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fgdata/Aircraft/c172p/Systems/KAP140.xml

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<?xml version="1.0"?>
<!-- KAP 140 Autopilot Configuration -->
<!-- Each component is evaluated in the order specified. You can make up -->
<!-- property names to pass the result of one component on to a subsequent -->
<!-- component. -->
<PropertyList>
<!-- =============================================================== -->
<!-- Roll Axis Modes -->
<!-- =============================================================== -->
<!-- Nav hold (NAV) Mode-->
<pid-controller>
<name>Nav hold (NAV) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/nav-hold</prop>
<value>nav</value>
</enable>
<input>
<prop>/radios/nav/heading-needle-deflection</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</output>
<config>
<Kp>2.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-45.0</u_min> <!-- minimum output clamp -->
<u_max>45.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Approach hold (APR) Mode-->
<pid-controller>
<name>Approach hold (APR) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/apr-hold</prop>
<value>apr</value>
</enable>
<input>
<prop>/radios/nav/heading-needle-deflection</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</output>
<config>
<Kp>2.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.001</Td> <!-- derivator time -->
<u_min>-45.0</u_min> <!-- minimum output clamp -->
<u_max>45.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Backcourse hold (REV) Mode-->
<pid-controller>
<name>Backcourse hold (REV) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/rev-hold</prop>
<value>rev</value>
</enable>
<input>
<prop>/radios/nav/heading-needle-deflection</prop>
<scale>-1.0</scale>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</output>
<config>
<Kp>2.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-45.0</u_min> <!-- minimum output clamp -->
<u_max>45.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Heading Select (HDG) Mode -->
<pid-controller>
<name>Heading Select (HDG) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/hdg-hold</prop>
<value>hdg</value>
</enable>
<input>
<prop>/autopilot/internal/heading-bug-error-deg</prop> -->
<!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
</input>
<reference>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
</output>
<config>
<Kp>-0.05</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-0.9</u_min> <!-- minimum output clamp -->
<u_max>0.9</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Wing leveler (ROL) Mode -->
<pid-controller>
<name>Wing Leveler (ROL) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/roll-axis</prop>
<value>trn</value>
</enable>
<input>
<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
</input>
<reference>
<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
</reference>
<output>
<prop>/controls/flight/aileron-trim</prop>
</output>
<config>
<Kp>0.15</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-0.25</u_min> <!-- minimum output clamp -->
<u_max>0.25</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- =============================================================== -->
<!-- Pitch Axis Modes -->
<!-- =============================================================== -->
<!-- Altitude Hold (ALT) Mode -->
<pid-controller>
<name>Altitude Hold (ALT) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/alt-hold</prop>
<value>alt</value>
</enable>
<input>
<prop>/systems/static[0]/pressure-inhg[0]</prop>
</input>
<reference>
<prop>/autopilot/KAP140/settings/target-alt-pressure</prop>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
</output>
<config>
<Kp>0.125</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>12.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-0.007</u_min> <!-- minimum output clamp -->
<u_max>0.007</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Glideslope Hold (GS) Mode -->
<pid-controller>
<name>Glideslope Hold (GS) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/gs-hold</prop>
<value>gs</value>
</enable>
<input>
<prop>/radios/nav/gs-needle-deflection</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
</output>
<config>
<Kp>0.025</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>15.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-0.001</u_min> <!-- minimum output clamp -->
<u_max>0.017</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Vertical Speed (VS) Mode -->
<pid-controller>
<name>Vertical Speed (VS) Mode</name>
<debug>false</debug>
<enable>
<prop>/autopilot/KAP140/locks/pitch-axis</prop>
<value>vs</value>
</enable>
<input>
<prop>/autopilot/internal/pressure-rate</prop>
</input>
<reference>
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>5.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>4.0</Ti> <!-- integrator time -->
<Td>0.0</Td> <!-- derivator time -->
<u_min>-0.5</u_min> <!-- minimum output clamp -->
<u_max>0.5</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
</PropertyList>