680 lines
16 KiB
XML
680 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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<!-- Airbus A3XX FBW System -->
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<!-- Joshua Davidson (it0uchpods) -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Vertical -->
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<!-- =============================================================== -->
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<filter>
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<name>IT-CONTROLLER: LOAD FACTOR CMD</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<sum>
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<table>
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<property>/controls/flight/elevator-input</property>
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<entry><ind> 1</ind><dep>-0.5</dep></entry>
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<entry><ind> 0</ind><dep> 1.0</dep></entry>
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<entry><ind>-1</ind><dep> 2.5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<output>/it-fbw/g-target</output>
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<min>
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<condition>
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<not-equals>
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<property>/controls/flight/flap-pos</property>
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<value>0</value>
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</not-equals>
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</condition>
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<value>0.0</value>
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</min>
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<min>-1.0</min>
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<max>
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<condition>
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<not-equals>
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<property>/controls/flight/flap-pos</property>
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<value>0</value>
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</not-equals>
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</condition>
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<value>2.0</value>
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</max>
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<max>2.5</max>
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</filter>
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<filter>
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<name>IT-CONTROLLER: COMPUTED G</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<sum>
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<property>/accelerations/pilot-gdamped</property>
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<div>
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<value>-1</value>
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<cos>
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<deg2rad>
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<product>
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<property>/orientation/roll-deg</property>
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<value>0.965</value>
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</product>
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</deg2rad>
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</cos>
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</div>
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<value>1</value>
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</sum>
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</expression>
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</input>
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<output>/it-fbw/g-computed</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: G ERROR</name>
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<type>gain</type>
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<gain>-1.0</gain>
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<input>
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<expression>
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<dif>
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<property>/it-fbw/g-target</property>
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<property>/it-fbw/g-computed</property>
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</dif>
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</expression>
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</input>
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<output>/it-fbw/g-error</output>
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</filter>
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<pi-simple-controller>
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<name>IT-CONTROLLER: G ELEVATOR</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>/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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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</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-fbw/g-error</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>
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<property>/it-fbw/g-elevator-cmd</property>
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</output>
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<config>
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<Kp>-1.5</Kp>
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<Ki>-1.5</Ki>
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<min>
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<condition>
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<less-than>
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<property>/controls/flight/elevator-input</property>
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<value>0</value>
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</less-than>
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</condition>
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<property>/controls/flight/elevator-input</property>
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</min>
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<min>0.0</min>
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<max>
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<condition>
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<greater-than>
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<property>/controls/flight/elevator-input</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/controls/flight/elevator-input</property>
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</max>
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<max>0.0</max>
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</config>
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</pi-simple-controller>
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<filter>
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<name>IT-CONTROLLER: G ELEVATOR INVERT</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<less-than-equals>
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<property>/orientation/roll-deg</property>
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<value>90</value>
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</less-than-equals>
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<greater-than-equals>
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<property>/orientation/roll-deg</property>
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<value>-90</value>
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</greater-than-equals>
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</and>
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</condition>
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<property>/it-fbw/g-elevator-cmd</property>
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</input>
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<input>
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<property>/it-fbw/g-elevator-cmd</property>
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<scale>-1.0</scale>
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</input>
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<output>/it-fbw/g-elevator</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: PITCH RATE CMD</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<not-equals>
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<property>/it-fbw/protections/overspeed</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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<expression>
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<sum>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1</ind><dep>-5.0</dep></entry>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep> 5.0</dep></entry>
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</table>
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<product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>-15.00000</ind><dep>1</dep></entry>
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<entry><ind>-14.99999</ind><dep>0</dep></entry>
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</table>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind>1</ind><dep>5.0</dep></entry>
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<entry><ind>0</ind><dep>0.0</dep></entry>
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</table>
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</product>
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<product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>29.99999</ind><dep>0</dep></entry>
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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</product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>-18</ind><dep> 5</dep></entry>
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<entry><ind>-15</ind><dep> 0</dep></entry>
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<entry><ind> 30</ind><dep> 0</dep></entry>
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<entry><ind> 33</ind><dep>-5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<not-equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</not-equals>
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<not-equals>
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<property>/it-fbw/protections/overspeed</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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<expression>
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<sum>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1</ind><dep>-5.0</dep></entry>
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<entry><ind> 0</ind><dep> 0.0</dep></entry>
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<entry><ind>-1</ind><dep> 5.0</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/protections/overspeed</property>
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<value>1</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
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<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
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</table>
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<product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>29.99999</ind><dep>0</dep></entry>
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep>-1.5</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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</product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind> 30</ind><dep> 0</dep></entry>
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<entry><ind> 33</ind><dep>-5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<input>
