<?xml version='1.0' encoding='UTF-8' ?> <!-- ############################################## # Copyright (c) Joshua Davidson (it0uchpods) # ############################################## --> <system name="pushback"> <property>/sim/model/pushback/target-speed-fps</property> <channel name="Pushback"> <switch name="systems/pushback/linked"> <default value="-1"/> <test value="0"> /sim/model/pushback/position-norm gt 0.95 /gear/gear/wow == 1 gear/unit[0]/wheel-speed-fps lt 50 </test> </switch> <summer name="systems/pushback/speed-error"> <input>/sim/model/pushback/target-speed-fps</input> <input>-gear/unit[0]/wheel-speed-fps</input> </summer> <pid name="systems/pushback/force"> <input>systems/pushback/speed-error</input> <kp>/sim/model/pushback/kp</kp> <ki>/sim/model/pushback/ki</ki> <kd>/sim/model/pushback/kd</kd> <trigger>systems/pushback/linked</trigger> <output>/sim/model/pushback/force</output> </pid> <switch name="systems/pushback/force-output"> <default value="0"/> <test value="systems/pushback/force"> systems/pushback/linked == 0 </test> <output>external_reactions/pushback/magnitude</output> </switch> </channel> </system>