1587 lines
39 KiB
XML
1587 lines
39 KiB
XML
<?xml version="1.0"?>
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<!--
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##############################################
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# Copyright (c) Joshua Davidson (it0uchpods) #
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##############################################
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-->
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<!-- Airbus A32X Hydraulics System -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Spoiler Control -->
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<!-- =============================================================== -->
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<!-- Spoiler L1 -->
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<filter>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/green-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</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>/systems/failures/spoiler-l1</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<property>/controls/flight/speedbrake-norm</property>
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</input>
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<input>
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<condition>
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<or>
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<less-than>
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<property>/systems/hydraulic/green-psi</property>
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<value>1500</value>
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</less-than>
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<equals>
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<property>/systems/failures/spoiler-l1</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0.0</value>
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</input>
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<output>/controls/flight/spoiler-l1-cmd</output>
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<min>0.0</min>
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<max>1.0</max>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/spoiler-l1-cmd</input>
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<output>/controls/flight/spoiler-l1</output>
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<max-rate-of-change>0.6</max-rate-of-change>
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</filter>
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<!-- Spoiler L2 -->
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<filter>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/systems/failures/spoiler-l2</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/controls/flight/speedbrake-norm</property>
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<entry><ind>0.1</ind><dep>0.0</dep></entry>
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<entry><ind>0.5</ind><dep>0.3</dep></entry>
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<entry><ind>1.0</ind><dep>0.7</dep></entry>
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</table>
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<table>
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<property>/controls/flight/spoiler-left-fbw-cmd</property>
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<entry><ind>0.1</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.4</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</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>/systems/failures/spoiler-l2</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/controls/flight/speedbrake-norm</property>
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<entry><ind>0.1</ind><dep>0.0</dep></entry>
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<entry><ind>0.5</ind><dep>0.3</dep></entry>
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<entry><ind>1.0</ind><dep>1.0</dep></entry>
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</table>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>0.0</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<or>
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<less-than>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</less-than>
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<equals>
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<property>/systems/failures/spoiler-l2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0.0</value>
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</input>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<equals>
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<property>/systems/failures/spoiler-l2</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/spoiler-left-fbw-cmd</property>
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<entry><ind>-0.1</ind><dep> 0</dep></entry>
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<entry><ind>-1.0</ind><dep>0.5</dep></entry>
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</table>
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</expression>
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</input>
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<output>/controls/flight/spoiler-l2-cmd</output>
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<min>0.0</min>
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<max>1.0</max>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/spoiler-l2-cmd</input>
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<output>/controls/flight/spoiler-l2</output>
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<max-rate-of-change>0.5</max-rate-of-change>
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</filter>
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<!-- Spoiler L3 -->
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<filter>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/blue-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/systems/failures/spoiler-l3</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<property>/controls/flight/speedbrake-norm</property>
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<table>
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<property>/controls/flight/spoiler-left-fbw-cmd</property>
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<entry><ind>0.0</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/blue-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</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>/systems/failures/spoiler-l3</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<property>/controls/flight/speedbrake-norm</property>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>0.0</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<or>
