1288 lines
31 KiB
XML
1288 lines
31 KiB
XML
<?xml version="1.0"?>
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<!-- IT-AUTOFLIGHT -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Predictors -->
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<!-- =============================================================== -->
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<predict-simple>
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<name>ALTITUDE 5 SECONDS AHEAD</name>
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<debug>false</debug>
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<input>/instrumentation/altimeter/indicated-altitude-ft</input>
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<output>/it-autoflight/internal/altitude-5-sec-ahead</output>
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<seconds>5.0</seconds>
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<filter-gain>0.1</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>VOR/LOC 5 SECONDS AHEAD</name>
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<input>/it-autoflight/internal/nav1-track-error-deg</input>
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<output>/it-autoflight/internal/nav1-error-5-sec-ahead</output>
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<seconds>12</seconds>
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<filter-gain>0.1</filter-gain>
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</predict-simple>
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<filter>
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<name>VOR/LOC HEADING ERROR FILTER</name>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/it-autoflight/internal/nav1-error-5-sec-ahead</input>
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<output>/it-autoflight/internal/nav1-heading-error-deg-filtered</output>
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<max-rate-of-change>90.0</max-rate-of-change>
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</filter>
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<!-- =============================================================== -->
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<!-- Autopilot Helpers -->
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<!-- =============================================================== -->
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<filter>
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<name>MAGNETIC HDG ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/it-autoflight/input/hdg</property>
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<offset>
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<property>/orientation/heading-magnetic-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/heading-bug-error-deg</output>
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<output>/it-autoflight/internal/fdm-heading-bug-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>TRUE HDG ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/it-autoflight/input/hdg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/true-heading-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>LNAV HDG ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/autopilot/settings/true-heading-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/lnav-hdg-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>NAV1 ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/nav1-heading-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>NAV1 COURSE ERROR</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/instrumentation/nav[0]/radials/selected-deg</property>
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<offset>
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<property>/orientation/heading-magnetic-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/nav1-course-error</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>INTERNAL VERTICAL SPEED COMPUTER</name>
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<debug>false</debug>
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<type>gain</type>
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<input>/velocities/vertical-speed-fps</input>
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<output>/it-autoflight/internal/vert-speed-fpm</output>
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<gain>60.0</gain>
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</filter>
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<predict-simple>
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<name>IAS 5 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/velocities/airspeed-kt</input>
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<output>/it-autoflight/internal/lookahead-5-sec-airspeed-kt</output>
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<seconds>5.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>IAS 10 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/velocities/airspeed-kt</input>
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<output>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</output>
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<seconds>10.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>MACH 10 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/velocities/mach</input>
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<output>/it-autoflight/internal/lookahead-10-sec-mach</output>
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<seconds>10.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<filter>
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<name>STATIC PRESSURE COMPUTER</name>
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<debug>false</debug>
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<type>derivative</type>
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<input>/systems/static[0]/pressure-inhg</input>
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<output>/it-autoflight/internal/pressure-rate</output>
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<filter-time>1.0</filter-time>
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</filter>
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<filter>
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<name>NAV1 TRACK ERROR</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
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<offset>
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<property>/orientation/track-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/nav1-track-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<!-- =============================================================== -->
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<!-- Lateral Modes -->
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<!-- =============================================================== -->
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<filter>
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<name>TARGET ROLL CONTROLLER</name>
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<debug>false</debug>
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<type>gain</type>
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<enable>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>5</value>
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</equals>
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</or>
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</condition>
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</enable>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/input/trk</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>/it-autoflight/internal/heading-bug-error-deg</property>
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<scale>
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<property>/it-autoflight/config/cmd/roll-scale</property>
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</scale>
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</input>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/input/trk</property>
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<value>1</value>
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</equals>
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</and>
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</condition>
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<property>/it-autoflight/internal/true-heading-error-deg</property>
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<scale>
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<property>/it-autoflight/config/cmd/roll-scale</property>
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</scale>
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</input>
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<input>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/lnav-hdg-error-deg</property>
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<scale>
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<property>/it-autoflight/config/cmd/roll-scale</property>
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</scale>
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</input>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>5</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</input>
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<output>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</output>
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<gain>0.5</gain>
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<u_min>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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</condition>
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<property>/it-autoflight/input/bank-limit</property>
