property>/orientation/heading-deg</property>
- <scale>-1.0</scale>
- </offset>
+ <property>/it-autoflight/internal/heading-error-deg-cmd</property>
</input>
- <output>/it-autoflight/internal/lnav-hdg-error-deg</output>
- <period>
- <min>-180</min>
- <max>180</max>
- </period>
- <gain>1.0</gain>
+ <output>/it-autoflight/internal/heading-error-deg</output>
+ <type>noise-spike</type>
+ <max-rate-of-change>
+ <condition>
+ <or>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>1</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>1</value>
+ </equals>
+ </or>
+ </condition>
+ <value>90</value>
+ </max-rate-of-change>
+ <max-rate-of-change>
+ <condition>
+ <and>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </condition>
+ <value>2.5</value>
+ </max-rate-of-change>
+ </filter>
+
+ <filter>
+ <name>VERT SPEED FILTER</name>
+ <debug>false</debug>
+ <feedback-if-disabled>true</feedback-if-disabled>
+ <initialize-to>output</initialize-to>
+ <input>
+ <property>/it-autoflight/input/vs</property>
+ </input>
+ <output>/it-autoflight/internal/vs</output>
+ <type>noise-spike</type>
+ <max-rate-of-change>
+ <condition>
+ <or>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>1</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>1</value>
+ </equals>
+ </or>
+ </condition>
+ <value>2000</value>
+ </max-rate-of-change>
+ <max-rate-of-change>
+ <condition>
+ <and>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </condition>
+ <value>300</value>
+ </max-rate-of-change>
</filter>
<filter>
@@ -171,44 +393,6 @@
<gain>1.0</gain>
</filter>
- <filter>
- <name>NAV COURSE ERROR</name>
- <debug>false</debug>
- <type>gain</type>
- <input>
- <condition>
- <equals>
- <property>/it-autoflight/settings/use-nav2-radio</property>
- <value>0</value>
- </equals>
- </condition>
- <property>/instrumentation/nav[0]/radials/selected-deg</property>
- <offset>
- <property>/orientation/heading-magnetic-deg</property>
- <scale>-1.0</scale>
- </offset>
- </input>
- <input>
- <condition>
- <equals>
- <property>/it-autoflight/settings/use-nav2-radio</property>
- <value>1</value>
- </equals>
- </condition>
- <property>/instrumentation/nav[1]/radials/selected-deg</property>
- <offset>
- <property>/orientation/heading-magnetic-deg</property>
- <scale>-1.0</scale>
- </offset>
- </input>
- <output>/it-autoflight/internal/nav-course-error</output>
- <period>
- <min>-180</min>
- <max>180</max>
- </period>
- <gain>1.0</gain>
- </filter>
-
<filter>
<name>INTERNAL VERTICAL SPEED COMPUTER</name>
<debug>false</debug>
@@ -244,34 +428,6 @@
<output>/it-autoflight/internal/target-fpm-b</output>
<gain>55.5</gain>
</filter>
-
- <filter>
- <name>STATIC PRESSURE COMPUTER</name>
- <debug>false</debug>
- <type>derivative</type>
- <input>/systems/static[0]/pressure-inhg</input>
- <output>/it-autoflight/internal/pressure-rate</output>
- <filter-time>1.0</filter-time>
- </filter>
-
- <filter>
- <name>NAV1 TRACK ERROR</name>
- <debug>false</debug>
- <type>gain</type>
- <input>
- <property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
- <offset>
- <property>/orientation/track-deg</property>
- <scale>-1.0</scale>
- </offset>
- </input>
- <output>/it-autoflight/internal/nav1-track-error-deg</output>
- <period>
- <min>-180</min>
- <max>180</max>
- </period>
- <gain>1.0</gain>
- </filter>
<filter>
<name>NAV1 G/S FPM Calc</name>
@@ -317,49 +473,7 @@
</condition>
</enable>
<input>
- <condition>
- <and>
- <equals>
- <property>/it-autoflight/output/lat</property>
- <value>0</value>
- </equals>
- <equals>