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<less-than>
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<property>/systems/hydraulic/blue-psi</property>
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<value>1500</value>
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</less-than>
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<equals>
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<property>/systems/failures/spoiler-l4</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0.0</value>
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</input>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/blue-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<equals>
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<property>/systems/failures/spoiler-l3</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/spoiler-left-fbw-cmd</property>
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<entry><ind>-0.0</ind><dep> 0</dep></entry>
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<entry><ind>-1.0</ind><dep>0.5</dep></entry>
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</table>
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</expression>
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</input>
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<output>/controls/flight/spoiler-l3-cmd</output>
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<min>0.0</min>
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<max>1.0</max>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/spoiler-l3-cmd</input>
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<output>/controls/flight/spoiler-l3</output>
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<max-rate-of-change>0.4</max-rate-of-change>
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</filter>
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<!-- Spoiler L4 -->
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<filter>
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<debug>false</debug>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/systems/failures/spoiler-l4</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<property>/controls/flight/speedbrake-norm</property>
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<table>
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<property>/controls/flight/spoiler-left-fbw-cmd</property>
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<entry><ind>0.0</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<greater-than-equals>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</greater-than-equals>
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<not-equals>
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<property>/controls/flight/speedbrake-lever</property>
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<value>0.0</value>
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</not-equals>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</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>/systems/failures/spoiler-l4</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<expression>
|
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<sum>
|
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<property>/controls/flight/speedbrake-norm</property>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>0.0</ind><dep> 0</dep></entry>
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<entry><ind>1.0</ind><dep>-0.5</dep></entry>
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</table>
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|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
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<property>/systems/hydraulic/yellow-psi</property>
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<value>1500</value>
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</less-than>
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<equals>
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<property>/systems/failures/spoiler-l4</property>
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<value>1</value>
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</equals>
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</or>
|
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</condition>
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<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-l4</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-left-fbw-cmd</property>
|
|
<entry><ind>-0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>0.5</dep></entry>
|
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</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-l4-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-l4-cmd</input>
|
|
<output>/controls/flight/spoiler-l4</output>
|
|
<max-rate-of-change>0.7</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Spoiler L5 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-equals>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
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<value>1</value>
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|
</equals>
|
|
</or>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-l5</property>
|
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<value>0</value>
|
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</equals>
|
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</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/roll-fbw</property>
|
|
<entry><ind>0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
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</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-l5</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-l5</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-left-fbw-cmd</property>
|
|
<entry><ind>-0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>0.5</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-l5-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-l5-cmd</input>
|
|
<output>/controls/flight/spoiler-l5</output>
|
|
<max-rate-of-change>0.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Left Spoiler Sum -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/spoiler-l1</property>
|
|
<property>/controls/flight/spoiler-l2</property>
|
|
<property>/controls/flight/spoiler-l3</property>
|
|
<property>/controls/flight/spoiler-l4</property>
|
|
