<?xml version="1.0"?>

<!-- IT-AUTOFLIGHT: Fly By Wire -->

<PropertyList>

 <!-- =============================================================== -->
 <!-- Lateral                                                         -->
 <!-- =============================================================== -->
	
	<pid-controller>
		<name>IT-FBW: ROLL</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/roll-deg</property>
		</input>
		<reference>
			<property>/it-fbw/roll-deg</property>
		</reference>
		<output>
			<property>/controls/flight/aileron-fbw-cmd</property>
		</output>
		<config>
			<Kp>0.12</Kp>
			<beta>1</beta>
			<alpha>0.1</alpha>
			<gamma>0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1</u_min>
			<u_max>1</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-FBW: ROLL OPTION</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
				</and>
			</condition>
			<property>/controls/flight/aileron-fbw-cmd</property>
		</input>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-fbw/law</property>
						<value>DIRECT</value>
					</equals>
				</or>
			</condition>
			<property>/controls/flight/aileron</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-fbw/law</property>
					<value>BACKUP</value>
				</equals>
			</condition>
			<value>0</value>
		</input>
		<output>/controls/flight/aileron-fbw</output>
		<type>noise-spike</type>
		<max-rate-of-change>10</max-rate-of-change>
	</filter>
	
 <!-- =============================================================== -->
 <!-- Vertical                                                        -->
 <!-- =============================================================== -->
	
	<pid-controller>
		<name>IT-FBW: PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value> 
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/pitch-deg</property>
		</input>
		<reference>
			<property>/it-fbw/pitch-deg</property>
		</reference>
		<output>
			<property>/controls/flight/elevator-fbw-cmd</property>
		</output>
		<config>
			<Kp>-0.20</Kp>
			<beta>1</beta>
			<alpha>0.1</alpha>
			<gamma>0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1</u_min>
			<u_max>1</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-FBW: PITCH OPTION</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
				</and>
			</condition>
			<property>/controls/flight/elevator-fbw-cmd</property>
		</input>
		<input>
			<condition>
				<or>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>1</value>
					</equals>
					<equals>
						<property>/it-fbw/law</property>
						<value>DIRECT</value>
					</equals>
				</or>
			</condition>
			<property>/controls/flight/elevator</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-fbw/law</property>
					<value>BACKUP</value>
				</equals>
			</condition>
			<value>0</value>
		</input>
		<output>/controls/flight/elevator-fbw</output>
		<type>noise-spike</type>
		<max-rate-of-change>10</max-rate-of-change>
	</filter>
	
	<pid-controller>
		<name>AP PITCH HELPER PLUS</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<greater-than>
						<property>/controls/flight/elevator-fbw</property>
						<value>0.1</value>
					</greater-than>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
					<greater-than-equals>
						<property>/position/gear-agl-ft</property>
						<value>50</value>
					</greater-than-equals>
				</and>
			</condition>
		</enable>
		<input>
			<value>0</value>
		</input>
		<reference>
			<value>1</value>
		</reference>
		<output>
			<property>/controls/flight/elevator-trim-cmd</property>
		</output>
		<config>
			<Kp>0.08</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1.00</u_min>
			<u_max>1.00</u_max>
		</config>
	</pid-controller>
	
	<pid-controller>
		<name>FBW PITCH HELPER MINUS</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<less-than>
						<property>/controls/flight/elevator-fbw</property>
						<value>-0.1</value>
					</less-than>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>NORMAL</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>ALTERNATE</value>
						</equals>
					</or>
					<greater-than-equals>
						<property>/position/gear-agl-ft</property>
						<value>50</value>
					</greater-than-equals>
				</and>
			</condition>
		</enable>
		<input>
			<value>0</value>
		</input>
		<reference>
			<value>1</value>
		</reference>
		<output>
			<property>/controls/flight/elevator-trim-cmd</property>
		</output>
		<config>
			<Kp>-0.08</Kp>
			<beta>1.0</beta>
			<alpha>0.1</alpha>
			<gamma>0.0</gamma>
			<Ti>10</Ti>
			<Td>0.00001</Td>
			<u_min>-1.00</u_min>
			<u_max>1.00</u_max>
		</config>
	</pid-controller>
		
	<filter>
		<name>IT-FBW: PITCH TRIM FILTER</name>
		<debug>false</debug>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<and>
					<and>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>0</value>
						</equals>
						<or>
							<equals>
								<property>/it-fbw/law</property>
								<value>NORMAL</value>
							</equals>
							<equals>
								<property>/it-fbw/law</property>
								<value>ALTERNATE</value>
							</equals>
						</or>
						<greater-than-equals>
							<property>/position/gear-agl-ft</property>
							<value>50</value>
						</greater-than-equals>
					</and>
					<or>
						<greater-than>
							<property>/controls/flight/elevator-fbw</property>
							<value>0.05</value>
						</greater-than>
						<less-than>
							<property>/controls/flight/elevator-fbw</property>
							<value>-0.05</value>
						</less-than>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/controls/flight/elevator-trim-cmd</property>
		</input>
		<output>/controls/flight/elevator-trim</output>
		<type>noise-spike</type>
		<max-rate-of-change>0.01</max-rate-of-change>
	</filter>

</PropertyList>