1475 lines
35 KiB
XML
1475 lines
35 KiB
XML
<?xml version="1.0"?>
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<!-- IT-AUTOFLIGHT -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Predictors -->
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<!-- =============================================================== -->
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<predict-simple>
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<name>ALTITUDE 5 SECONDS AHEAD</name>
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<debug>false</debug>
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<input>/instrumentation/altimeter/indicated-altitude-ft</input>
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<output>/it-autoflight/internal/altitude-5-sec-ahead</output>
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<seconds>5.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>IAS 5 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
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<output>/it-autoflight/internal/lookahead-5-sec-airspeed-kt</output>
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<seconds>5.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>IAS 10 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
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<output>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</output>
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<seconds>10.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>IAS 15 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
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<output>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</output>
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<seconds>15.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>MACH 5 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-mach</input>
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<output>/it-autoflight/internal/lookahead-5-sec-mach</output>
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<seconds>5.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>MACH 10 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-mach</input>
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<output>/it-autoflight/internal/lookahead-10-sec-mach</output>
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<seconds>10.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<predict-simple>
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<name>MACH 15 SECOND PREDICTOR</name>
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<debug>false</debug>
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<input>/instrumentation/airspeed-indicator/indicated-mach</input>
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<output>/it-autoflight/internal/lookahead-15-sec-mach</output>
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<seconds>15.0</seconds>
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<filter-gain>0.0</filter-gain>
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</predict-simple>
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<!-- =============================================================== -->
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<!-- Autopilot Helpers -->
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<!-- =============================================================== -->
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<filter>
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<name>KTS INPUT FILTER</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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<condition>
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<not-equals>
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<property>/it-autoflight/mode/vert</property>
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<value>T/O CLB</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/input/spd-kts</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/mode/vert</property>
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<value>T/O CLB</value>
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</equals>
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</condition>
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<property>/it-autoflight/settings/togaspd</property>
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</input>
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<output>/it-autoflight/internal/flch-kts</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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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>100</value>
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</max-rate-of-change>
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<max-rate-of-change>
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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>5</value>
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</max-rate-of-change>
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</filter>
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<filter>
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<name>MACH INPUT FILTER</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/input/spd-mach</property>
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</input>
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<output>/it-autoflight/internal/flch-mach</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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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>1</value>
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</max-rate-of-change>
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<max-rate-of-change>
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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>0.05</value>
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</max-rate-of-change>
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</filter>
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<filter>
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<name>IAS SYNC</name>
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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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<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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</enable>
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<update-interval-secs type="double">0.5</update-interval-secs>
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<input>/instrumentation/airspeed-indicator/indicated-speed-kt</input>
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<output>/it-autoflight/input/spd-kts</output>
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</filter>
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<filter>
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<name>MACH SYNC</name>
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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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<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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</enable>
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<update-interval-secs type="double">0.5</update-interval-secs>
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<input>/instrumentation/airspeed-indicator/indicated-mach</input>
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<output>/it-autoflight/input/spd-mach</output>
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</filter>
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<filter>
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<name>HEADING ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/input/trk</property>
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<value>0</value>
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</equals>
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</and>
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</condition>
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<property>/it-autoflight/input/hdg</property>
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<offset>
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<property>/orientation/heading-magnetic-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>0</value>
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</equals>
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<equals>
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<property>/it-autoflight/input/trk</property>
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<value>1</value>
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</equals>
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</and>
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</condition>
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<property>/it-autoflight/input/hdg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<property>/autopilot/settings/true-heading-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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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>0</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>1</value>
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</not-equals>
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</and>
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</condition>
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<value>0</value>
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</input>
