700 lines
16 KiB
XML
700 lines
16 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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<!-- IT-AUTOFLIGHT -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Vertical Modes -->
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<!-- =============================================================== -->
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<filter>
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<name>ALTITUDE CAPTURE/HOLD</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<expression>
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<sum>
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<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
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<value>-5</value>
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</sum>
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</expression>
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</input>
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<reference>
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<condition>
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<not-equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/internal/alt</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/mng-alt</property>
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</reference>
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<gain>-8</gain>
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<output>
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<property>/it-autoflight/internal/target-fpm</property>
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</output>
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<min>
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<property>/it-autoflight/internal/min-vs</property>
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</min>
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<max>
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<property>/it-autoflight/internal/max-vs</property>
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</max>
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</filter>
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<pid-controller>
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<name>FPA HOLD</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>5</value>
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</equals>
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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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<equals>
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<property>/it-autoflight/output/fd1</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/fd2</property>
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<value>1</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/fpa</property>
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</input>
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<reference>
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<property>/it-autoflight/input/fpa</property>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-fpm-d</property>
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</output>
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<config>
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<Kp>120</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>1.0</Ti>
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<Td>0.00001</Td>
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<u_min>
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<expression>
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<dif>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<value>2500</value>
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</dif>
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</expression>
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</u_min>
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<u_max>
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<expression>
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<sum>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<value>2500</value>
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</sum>
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</expression>
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</u_max>
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</config>
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</pid-controller>
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<pid-controller>
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<name>FLCH SPEED BY PITCH</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/vert</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/vert</property>
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<value>7</value>
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</equals>
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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert-mng</property>
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<value>4</value>
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</equals>
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</and>
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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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<equals>
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<property>/it-autoflight/input/kts-mach</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/internal/lookahead-15-sec-airspeed-kt</property>
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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/input/kts-mach</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/lookahead-15-sec-mach</property>
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<scale>1000.0</scale>
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</input>
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<reference>
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<condition>
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<equals>
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<property>/it-autoflight/input/kts-mach</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/internal/flch-kts</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/it-autoflight/input/kts-mach</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/flch-mach</property>
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<scale>1000.0</scale>
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</reference>
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<output>
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<property>/it-autoflight/internal/target-fpm-b</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/vert</property>
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<value>7</value>
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</not-equals>
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</condition>
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<value>-55</value>
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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/vert</property>
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<value>7</value>
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</equals>
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</condition>
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<value>-60</value>
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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>2.5</Ti>
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<Td>0.001</Td>
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<u_min>
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<condition>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>2</value>
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</equals>
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</condition>
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<value>150</value>
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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/thr-mode</property>
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<value>1</value>
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</equals>
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</condition>
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<expression>
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<dif>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<value>2500</value>
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</dif>
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</expression>
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</u_min>
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<u_max>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>2</value>
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</equals>
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<and>
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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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</and>
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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>/it-autoflight/internal/vert-speed-fpm</property>
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<value>2500</value>
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</sum>
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</expression>
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</u_max>
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<u_max>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>2</value>
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</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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</and>
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</condition>
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<value>1000</value>
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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/thr-mode</property>
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<value>1</value>
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</equals>
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</condition>
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<value>-150</value>
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</u_max>
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<u_min>
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<condition>
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<equals>
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<property>/it-autoflight/output/thr-mode</property>
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<value>0</value>
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</equals>
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</condition>
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<value>-6000</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/thr-mode</property>
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<value>0</value>
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</equals>
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</condition>
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<value>10000</value>
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</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>TARGET FPM</name>
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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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<or>
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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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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert-mng</property>
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<value>0</value>
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</equals>
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</and>
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm</property>
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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/vert</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/input/vs</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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<equals>
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<property>/it-autoflight/output/vert</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/vert</property>
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<value>7</value>
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</equals>
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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert-mng</property>
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<value>4</value>
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</equals>
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</and>
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm-b</property>
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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/vert</property>
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<value>6</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-c2</property>
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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/vert</property>
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<value>5</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-d</property>
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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/vert</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/internal/nav1-rate-of-climb-fpm</property>
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</input>
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<output>/it-autoflight/internal/target-common-fpm</output>
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</filter>
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<pid-controller>
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<name>FPM HOLD</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<or>
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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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<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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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>2</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert</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/vert</property>
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<value>5</value>
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</equals>
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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>6</value>
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</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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</and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>7</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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</or>
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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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</and>
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</condition>
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</enable>
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<input>
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<property>/it-autoflight/internal/vert-speed-fpm</property>
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<scale>0.16667</scale>
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</input>
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<reference>
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<condition>
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<or>
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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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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert-mng</property>
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<value>0</value>
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</equals>
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</and>
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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<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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<property>/it-autoflight/internal/vs</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/vert</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/vert</property>
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<value>7</value>
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</equals>
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<and>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>8</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/vert-mng</property>
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<value>4</value>
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</equals>
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</and>
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</or>
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</condition>
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<property>/it-autoflight/internal/target-fpm-b</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>6</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-c</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/it-autoflight/output/vert</property>
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<value>5</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/target-fpm-d</property>
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<scale>0.16667</scale>
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</reference>
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<reference>
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<condition>
|
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<equals>
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<property>/it-autoflight/output/vert</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/internal/nav1-rate-of-climb-fpm</property>
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<scale>0.16667</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>
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<config>
|
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<Kp>
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<condition>
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<not-equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</not-equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/cmd/vs</property>
|
|
</Kp>
|
|
<Kp>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/autoland/kp-pitch</property>
|
|
</Kp>
|
|
<Ti>3.0</Ti>
|
|
<Td>0.0001</Td>
|
|
<u_min>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</not-equals>
|
|
</condition>
|
|
<value>-10</value>
|
|
</u_min>
|
|
<u_min>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</u_min>
|
|
<u_max>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<value>30</value>
|
|
</u_max>
|
|
<u_max>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>10</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>PITCH DEG SYNC</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1</gain>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>/orientation/pitch-deg</input>
|
|
<output>/it-autoflight/internal/target-pitch-deg</output>
|
|
<min>-15</min>
|
|
<max>30</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>System Command: Pitch Rate</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>
|
|
<property>/it-autoflight/config/pitch/gain</property>
|
|
</gain>
|
|
<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> <!-- Inputs to the FBW Pitch Rate -->
|
|
</output>
|
|
<min>
|
|
<property>/it-autoflight/config/pitch/min</property>
|
|
</min>
|
|
<max>
|
|
<property>/it-autoflight/config/pitch/max</property>
|
|
</max>
|
|
</filter>
|
|
|
|
</PropertyList>
|