<property>/controls/flight/spoiler-l5</property>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-l-sum</output>
|
|
</filter>
|
|
|
|
<!-- Spoiler R1 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-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>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r1-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-r1-cmd</input>
|
|
<output>/controls/flight/spoiler-r1</output>
|
|
<max-rate-of-change>0.6</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Spoiler R2 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<table>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<entry><ind>0.1</ind><dep>0.0</dep></entry>
|
|
<entry><ind>0.5</ind><dep>0.3</dep></entry>
|
|
<entry><ind>1.0</ind><dep>0.7</dep></entry>
|
|
</table>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind>-0.1</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.4</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-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>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<table>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<entry><ind>0.1</ind><dep>0.0</dep></entry>
|
|
<entry><ind>0.5</ind><dep>0.3</dep></entry>
|
|
<entry><ind>1.0</ind><dep>1.0</dep></entry>
|
|
</table>
|
|
<table>
|
|
<property>/controls/flight/roll-fbw</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind>0.1</ind><dep> 0</dep></entry>
|
|
<entry><ind>1.0</ind><dep>0.5</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r2-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-r2-cmd</input>
|
|
<output>/controls/flight/spoiler-r2</output>
|
|
<max-rate-of-change>0.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Spoiler R3 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/blue-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r3</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/blue-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-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>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r3</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/roll-fbw</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/blue-psi</property>
|
|
<value>1500</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r3</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/blue-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r3</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind>0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>1.0</ind><dep>0.5</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r3-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-r3-cmd</input>
|
|
<output>/controls/flight/spoiler-r3</output>
|
|
<max-rate-of-change>0.4</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Spoiler R4 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r4</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-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>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r4</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/roll-fbw</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r4</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r4</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind>0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>1.0</ind><dep>0.5</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r4-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-r4-cmd</input>
|
|
<output>/controls/flight/spoiler-r4</output>
|
|
<max-rate-of-change>0.7</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Spoiler R5 -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
<value>0.0</value>
|
|
</not-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>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r5</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
<table>
|
|
<property>/controls/flight/roll-fbw</property>
|
|
<entry><ind> 0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>-1.0</ind><dep>-0.5</dep></entry>
|
|
</table>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<less-than>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r5</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0.0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/systems/failures/spoiler-r5</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/flight/spoiler-right-fbw-cmd</property>
|
|
<entry><ind>0.0</ind><dep> 0</dep></entry>
|
|
<entry><ind>1.0</ind><dep>0.5</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r5-cmd</output>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<input>/controls/flight/spoiler-r5-cmd</input>
|
|
<output>/controls/flight/spoiler-r5</output>
|
|
<max-rate-of-change>0.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Right Spoiler Sum -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<sum>
|
|
<property>/controls/flight/spoiler-r1</property>
|
|
<property>/controls/flight/spoiler-r2</property>
|
|
<property>/controls/flight/spoiler-r3</property>
|
|
<property>/controls/flight/spoiler-r4</property>
|
|
<property>/controls/flight/spoiler-r5</property>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/spoiler-r-sum</output>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Trims -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<enable>
|
|
<condition>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
</condition>
|
|
</enable>
|
|
<input>/controls/flight/elevator-trim</input>
|
|
<output>/controls/flight/elevator-trim-fdm</output>
|
|
<max-rate-of-change>0.1</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>noise-spike</type>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/green-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/blue-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
<greater-than-equals>
|
|
<property>/systems/hydraulic/yellow-psi</property>
|
|
<value>1500</value>
|
|
</greater-than-equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>/controls/flight/rudder-trim</input>
|
|
<output>/controls/flight/rudder-trim-fdm</output>
|
|
<max-rate-of-change>0.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Speedbrake Logic -->
|
|
<!-- =============================================================== -->
|
|
|
|
<!-- Speedbrake Sum -->
|
|
|
|
<filter>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<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>
|
|
<expression>
|
|
<product>
|
|
<sum>
|
|
<property>/controls/flight/spoiler-l-sum</property>
|
|
<property>/controls/flight/spoiler-r-sum</property>
|
|
</sum>
|
|
<value>0.15</value>
|
|
</product>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<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>
|
|
<expression>
|
|
<product>
|
|
<sum>
|
|
