1029 lines
24 KiB
XML
1029 lines
24 KiB
XML
<?xml version="1.0"?>
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<!-- Airbus A3XX FBW System by Joshua Davidson (it0uchpods) -->
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<!-- For Roll, Pitch, and Yaw -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Surface Position Feeding -->
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<!-- =============================================================== -->
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/aileron</input>
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<output>/controls/flight/aileron-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/elevator</input>
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<output>/controls/flight/elevator-input-fast</output>
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<max-rate-of-change>5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</type>
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<input>/controls/flight/aileron</input>
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<output>/controls/flight/aileron-input</output>
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<max-rate-of-change>2.5</max-rate-of-change>
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</filter>
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<filter>
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<debug>false</debug>
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<type>noise-spike</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/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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<less-than>
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<property>/position/gear-agl-ft</property>
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<value>50</value>
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</less-than>
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<greater-than-equals>
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<property>/controls/flight/flap-pos</property>
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<value>4</value>
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</greater-than-equals>
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<less-than>
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<property>/controls/engines/engine[0]/throttle</property>
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<value>0.65</value>
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</less-than>
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<less-than>
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<property>/controls/engines/engine[1]/throttle</property>
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<value>0.65</value>
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</less-than>
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<equals>
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<property>/FMGC/status/to-state</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>0</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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<property>/controls/flight/elevator</property>
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<value>0.15</value>
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</sum>
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</expression>
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</input>
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<input>
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<property>/controls/flight/elevator</property>
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</input>
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<output>/controls/flight/elevator-input</output>
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<max-rate-of-change>2.5</max-rate-of-change>
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</filter>
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<!-- =============================================================== -->
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<!-- Lateral -->
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<!-- =============================================================== -->
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<pid-controller>
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<name>IT-FBW: ROLL</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/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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<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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<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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</and>
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</condition>
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</enable>
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<input>
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<property>/orientation/roll-deg</property>
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</input>
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<reference>
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<property>/it-fbw/roll-deg</property>
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</reference>
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<output>
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<property>/controls/flight/aileron-fbw-cmd</property>
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</output>
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<config>
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<Kp>0.11</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>5</Ti>
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<Td>0.002</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-FBW: ROLL OPTION</name>
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<debug>false</debug>
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<type>gain</type>
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<gain>1</gain>
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<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>/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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<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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<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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</and>
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</condition>
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<property>/controls/flight/aileron-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>
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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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<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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<equals>
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<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>
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<property>/controls/flight/aileron-input</property>
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</input>
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<input>
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<condition>
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<or>
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<equals>
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<property>/it-autoflight/output/ap1</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/it-autoflight/output/ap2</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<property>/controls/flight/aileron-fmgc</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-fbw/law</property>
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<value>3</value>
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</equals>
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</condition>
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<value>0</value>
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</input>
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<output>/controls/flight/roll-fbw</output>
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</filter>
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<filter>
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<name>IT-FBW: AILERON</name>
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<type>gain</type>
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<gain>1</gain>
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<input>/controls/flight/roll-fbw</input>
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<output>/controls/flight/aileron-fbw</output>
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</filter>
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<filter>
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<name>IT-FBW: LEFT SPOILER</name>
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<type>gain</type>
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<gain>1</gain>
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<input>
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<condition>
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<equals>
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<property>/systems/failures/aileron-left</property>
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<value>0</value>
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</equals>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
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<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
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<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
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<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
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<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
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</table>
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</expression>
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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>/systems/failures/aileron-left</property>
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<value>1</value>
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</equals>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
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<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
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<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
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</table>
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</expression>
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</input>
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<output>/controls/flight/spoiler-left-fbw-cmd</output>
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<min>-1</min>
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<max>1</max>
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</filter>
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<filter>
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<name>IT-FBW: RIGHT SPOILER</name>
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<type>gain</type>
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<gain>1</gain>
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<input>
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<condition>
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<equals>
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<property>/systems/failures/aileron-right</property>
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<value>0</value>
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</equals>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
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<entry><ind>-0.2</ind><dep> 0.0</dep></entry>