- <property>/it-autoflight/input/trk</property>
- <value>0</value>
- </equals>
- </and>
- </condition>
- <property>/it-autoflight/internal/heading-bug-error-deg</property>
- <scale>
- <property>/it-autoflight/config/cmd/roll-scale</property>
- </scale>
- </input>
- <input>
- <condition>
- <and>
- <equals>
- <property>/it-autoflight/output/lat</property>
- <value>0</value>
- </equals>
- <equals>
- <property>/it-autoflight/input/trk</property>
- <value>1</value>
- </equals>
- </and>
- </condition>
- <property>/it-autoflight/internal/true-heading-error-deg</property>
- <scale>
- <property>/it-autoflight/config/cmd/roll-scale</property>
- </scale>
- </input>
- <input>
- <condition>
- <equals>
- <property>/it-autoflight/output/lat</property>
- <value>1</value>
- </equals>
- </condition>
- <property>/it-autoflight/internal/lnav-hdg-error-deg</property>
+ <property>/it-autoflight/internal/heading-error-deg</property>
<scale>
<property>/it-autoflight/config/cmd/roll-scale</property>
</scale>
@@ -459,8 +573,8 @@
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
- <u_min>-30</u_min>
- <u_max>30</u_max>
+ <u_min>-25</u_min>
+ <u_max>25</u_max>
</config>
</pid-controller>
@@ -678,10 +792,16 @@
<debug>false</debug>
<enable>
<condition>
- <equals>
- <property>/it-autoflight/output/vert</property>
- <value>4</value>
- </equals>
+ <or>
+ <equals>
+ <property>/it-autoflight/output/vert</property>
+ <value>4</value>
+ </equals>
+ <equals>
+ <property>/it-autoflight/output/vert</property>
+ <value>7</value>
+ </equals>
+ </or>
</condition>
</enable>
<input>
@@ -701,7 +821,7 @@
</equals>
</condition>
<property>/it-autoflight/internal/lookahead-15-sec-mach</property>
- <scale>350.0</scale>
+ <scale>500.0</scale>
</input>
<reference>
<condition>
@@ -710,7 +830,7 @@
<value>0</value>
</equals>
</condition>
- <property>/it-autoflight/input/spd-kts</property>
+ <property>/it-autoflight/internal/flch-kts</property>
</reference>
<reference>
<condition>
@@ -719,132 +839,104 @@
<value>1</value>
</equals>
</condition>
- <property>/it-autoflight/input/spd-mach</property>
- <scale>350.0</scale>
+ <property>/it-autoflight/internal/flch-mach</property>
+ <scale>500.0</scale>
</reference>
<output>
<property>/it-autoflight/internal/target-fpm-b</property>
</output>
<config>
- <Kp>-40</Kp>
+ <Kp>
+ <condition>
+ <equals>
+ <property>/it-autoflight/output/vert</property>
+ <value>4</value>
+ </equals>
+ </condition>
+ <value>-40</value>
+ </Kp>
+ <Kp>
+ <condition>
+ <equals>
+ <property>/it-autoflight/output/vert</property>
+ <value>7</value>
+ </equals>
+ </condition>
+ <value>-55</value>
+ </Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>2.5</Ti>
- <Td>0.001</Td>
+ <Td>0.001</Td>
<u_min>
<condition>
- <greater-than>
- <property>/it-autoflight/internal/alt</property>
- <property>/instrumentation/altimeter/indicated-altitude-ft</property>
- </greater-than>
+ <equals>
+ <property>/it-autoflight/output/thr-mode</property>
+ <value>2</value>
+ </equals>
</condition>
- <value>200</value>
+ <value>150</value>
</u_min>
<u_min>
<condition>
- <less-than>
- <property>/it-autoflight/internal/alt</property>
- <property>/instrumentation/altimeter/indicated-altitude-ft</property>
- </less-than>
+ <equals>
+ <property>/it-autoflight/output/thr-mode</property>
+ <value>1</value>
+ </equals>
</condition>
<value>-6000</value>
</u_min>
<u_max>
<condition>
- <greater-than>
- <property>/it-autoflight/internal/alt</property>
- <property>/instrumentation/altimeter/indicated-altitude-ft</property>