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<condition>
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<and>
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<not-equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</not-equals>
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<equals>
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<property>/it-fbw/protections/overspeed</property>
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<value>1</value>
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</equals>
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</and>
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</condition>
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<expression>
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<sum>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 1.0</ind><dep>-3.5</dep></entry>
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<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
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<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
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</table>
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<product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>-15.00000</ind><dep>1</dep></entry>
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<entry><ind>-14.99999</ind><dep>0</dep></entry>
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</table>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind>1</ind><dep> 3.5</dep></entry>
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<entry><ind>0</ind><dep>-1.5</dep></entry>
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</table>
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</product>
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<product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>29.99999</ind><dep>0</dep></entry>
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<entry><ind>30.00000</ind><dep>1</dep></entry>
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</table>
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<table>
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<property>/it-fbw/g-elevator</property>
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<entry><ind> 0</ind><dep>-1.5</dep></entry>
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<entry><ind>-1</ind><dep>-5.0</dep></entry>
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</table>
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</product>
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<table>
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<property>/orientation/pitch-deg</property>
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<entry><ind>-18</ind><dep> 5</dep></entry>
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<entry><ind>-15</ind><dep> 0</dep></entry>
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<entry><ind> 30</ind><dep> 0</dep></entry>
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<entry><ind> 33</ind><dep>-5</dep></entry>
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</table>
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</sum>
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</expression>
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</input>
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<output>/it-fbw/pitch-rate</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: PITCH KP (P Gain)</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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<property>/velocities/mach</property>
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<entry><ind>0.2</ind><dep>-0.31</dep></entry>
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<entry><ind>0.9</ind><dep>-0.15</dep></entry>
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</table>
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</expression>
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</input>
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<output>/it-fbw/pitch-kp</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: PITCH TI (I Time)</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<table>
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<property>/velocities/mach</property>
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<entry><ind>0.2</ind><dep>0.75</dep></entry>
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<entry><ind>0.9</ind><dep>0.55</dep></entry>
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</table>
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</expression>
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</input>
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<output>/it-fbw/pitch-ti</output>
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</filter>
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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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<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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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</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>/orientation/pitch-rate-degps</property>
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</input>
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<reference>
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<property>/it-fbw/pitch-rate</property>
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</reference>
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<output>
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<property>/controls/flight/elevator-fbw-pid</property>
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</output>
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<config>
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<Kp>
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<property>/it-fbw/pitch-kp</property>
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</Kp>
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<beta>1</beta>
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<alpha>0.1</alpha>
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<gamma>0</gamma>
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<Ti>
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<property>/it-fbw/pitch-ti</property>
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</Ti>
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<Td>0.005</Td>
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<u_min>-1</u_min>
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<u_max>1</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>IT-CONTROLLER: ELEVATOR INVERT</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
|
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<and>
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<less-than-equals>
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<property>/orientation/roll-deg</property>
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<value>90</value>
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</less-than-equals>
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<greater-than-equals>
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<property>/orientation/roll-deg</property>
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<value>-90</value>
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</greater-than-equals>
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</and>
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</condition>
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<property>/controls/flight/elevator-fbw-pid</property>
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</input>
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<input>
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<property>/controls/flight/elevator-fbw-pid</property>
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<scale>-1.0</scale>
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</input>
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<output>/controls/flight/elevator-fbw-cmd</output>
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</filter>
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<filter>
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<name>IT-CONTROLLER: PITCH OPTION</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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<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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<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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<or>
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<equals>
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<property>/it-fbw/law</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-fbw/law</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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<property>/controls/flight/elevator-fbw-cmd</property>
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</input>
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<input>
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|
<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/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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<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>
|
|
<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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<equals>
|
|
<property>/it-fbw/law</property>
|
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<value>2</value>
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</equals>
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</or>
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</and>
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</condition>
|
|
<property>/controls/flight/elevator-input-fast</property>
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</input>
|
|
<input>
|
|
<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>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
<value>0.1</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>3</value>
|
|
</equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</input>
|
|
<output>/controls/flight/elevator-fbw</output>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: PITCH TRIM</name>
|
|
<debug>false</debug>
|
|
<initialize-to>output</initialize-to>
|
|
<type>noise-spike</type>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<or>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
<or>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>100</value>
|
|
</greater-than-equals>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
<and>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</or>
|
|
<less-than>
|
|
<property>/orientation/roll-deg</property>
|
|
<value>40</value>
|
|
</less-than>
|
|
<greater-than>
|
|
<property>/orientation/roll-deg</property>
|
|
<value>-40</value>
|
|
</greater-than>
|
|
<or>
|
|
<greater-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>0.01</value>
|
|
</greater-than>
|
|
<less-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>-0.01</value>
|
|
</less-than>
|
|
</or>
|
|
<less-than>
|
|
<property>/fdm/jsbsim/forces/load-factor</property>
|
|
<value>-0.5</value>
|
|
</less-than>
|
|
<not-equals>
|
|
<property>/it-fbw/protections/overspeed</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<greater-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>0.01</value>
|
|
</greater-than>
|
|
</condition>
|
|
<value>1</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<less-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>-0.01</value>
|
|
</less-than>
|
|
</condition>
|
|
<value>-1</value>
|
|
</input>
|
|
<output>/controls/flight/elevator-trim</output>
|
|
<min>-1.0</min>
|
|
<max>0.32</max>
|
|
<max-rate-of-change>0.01</max-rate-of-change>
|
|
</filter>
|
|
|
|
</PropertyList>
|