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<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
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<entry><ind> 0.2</ind><dep> 0.0</dep></entry>
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<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
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</table>
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</expression>
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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>/systems/failures/aileron-right</property>
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<value>1</value>
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</equals>
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</condition>
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<expression>
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<table>
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<property>/controls/flight/roll-fbw</property>
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<entry><ind>-1.0</ind><dep>-1.0</dep></entry>
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<entry><ind> 0.0</ind><dep> 0.0</dep></entry>
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<entry><ind> 1.0</ind><dep> 1.0</dep></entry>
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</table>
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</expression>
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</input>
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<output>/controls/flight/spoiler-right-fbw-cmd</output>
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<min>-1</min>
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<max>1</max>
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</filter>
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<!-- =============================================================== -->
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<!-- Vertical -->
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<!-- =============================================================== -->
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<pid-controller>
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<name>IT-FBW: 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>/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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<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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<equals>
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<property>/it-fbw/spd-hold</property>
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<value>0</value>
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</equals>
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<less-than>
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<property>/orientation/roll-deg</property>
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<value>40</value>
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</less-than>
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<greater-than>
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<property>/orientation/roll-deg</property>
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<value>-40</value>
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</greater-than>
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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-deg</property>
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</input>
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<reference>
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<property>/it-fbw/pitch-deg</property>
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</reference>
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<output>
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<property>/controls/flight/elevator-fbw-cmd</property>
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</output>
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<config>
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<Kp>-0.20</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>5</Ti>
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<Td>0.002</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-FBW: SPD PITCH TARGET CMD</name>
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<type>noise-spike</type>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/it-autoflight/output/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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<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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<equals>
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<property>/it-fbw/spd-hold</property>
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<value>1</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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<expression>
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<table>
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<property>/controls/flight/elevator-input</property>
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<entry><ind> 0</ind><dep>129</dep></entry>
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<entry><ind>-1</ind><dep>106</dep></entry>
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</table>
|
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</expression>
|
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</input>
|
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<output>/it-fbw/spd-pitch-target</output>
|
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<max-rate-of-change>10</max-rate-of-change>
|
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</filter>
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|
|
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<pid-controller>
|
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<name>IT-FBW: SPD PITCH TARGET</name>
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<debug>false</debug>
|
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<enable>
|
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<condition>
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<and>
|
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<equals>
|
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<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/spd-hold</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/it-autoflight/internal/lookahead-10-sec-airspeed-kt</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-fbw/spd-pitch-target</property>
|
|
</reference>
|
|
<output>
|
|
<property>/it-fbw/spd-pitch-deg</property>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.50</Kp>
|
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<beta>1.0</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0.0</gamma>
|
|
<Ti>5.0</Ti>
|
|
<Td>0.0001</Td>
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<u_min>-10</u_min>
|
|
<u_max>30</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>IT-FBW: SPD PITCH</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/spd-hold</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/orientation/pitch-deg</property>
|
|
</input>
|
|
<reference>
|
|
<property>/it-fbw/spd-pitch-deg</property>
|
|
</reference>
|
|
<output>
|
|
<property>/controls/flight/elevator-fbw-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.08</Kp>
|
|
<beta>1</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0</gamma>
|
|
<Ti>5</Ti>
|
|
<Td>0.001</Td>
|
|
<u_min>-1</u_min>
|
|
<u_max>1</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-FBW: PITCH OPTION</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<gain>1</gain>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
<property>/controls/flight/elevator-fbw-cmd</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>2</value>
|
|
</equals>
|
|
<greater-than-equals>
|
|
<property>/orientation/roll-deg</property>
|
|
<value>40</value>
|
|
</greater-than-equals>
|
|
<less-than-equals>
|
|
<property>/orientation/roll-deg</property>
|
|
<value>-40</value>
|
|
</less-than-equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
<property>/controls/flight/elevator-input</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<property>/controls/flight/elevator-fmgc</property>
|
|
</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>
|
|
|
|
<pid-controller>
|
|
<name>FBW PITCH HELPER PLUS</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<greater-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>0.01</value>
|
|
</greater-than>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<value>0</value>
|
|
</input>
|
|
<reference>
|
|
<value>1</value>
|
|
</reference>
|
|
<output>
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>0.09</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>FBW PITCH HELPER MINUS</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<less-than>
|
|
<property>/controls/flight/elevator-fbw</property>
|
|
<value>-0.01</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<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>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<value>0</value>
|
|
</input>
|
|
<reference>
|
|
<value>1</value>
|
|
</reference>
|
|
<output>
|
|
<property>/controls/flight/elevator-trim-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.09</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-FBW: PITCH TRIM FILTER</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<and>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap1</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-autoflight/output/ap2</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<or>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
</and>
|
|
<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>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/controls/flight/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>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Yaw Damper/Turn Coordinator -->
|
|
<!-- =============================================================== -->
|
|
|
|
<pid-controller>
|
|
<name>IT-FBW: YAW DAMPER/TURN COORDINATOR</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/instrumentation/slip-skid-ball/indicated-slip-skid</property>
|
|
</input>
|
|
<reference>
|
|
<value>0</value>
|
|
</reference>
|
|
<output>
|
|
<property>/controls/flight/rudder-fbw-cmd</property>
|
|
</output>
|
|
<config>
|
|
<Kp>0.025</Kp>
|
|
<beta>1</beta>
|
|
<alpha>0.1</alpha>
|
|
<gamma>0</gamma>
|
|
<Ti>3.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>-0.2</u_min>
|
|
<u_max>0.2</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>IT-FBW: RUDDER OPTION</name>
|
|
<debug>false</debug>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<input>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<less-than>
|
|
<property>/controls/flight/rudder</property>
|
|
<value>0.1</value>
|
|
</less-than>
|
|
<greater-than>
|
|
<property>/controls/flight/rudder</property>
|
|
<value>-0.1</value>
|
|
</greater-than>
|
|
<greater-than-equals>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</greater-than-equals>
|
|
<not-equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<property>/controls/flight/rudder-fbw-cmd</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<not-equals>
|
|
<property>/it-fbw/law</property>
|
|
<value>0</value>
|
|
</not-equals>
|
|
<greater-than-equals>
|
|
<property>/controls/flight/rudder</property>
|
|
<value>0.1</value>
|
|
</greater-than-equals>
|
|
<less-than-equals>
|
|
<property>/controls/flight/rudder</property>
|
|
<value>-0.1</value>
|
|
</less-than-equals>
|
|
<less-than>
|
|
<property>/position/gear-agl-ft</property>
|
|
<value>50</value>
|
|
</less-than>
|
|
<equals>
|
|
<property>/it-autoflight/output/lat</property>
|
|
<value>4</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<property>/controls/flight/rudder</property>
|
|
</input>
|
|
<output>/controls/flight/rudder-fbw</output>
|
|
<type>noise-spike</type>
|
|
<max-rate-of-change>2.5</max-rate-of-change>
|
|
</filter>
|
|
|
|
</PropertyList>
|