- </greater-than>
+ <and>
+ <equals>
+ <property>/it-autoflight/output/thr-mode</property>
+ <value>2</value>
+ </equals>
+ <and>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>0</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>0</value>
+ </equals>
+ </and>
+ </and>
</condition>
<value>10000</value>
</u_max>
- <u_max>
- <condition>
- <less-than>
- <property>/it-autoflight/internal/alt</property>
- <property>/instrumentation/altimeter/indicated-altitude-ft</property>
- </less-than>
- </condition>
- <value>-150</value>
- </u_max>
- </config>
- </pid-controller>
-
- <pid-controller>
- <name>TOGA SPEED BY PITCH</name>
- <debug>false</debug>
- <enable>
- <condition>
- <equals>
- <property>/it-autoflight/output/vert</property>
- <value>7</value>
- </equals>
- </condition>
- </enable>
- <input>
- <property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
- </input>
- <reference>
- <condition>
- <equals>
- <property>/it-autoflight/mode/vert</property>
- <value>T/O CLB</value>
- </equals>
- </condition>
- <property>/it-autoflight/settings/togaspd</property>
- </reference>
- <reference>
- <condition>
- <equals>
- <property>/it-autoflight/mode/vert</property>
- <value>G/A CLB</value>
- </equals>
- </condition>
- <property>/it-autoflight/input/spd-kts</property>
- </reference>
- <output>
- <property>/it-autoflight/internal/target-fpm-b</property>
- </output>
- <config>
- <Kp>-55</Kp>
- <beta>1.0</beta>
- <alpha>0.1</alpha>
- <gamma>0.0</gamma>
- <Ti>2.5</Ti>
- <Td>0.001</Td>
- <u_min>
- <value>150</value>
- </u_min>
<u_max>
<condition>
<and>
<equals>
- <property>/gear/gear[1]/wow</property>
- <value>0</value>
- </equals>
- <equals>
- <property>/gear/gear[2]/wow</property>
- <value>0</value>
+ <property>/it-autoflight/output/thr-mode</property>
+ <value>2</value>
</equals>
+ <or>
+ <equals>
+ <property>/gear/gear[1]/wow</property>
+ <value>1</value>
+ </equals>
+ <equals>
+ <property>/gear/gear[2]/wow</property>
+ <value>1</value>
+ </equals>
+ </or>
</and>
</condition>
- <value>8000</value>
+ <value>1000</value>
</u_max>
<u_max>
<condition>
- <or>
- <equals>
- <property>/gear/gear[1]/wow</property>
- <value>1</value>
- </equals>
- <equals>
- <property>/gear/gear[2]/wow</property>
- <value>1</value>
- </equals>
- </or>
+ <equals>
+ <property>/it-autoflight/output/thr-mode</property>
+ <value>1</value>
+ </equals>
</condition>
- <value>1000</value>
+ <value>-150</value>
</u_max>
</config>
</pid-controller>
@@ -877,7 +969,7 @@
</equals>
</condition>
<property>/it-autoflight/internal/lookahead-15-sec-mach</property>
- <scale>350.0</scale>
+ <scale>500.0</scale>
</input>
<reference>
<condition>
@@ -886,7 +978,7 @@
<value>0</value>
</equals>
</condition>
- <property>/it-autoflight/input/spd-kts</property>
+ <property>/it-autoflight/internal/flch-kts</property>
</reference>
<reference>
<condition>
@@ -895,8 +987,8 @@
<value>1</value>
</equals>
</condition>
- <property>/it-autoflight/input/spd-mach</property>
- <scale>350.0</scale>
+ <property>/it-autoflight/internal/flch-mach</property>
+ <scale>500.0</scale>
</reference>
<output>
<property>/it-autoflight/internal/target-fpm-b</property>
@@ -915,7 +1007,7 @@
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
</greater-than>
</condition>
- <value>200</value>
+ <value>150</value>
</u_min>
<u_min>
<condition>
@@ -1027,7 +1119,7 @@
<value>1</value>
</equals>
</condition>
- <property>/it-autoflight/input/vs</property>
+ <property>/it-autoflight/internal/vs</property>
<scale>0.16667</scale>
</reference>
<reference>