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<scale>-1</scale>
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</u_min>
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<u_min>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<value>-30</value>
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</u_min>
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<u_max>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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</condition>
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<property>/it-autoflight/input/bank-limit</property>
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</u_max>
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<u_max>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<value>30</value>
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</u_max>
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</filter>
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<pid-controller>
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<name>VORLOC TRK</name>
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<debug>false</debug>
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<enable>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>2</value>
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</equals>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/nav1-heading-error-deg</property>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/cmd/vorloc</property>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
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<Td>0.00001</Td>
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<u_min>-30</u_min>
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<u_max>30</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>IT-CONTROLLER: ROLL</name>
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<debug>false</debug>
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<enable>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</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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</enable>
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<input>
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<property>/orientation/roll-deg</property>
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</input>
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<reference>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</reference>
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<output>
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<property>/it-autoflight/internal/aileron-cmd</property>
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</output>
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<config>
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<Kp>
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<condition>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>2</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/config/roll/kp</property>
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</Kp>
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<Kp>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>2</value>
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</equals>
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</condition>
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<property>/it-autoflight/config/roll/kp-vloc</property>
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</Kp>
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<Kp>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</equals>
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</condition>
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<property>/it-autoflight/config/autoland/kp-roll</property>
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</Kp>
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<beta>1.0</beta>
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<alpha>0.1</alpha>
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<gamma>0.0</gamma>
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<Ti>
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<property>/it-autoflight/config/roll/ti</property>
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</Ti>
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<Td>
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<property>/it-autoflight/config/roll/td</property>
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</Td>
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<u_min>
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<property>/it-autoflight/config/roll/umin</property>
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</u_min>
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<u_max>
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<property>/it-autoflight/config/roll/umax</property>
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</u_max>
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</config>
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</pid-controller>
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|
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<filter>
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<name>IT-CONTROLLER: ROLL CMD</name>
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<debug>false</debug>
|
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
|
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<condition>
|
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<or>
|
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</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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</enable>
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<input>
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<property>/it-autoflight/internal/aileron-cmd</property>
|
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</input>
|
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<output>/controls/flight/aileron</output>
|
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<type>noise-spike</type>
|
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<max-rate-of-change>0.9</max-rate-of-change>
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</filter>
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|
|
<!-- =============================================================== -->
|
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<!-- Vertical Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pid-controller>
|
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<name>ALTITUDE CAPTURE/HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
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<equals>
|
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<property>/it-autoflight/output/vert</property>
|
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<value>0</value>
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</equals>
|
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</condition>
|
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</enable>
|
|
<input>
|
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<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
|
|
</input>
|
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<reference>
|
|
<property>/it-autoflight/internal/alt</property>
|
|
</reference>
|
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<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/alt</property>
|
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</Kp>
|
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<beta>1.0</beta>
|
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<alpha>0.5</alpha>
|
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<gamma>0.0</gamma>
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<Ti>10.0</Ti>
|
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<Td>0.0001</Td>
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<u_min>
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<property>/it-autoflight/internal/min-pitch</property>
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</u_min>
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<u_max>
|
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<property>/it-autoflight/internal/max-pitch</property>
|
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</u_max>
|
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</config>
|
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</pid-controller>
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|
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<pid-controller>
|
|
<name>VERTICAL SPEED HOLD</name>
|
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<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
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<property>/it-autoflight/output/vert</property>
|
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<value>1</value>
|
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</equals>
|
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</condition>
|
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</enable>
|
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<input>
|
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<property>/velocities/vertical-speed-fps</property>
|
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</input>
|
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<reference>
|
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<property>/it-autoflight/input/vs</property>
|
|
<scale>0.01666666</scale>
|
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</reference>
|
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<output>