<property>/controls/flight/spoiler-l-sum</property>
|
|
<property>/controls/flight/spoiler-r-sum</property>
|
|
</sum>
|
|
<value>0.1</value>
|
|
</product>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/flight/speedbrake-output</output>
|
|
</filter>
|
|
|
|
<flipflop>
|
|
<name>Auto Speedbrake</name>
|
|
<debug>false</debug>
|
|
<type>RS</type>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/controls/flight/speedbrake-arm</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<less-than>
|
|
<property>/engines/engine[0]/reverser-pos-norm</property>
|
|
<value>0.01</value>
|
|
</less-than>
|
|
<less-than>
|
|
<property>/engines/engine[1]/reverser-pos-norm</property>
|
|
<value>0.01</value>
|
|
</less-than>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<S>
|
|
<and>
|
|
<less-than>
|
|
<property>/controls/engines/engine[0]/throttle</property>
|
|
<value>0.15</value>
|
|
</less-than>
|
|
<less-than>
|
|
<property>/controls/engines/engine[1]/throttle</property>
|
|
<value>0.15</value>
|
|
</less-than>
|
|
<or>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<property>/gear/gear[2]/wow</property>
|
|
</or>
|
|
<greater-than>
|
|
<property>/velocities/groundspeed-kt</property>
|
|
<value>72</value>
|
|
</greater-than>
|
|
</and>
|
|
</S>
|
|
<R>
|
|
<or>
|
|
<greater-than>
|
|
<property>/controls/engines/engine[0]/throttle</property>
|
|
<value>0.16</value>
|
|
</greater-than>
|
|
<greater-than>
|
|
<property>/controls/engines/engine[1]/throttle</property>
|
|
<value>0.16</value>
|
|
</greater-than>
|
|
</or>
|
|
</R>
|
|
<output>/controls/flight/speedbrake-lever</output>
|
|
</flipflop>
|
|
|
|
<filter>
|
|
<name>Main Speedbrake Controller</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<max>
|
|
<property>/controls/flight/ground-spoilers</property>
|
|
<property>/controls/flight/speedbrake-lever</property>
|
|
</max>
|
|
</expression>
|
|
</input>
|
|
<output>
|
|
<property>/controls/flight/speedbrake</property>
|
|
<property>/controls/flight/speedbrake-norm</property>
|
|
</output>
|
|
<min>0.0</min>
|
|
<max>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
<value>0.5</value>
|
|
</max>
|
|
<max>1.0</max>
|
|
</filter>
|
|
|
|
<!-- Braking -->
|
|
|
|
<filter>
|
|
<name>Left Press</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/gear/brake-left</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind>0.3</ind><dep>1000</dep></entry>
|
|
<entry><ind>0.6</ind><dep>2000</dep></entry>
|
|
<entry><ind> 1</ind><dep>3000</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/systems/hydraulic/brakes/pressure-left-psi</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>Right Press</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/controls/gear/brake-right</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind>0.3</ind><dep>1000</dep></entry>
|
|
<entry><ind>0.6</ind><dep>2000</dep></entry>
|
|
<entry><ind> 1</ind><dep>3000</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/systems/hydraulic/brakes/pressure-right-psi</output>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Landing Gear -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<name>Left Door</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/gear/gear[1]/position-norm</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind>0.19</ind><dep>1</dep></entry>
|
|
<entry><ind>0.81</ind><dep>1</dep></entry>
|
|
<entry><ind> 1</ind><dep>0</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/systems/hydraulic/gear/door-left</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>Left Door Conversion to Degrees</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/systems/hydraulic/gear/door-left</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind> 1</ind><dep>-100</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/ECAM/Lower/door-left</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>Right Door</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/gear/gear[2]/position-norm</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind>0.19</ind><dep>1</dep></entry>
|
|
<entry><ind>0.81</ind><dep>1</dep></entry>
|
|
<entry><ind> 1</ind><dep>0</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/systems/hydraulic/gear/door-right</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>Right Door Conversion to Degrees</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/systems/hydraulic/gear/door-right</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind> 1</ind><dep>100</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/ECAM/Lower/door-right</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>Nose Door</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/gear/gear[0]/position-norm</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind>0.19</ind><dep>1</dep></entry>
|
|
<entry><ind>0.81</ind><dep>1</dep></entry>
|
|
<entry><ind> 1</ind><dep>0</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/systems/hydraulic/gear/door-nose</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>NLG Left Door Conversion to Degrees</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/systems/hydraulic/gear/door-nose</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind> 1</ind><dep>95</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/ECAM/Lower/door-nose-left</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>NLG Right Door Conversion to Degrees</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/systems/hydraulic/gear/door-nose</property>
|
|
<entry><ind> 0</ind><dep>0</dep></entry>
|
|
<entry><ind> 1</ind><dep>-95</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/ECAM/Lower/door-nose-right</output>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Autobrake -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<name>Autobrake Decel Error</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<dif>
|
|
<property>/velocities/groundspeed-mps</property>
|
|
<property>/velocities/groundspeed-mps-ahead</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<output>/controls/autobrake/decel-error</output>
|
|
</filter>
|
|
|
|
<pi-simple-controller>
|
|
<name>IT-CONTROLLER: AUTOBRAKE DECEL</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/controls/autobrake/active</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/controls/autobrake/decel-error</property>
|
|
</input>
|
|
<reference>
|
|
<property>/controls/autobrake/decel-rate</property>
|
|
</reference>
|
|
<output>
|
|
<property>/controls/autobrake/brake-left</property>
|
|
<property>/controls/autobrake/brake-right</property>
|
|
</output>
|
|
<config>
|
|
<Kp>0.45</Kp>
|
|
<Ki>0.25</Ki>
|
|
<min>0.0</min>
|
|
<max>1.0</max>
|
|
</config>
|
|
</pi-simple-controller>
|
|
|
|
</PropertyList>
|