736 lines
17 KiB
XML
736 lines
17 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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<!-- 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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<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
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</input>
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<reference>
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<property>/it-autoflight/internal/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-pitch-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/fpa</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>1.0</Ti>
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<Td>0.00001</Td>
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<u_min>
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<value>-10</value>
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</u_min>
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<u_max>
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<value>30</value>
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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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</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>500.0</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>500.0</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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<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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</condition>
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<value>-50</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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<value>-6000</value>
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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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<value>10000</value>
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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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</config>
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</pid-controller>
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<filter>
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<name>AUTOLAND FPM</name>
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<type>gain</type>
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<gain>1</gain>
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<update-interval-secs type="double">0.05</update-interval-secs>
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<input>
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<expression>
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<table>
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<property>/position/gear-agl-ft</property>
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<entry><ind>100</ind><dep>-600</dep></entry>
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<entry><ind> 50</ind><dep>-500</dep></entry>
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<entry><ind> 40</ind><dep>-400</dep></entry>
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<entry><ind> 30</ind><dep>-300</dep></entry>
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<entry><ind> 20</ind><dep>-200</dep></entry>
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<entry><ind> 10</ind><dep>-150</dep></entry>
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<entry><ind> 5</ind><dep>-100</dep></entry>
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</table>
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</expression>
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</input>
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<output>/it-autoflight/internal/target-fpm-c</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>6</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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</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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<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/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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<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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<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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</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>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>
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<property>/it-autoflight/output/vert</property>
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<value>6</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/config/cmd/vs</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/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/config/autoland/kp-pitch</property>
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</Kp>
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<Ti>7.0</Ti>
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<Td>0.0001</Td>
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<u_min>
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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>6</value>
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</not-equals>
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</condition>
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<value>-10</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/vert</property>
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<value>6</value>
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</equals>
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</condition>
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<value>0</value>
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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>/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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</condition>
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<value>30</value>
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</u_max>
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<u_max>
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<condition>
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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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</condition>
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<value>10</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>PITCH DEG SYNC</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<enable>
|
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<condition>
|
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<and>
|
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<not-equals>
|
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</not-equals>
|
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<not-equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</not-equals>
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<not-equals>
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<property>/it-autoflight/output/fd1</property>
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<value>1</value>
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</not-equals>
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<not-equals>
|
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<property>/it-autoflight/output/fd2</property>
|
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<value>1</value>
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</not-equals>
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</and>
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</condition>
|
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</enable>
|
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<input>/orientation/pitch-deg</input>
|
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<output>/it-autoflight/internal/target-pitch-deg</output>
|
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<min>-15</min>
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<max>30</max>
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</filter>
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|
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<pid-controller>
|
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<name>IT-CONTROLLER: 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>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
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<property>/it-autoflight/output/ap2</property>
|
|
<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/pitch-deg</property>
|
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</input>
|
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<reference>
|
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<property>/it-autoflight/internal/target-pitch-deg</property>
|
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</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
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</output>
|
|
<config>
|
|
<Kp>
|
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<property>/it-autoflight/config/pitch/kp</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/pitch/ti</property>
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</Ti>
|
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<Td>
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<property>/it-autoflight/config/pitch/td</property>
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</Td>
|
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<u_min>
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<property>/it-autoflight/config/pitch/umin</property>
|
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</u_min>
|
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<u_max>
|
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<property>/it-autoflight/config/pitch/umax</property>
|
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</u_max>
|
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</config>
|
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</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: PITCH CMD</name>
|
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<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
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<input>
|
|
<condition>
|
|
<and>
|
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<equals>
|
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<property>/it-autoflight/output/ap1</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/ap2</property>
|
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<value>0</value>
|
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</equals>
|
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</and>
|
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</condition>
|
|
<property>/controls/flight/elevator-fbw</property>
|
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</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/elevator-fmgc</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<value>10</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>
|
|
<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>
|
|
<value>0.35</value>
|
|
</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>0.01</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>-0.01</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>0.01</value>
|
|
</greater-than>
|
|
<less-than>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
<value>-0.01</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>
|
|
|
|
</PropertyList>
|