366 lines
8.6 KiB
XML
366 lines
8.6 KiB
XML
<?xml version="1.0"?>
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<!--
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##############################################################
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# Copyright (c) A3XX Development Team - All Rights Reserved. #
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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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<!-- Lateral Modes -->
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<!-- =============================================================== -->
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<pi-simple-controller>
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<name>ROLL CONTROLLER: HDG/LNAV</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/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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</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/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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<reference>
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<value>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/roll-kp</property>
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</Kp>
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<Ki>0.0</Ki>
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<min>
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<property>/it-autoflight/internal/bank-limit</property>
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<scale>-1</scale>
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</min>
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<max>
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<property>/it-autoflight/internal/bank-limit</property>
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</max>
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</config>
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</pi-simple-controller>
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<pi-simple-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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<and>
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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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<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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<condition>
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<equals>
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<property>/it-autoflight/settings/use-backcourse</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/nav-heading-error-deg</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/settings/use-backcourse</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/nav-bc-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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<Ki>0.0001</Ki>
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<min>
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<property>/it-autoflight/internal/bank-limit</property>
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<scale>-1</scale>
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</min>
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<max>
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<property>/it-autoflight/internal/bank-limit</property>
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</max>
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</config>
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</pi-simple-controller>
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<filter>
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<name>ROLL 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/roll-deg</input>
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<output>/it-autoflight/internal/target-roll-deg</output>
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<min>
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<property>/it-autoflight/internal/bank-limit</property>
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<scale>-1</scale>
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</min>
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<max>
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<property>/it-autoflight/internal/bank-limit</property>
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</max>
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</filter>
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<filter>
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<name>IT-CONTROLLER: TARGET 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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<input>
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<property>/it-autoflight/internal/target-roll-deg</property>
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</input>
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<output>/it-autoflight/internal/target-roll</output>
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<type>noise-spike</type>
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<max-rate-of-change>6</max-rate-of-change>
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</filter>
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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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<condition>
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<and>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</not-equals>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>5</value>
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</not-equals>
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</and>
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</condition>
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<property>/it-autoflight/internal/target-roll</property>
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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/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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</reference>
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<output>
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<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW -->
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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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<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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<!-- Yaw Control -->
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<!-- =============================================================== -->
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<pi-simple-controller>
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<name>RUDDER 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>4</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/nav-heading-error-deg</property>
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</input>
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<reference>
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<value>0</value>
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</reference>
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<output>/it-autoflight/internal/rudder-cmd</output>
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<config>
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<Kp>
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<property>/it-autoflight/config/autoland/kp-rudder</property>
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</Kp>
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<Ki>0</Ki>
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</config>
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<min>-0.15</min>
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<max>0.15</max>
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</pi-simple-controller>
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<filter>
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<name>IT-CONTROLLER: RUDDER 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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<condition>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>4</value>
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</not-equals>
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</condition>
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<value>0</value>
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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>4</value>
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</equals>
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</condition>
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<property>/it-autoflight/internal/rudder-cmd</property>
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</input>
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<output>/controls/flight/rudder</output>
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<type>noise-spike</type>
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<max-rate-of-change>0.6</max-rate-of-change>
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</filter>
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</PropertyList>
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