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<output>/it-autoflight/internal/heading-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>VERT SPEED FILTER</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/input/vs</property>
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</input>
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<output>/it-autoflight/internal/vs</output>
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<type>noise-spike</type>
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<max-rate-of-change>
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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>2000</value>
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</max-rate-of-change>
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<max-rate-of-change>
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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>300</value>
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</max-rate-of-change>
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</filter>
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<filter>
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<name>NAV ERROR DEG</name>
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<debug>false</debug>
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<type>gain</type>
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<input>
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<condition>
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<equals>
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<property>/it-autoflight/settings/use-nav2-radio</property>
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<value>0</value>
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</equals>
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</condition>
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<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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<condition>
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<equals>
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<property>/it-autoflight/settings/use-nav2-radio</property>
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<value>1</value>
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</equals>
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</condition>
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<property>/instrumentation/nav[1]/radials/target-auto-hdg-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<output>/it-autoflight/internal/nav-heading-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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<gain>1.0</gain>
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</filter>
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<filter>
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<name>INTERNAL VERTICAL SPEED COMPUTER</name>
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<debug>false</debug>
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<type>gain</type>
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<input>/velocities/vertical-speed-fps</input>
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<output>/it-autoflight/internal/vert-speed-fpm</output>
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<gain>55.5</gain>
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</filter>
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<filter>
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<name>INTERNAL VERTICAL SPEED COMPUTER</name>
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<debug>false</debug>
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<type>gain</type>
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<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/vert</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/vert</property>
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<value>7</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>/velocities/vertical-speed-fps</input>
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<output>/it-autoflight/internal/target-fpm-b</output>
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<gain>55.5</gain>
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</filter>
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<filter>
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<name>NAV1 G/S FPM Calc</name>
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<debug>false</debug>
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<type>gain</type>
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<input>/instrumentation/nav[0]/gs-rate-of-climb-fpm</input>
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<output>/it-autoflight/internal/nav1-rate-of-climb-fpm</output>
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<gain>1.0</gain>
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<min>-1500</min>
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<max>0</max>
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</filter>
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<filter>
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<name>NAV2 G/S FPM Calc</name>
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<debug>false</debug>
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<type>gain</type>
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<input>/instrumentation/nav[1]/gs-rate-of-climb-fpm</input>
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<output>/it-autoflight/internal/nav2-rate-of-climb-fpm</output>
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<gain>1.0</gain>
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<min>-1500</min>
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<max>0</max>
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</filter>
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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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<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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</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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<condition>
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<not-equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/input/bank-limit</property>
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<scale>-1</scale>
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</min>
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<min>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<value>-25</value>
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</min>
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<max>
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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>1</value>
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</not-equals>
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</condition>
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<property>/it-autoflight/input/bank-limit</property>
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</max>
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<max>
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>1</value>
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</equals>
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</condition>
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<value>25</value>
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</max>
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</config>
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</pi-simple-controller>
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<pid-controller>
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<name>VORLOC TRK</name>
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<debug>false</debug>
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<enable>
|
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<condition>
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<equals>
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<property>/it-autoflight/output/lat</property>
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<value>2</value>
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</equals>
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</condition>
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</enable>
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<input>
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<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>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/vorloc</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>10.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>-25</u_min>
|
|
<u_max>25</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: TARGET ROLL CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<input>
|
|
<property>/it-autoflight/internal/target-roll-deg</property>
|
|
</input>
|
|
<output>/it-autoflight/internal/target-roll</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>6</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller>
|
|
<name>IT-CONTROLLER: ROLL</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/roll-deg</property>
|
|
</input>
|
|
<reference>
|
|
<condition>
|
|
<and>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>5</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<property>/it-autoflight/internal/target-roll</property>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>5</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0</value>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/aileron-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>2</value>
|
|