|
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<property>/it-autoflight/internal/target-pitch-deg</property>
|
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</output>
|
|
<config>
|
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<Kp>
|
|
<property>/it-autoflight/config/cmd/vs</property>
|
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</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>5.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>
|
|
<value>-10</value>
|
|
</u_min>
|
|
<u_max>
|
|
<value>30</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>FPA HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>5</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/fpa</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/input/fpa</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/fpa</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>1.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>
|
|
<value>-10</value>
|
|
</u_min>
|
|
<u_max>
|
|
<value>30</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pi-simple-controller>
|
|
<name>AUTOLAND VS HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/vert-speed-fpm</property>
|
|
<scale>0.2</scale>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/autoland/target-vs</property>
|
|
<scale>0.2</scale>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/autoland/kp-pitch</property>
|
|
</Kp>
|
|
<Ki>0.010</Ki>
|
|
<beta>1.0</beta>
|
|
<alpha>0.5</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>10.0</Ti>
|
|
<Td>0.0001</Td>
|
|
<min>
|
|
<value>0</value>
|
|
</min>
|
|
<max>
|
|
<value>15</value>
|
|
</max>
|
|
</config>
|
|
</pi-simple-controller>
|
|
|
|
<pid-controller>
|
|
<name>GLIDESLOPE HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>2</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/velocities/vertical-speed-fps</property>
|
|
</input>
|
|
<reference>
|
|
<property>/instrumentation/nav[0]/gs-rate-of-climb</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/gs</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.5</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>10.0</Ti>
|
|
<Td>0.0001</Td>
|
|
<u_min>-5</u_min>
|
|
<u_max>7</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>FLIGHT LEVEL CHANGE</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
|
|
<scale>1000.0</scale>
|
|
</input>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/input/spd-kts</property>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/input/spd-mach</property>
|
|
<scale>1000.0</scale>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/flch</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>10.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>
|
|
<condition>
|
|
<greater-than>
|
|
<property>/it-autoflight/internal/alt</property>
|
|
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
|
|
</greater-than>
|
|
</condition>
|
|
<value>1.5</value>
|
|
</u_min>
|
|
<u_min>
|
|
<condition>
|
|
<less-than>
|
|
<property>/it-autoflight/internal/alt</property>
|
|
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
|
|
</less-than>
|
|
</condition>
|
|
<value>-7.0</value>
|
|
</u_min>
|
|
<u_max>
|
|
<condition>
|
|
<greater-than>
|
|
<property>/it-autoflight/internal/alt</property>
|
|
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
|
|
</greater-than>
|
|
</condition>
|
|
<value>25.0</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>0.0</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>TOGA SPEED BY PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>7</value>
|
|
</equals>
|
|
</or>
|
|
</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-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/flch</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>10.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>
|
|
<value>1.5</value>
|
|
</u_min>
|
|
<u_max>
|
|
<value>25.0</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>IT-CONTROLLER: PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/pitch-deg</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/pitch/kp</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>
|
|
<property>/it-autoflight/config/pitch/ti</property>
|
|
</Ti>
|
|
<Td>
|
|
<property>/it-autoflight/config/pitch/td</property>
|
|
</Td>
|
|
<u_min>
|
|
<property>/it-autoflight/config/pitch/umin</property>
|
|
</u_min>
|
|
<u_max>
|
|
<property>/it-autoflight/config/pitch/umax</property>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: PITCH CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/elevator</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.3</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Rudder Control -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pi-simple-controller>
|
|
<name>RUDDER VORLOC TRK</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/nav1-heading-error-deg</property>
|
|
</input>
|
|
<reference>
|
|
<value>0</value>
|
|
</reference>
|
|
<output>/it-autoflight/internal/rudder-cmd</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/autoland/kp-rudder</property>
|
|
</Kp>
|
|
<Ki>0</Ki>
|
|
</config>
|
|
<min>-0.25</min>
|
|
<max>0.25</max>
|
|
</pi-simple-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: RUDDER CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/rudder-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/rudder</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.20</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Control Wheel Steering -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pid-controller>
|
|
<name>IT-CONTROLLER: CWS ROLL</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/internal/cwsr</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/cws</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/roll-deg</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/internal/cws-roll-deg</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/cws-ail-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/roll/kp</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>
|
|
<property>/it-autoflight/config/roll/ti</property>
|
|
</Ti>
|
|
<Td>
|
|
<property>/it-autoflight/config/roll/td</property>
|
|
</Td>
|
|
<u_min>-1.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: CWS ROLL CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/cws</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/internal/cwsr</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/cws-ail-cmd</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/internal/cwsr</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</input>
|
|
<output>/controls/flight/aileron-trim</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.9</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller>
|
|
<name>IT-CONTROLLER: CWS PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/internal/cwsp</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/cws</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/pitch-deg</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/internal/cws-pitch-deg</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/cws-elv-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/pitch/kp-cws</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>
|
|
<property>/it-autoflight/config/pitch/ti</property>
|
|
</Ti>
|
|
<Td>
|
|
<property>/it-autoflight/config/pitch/td</property>
|
|
</Td>
|
|
<u_min>-1.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: CWS PITCH CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/cws</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/cws-elv-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/elevator-trim</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Autotrim -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pid-controller>
|
|
<name>AP PITCH HELPER PLUS</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<greater-than>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
<value>0.05</value>
|
|
</greater-than>
|
|
<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>
|
|
</enable>
|
|
<input>
|
|
<value>0</value>
|
|
</input>
|
|
<reference>
|
|
<value>1</value>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/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>AP PITCH HELPER MINUS</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<less-than>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
<value>-0.05</value>
|
|
</less-than>
|
|
<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>
|
|
</enable>
|
|
<input>
|
|
<value>0</value>
|
|
</input>
|
|
<reference>
|
|
<value>1</value>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/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-CONTROLLER: PITCH TRIM CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
<or>
|
|
<greater-than>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
<value>0.05</value>
|
|
</greater-than>
|
|
<less-than>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
<value>-0.05</value>
|
|
</less-than>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/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>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Flight Director -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<name>FD: ROLL</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<dif>
|
|
<property>/it-autoflight/internal/target-roll-deg</property>
|
|
<property>/orientation/roll-deg</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<output>/it-autoflight/fd/roll-bar</output>
|
|
</filter>
|
|
|
|
|
|
<filter>
|
|
<name>FD: PITCH</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<dif>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
<property>/orientation/pitch-deg</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<output>/it-autoflight/fd/pitch-bar</output>
|
|
</filter>
|
|
|
|
</PropertyList>
|