</not-equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/roll/kp</property>
|
|
</Kp>
|
|
<Kp>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>2</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/roll/kp-vloc</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>
|
|
<property>/it-autoflight/config/roll/ti</property>
|
|
</Ti>
|
|
<Td>
|
|
<property>/it-autoflight/config/roll/td</property>
|
|
</Td>
|
|
<u_min>
|
|
<property>/it-autoflight/config/roll/umin</property>
|
|
</u_min>
|
|
<u_max>
|
|
<property>/it-autoflight/config/roll/umax</property>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: ROLL CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/aileron-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/aileron</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.8</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Vertical Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<name>ALTITUDE CAPTURE/HOLD</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/it-autoflight/internal/altitude-5-sec-ahead</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/internal/alt</property>
|
|
</reference>
|
|
<gain>-8</gain>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-fpm</property>
|
|
</output>
|
|
<min>
|
|
<property>/it-autoflight/internal/min-vs</property>
|
|
</min>
|
|
<max>
|
|
<property>/it-autoflight/internal/max-vs</property>
|
|
</max>
|
|
</filter>
|
|
|
|
<pid-controller>
|
|
<name>FPA HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>5</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/fpa</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/input/fpa</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/cmd/fpa</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>1.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>
|
|
<value>-10</value>
|
|
</u_min>
|
|
<u_max>
|
|
<value>30</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>FLCH SPEED BY PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>4</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>7</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/lookahead-15-sec-airspeed-kt</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/lookahead-15-sec-mach</property>
|
|
<scale>500.0</scale>
|
|
</input>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/flch-kts</property>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/input/kts-mach</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/flch-mach</property>
|
|
<scale>500.0</scale>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-fpm-b</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</condition>
|
|
<value>-50</value>
|
|
</Kp>
|
|
<Kp>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>7</value>
|
|
</equals>
|
|
</condition>
|
|
<value>-60</value>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>2.5</Ti>
|
|
<Td>0.001</Td>
|
|
<u_min>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/thr-mode</property>
|
|
<value>2</value>
|
|
</equals>
|
|
</condition>
|
|
<value>150</value>
|
|
</u_min>
|
|
<u_min>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/thr-mode</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<value>-6000</value>
|
|
</u_min>
|
|
<u_max>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/thr-mode</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</and>
|
|
</condition>
|
|
<value>10000</value>
|
|
</u_max>
|
|
<u_max>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/thr-mode</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<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>1000</value>
|
|
</u_max>
|
|
<u_max>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/thr-mode</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<value>-150</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>AUTOLAND FPM</name>
|
|
<type>gain</type>
|
|
<gain>1</gain>
|
|
<update-interval-secs type="double">0.05</update-interval-secs>
|
|
<input>
|
|
<expression>
|
|
<table>
|
|
<property>/position/gear-agl-ft</property>
|
|
<entry><ind>100</ind><dep>-600</dep></entry>
|
|
<entry><ind> 50</ind><dep>-500</dep></entry>
|
|
<entry><ind> 40</ind><dep>-400</dep></entry>
|
|
<entry><ind> 30</ind><dep>-300</dep></entry>
|
|
<entry><ind> 20</ind><dep>-200</dep></entry>
|
|
<entry><ind> 10</ind><dep>-150</dep></entry>
|
|
<entry><ind> 5</ind><dep>-100</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</input>
|
|
<output>/it-autoflight/internal/target-fpm-c</output>
|
|
</filter>
|
|
|
|
<pid-controller>
|
|
<name>FPM HOLD</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>4</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>7</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/vert-speed-fpm</property>
|
|
<scale>0.16667</scale>
|
|
</input>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/target-fpm</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/vs</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>4</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>7</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<property>/it-autoflight/internal/target-fpm-b</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/target-fpm-c</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/settings/use-nav2-radio</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<property>/it-autoflight/internal/nav1-rate-of-climb-fpm</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<reference>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/settings/use-nav2-radio</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<property>/it-autoflight/internal/nav2-rate-of-climb-fpm</property>
|
|
<scale>0.16667</scale>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</not-equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/cmd/vs</property>
|
|
</Kp>
|
|
<Kp>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/config/autoland/kp-pitch</property>
|
|
</Kp>
|
|
<Ti>5.0</Ti>
|
|
<Td>0.003</Td>
|
|
<u_min>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</not-equals>
|
|
</condition>
|
|
<value>-10</value>
|
|
</u_min>
|
|
<u_min>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/vert</property>
|
|
<value>6</value>
|
|
</equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</u_min>
|
|
<u_max>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
<value>30</value>
|
|
</u_max>
|
|
<u_max>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>10</value>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: TARGET PITCH CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<input>
|
|
<property>/it-autoflight/internal/target-pitch-deg</property>
|
|
</input>
|
|
<output>/it-autoflight/internal/target-pitch</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>3</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller>
|
|
<name>IT-CONTROLLER: PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/pitch-deg</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-autoflight/internal/target-pitch</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/pitch/kp</property>
|
|
</Kp>
|
|
<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>
|
|
<property>/it-autoflight/config/pitch/ti</property>
|
|
</Ti>
|
|
<Td>
|
|
<property>/it-autoflight/config/pitch/td</property>
|
|
</Td>
|
|
<u_min>
|
|
<property>/it-autoflight/config/pitch/umin</property>
|
|
</u_min>
|
|
<u_max>
|
|
<property>/it-autoflight/config/pitch/umax</property>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: PITCH CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/elevator-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/elevator</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.2</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Rudder Control -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pi-simple-controller>
|
|
<name>RUDDER VORLOC TRK</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/nav-heading-error-deg</property>
|
|
</input>
|
|
<reference>
|
|
<value>0</value>
|
|
</reference>
|
|
<output>/it-autoflight/internal/rudder-cmd</output>
|
|
<config>
|
|
<Kp>
|
|
<property>/it-autoflight/config/autoland/kp-rudder</property>
|
|
</Kp>
|
|
<Ki>0</Ki>
|
|
</config>
|
|
<min>-0.25</min>
|
|
<max>0.25</max>
|
|
</pi-simple-controller>
|
|
|
|
<filter>
|
|
<name>IT-CONTROLLER: RUDDER CMD</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
</condition>
|
|
<value>0</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/it-autoflight/internal/rudder-cmd</property>
|
|
</input>
|
|
<output>/controls/flight/rudder</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>0.20</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- 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>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Flight Director -->
|
|
<!-- =============================================================== -->
|
|
|
|
<filter>
|
|
<name>FD: ROLL</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>5</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<expression>
|
|
<dif>
|
|
<property>/it-autoflight/internal/target-roll</property>
|
|
<property>/orientation/roll-deg</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>5</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<expression>
|
|
<dif>
|
|
<value>0</value>
|
|
<property>/orientation/roll-deg</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<output>/it-autoflight/fd/roll-bar</output>
|
|
<min>-30</min>
|
|
<max>30</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>FD: PITCH</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<dif>
|
|
<property>/it-autoflight/internal/target-pitch</property>
|
|
<property>/orientation/pitch-deg</property>
|
|
</dif>
|
|
</expression>
|
|
</input>
|
|
<output>/it-autoflight/fd/pitch-bar</output>
|
|
<min>-15</min>
|
|
<max>30</max>
|
|
</filter>
|
|
|
|
</PropertyList>
|