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fgdata/Aircraft/Instruments-3d/FG1000/GFC700.xml

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<?xml version="1.0"?>
<!-- GFC 700 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>
<state-machine include="GFC700-vertical-FSM.xml"/>
<state-machine include="GFC700-lateral-FSM.xml"/>
<state-machine include="GFC700-AP-off-FSM.xml"/>
<filter>
<name>heading bug error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/autopilot/settings/heading-bug-deg</property>
<offset>
<property>/orientation/heading-magnetic-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/heading-bug-error-deg</output>
<output>/autopilot/internal/fdm-heading-bug-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>true heading error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/autopilot/settings/true-heading-deg</property>
<offset>
<property>/orientation/heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/true-heading-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>nav1 heading error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
<offset>
<property>/orientation/heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/nav1-heading-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>nav1 selected course error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/nav[0]/radials/selected-deg</property>
<offset>
<property>/orientation/heading-magnetic-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/nav1-course-error</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
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<filter>
<name>nav2 heading error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/nav[1]/radials/target-auto-hdg-deg</property>
<offset>
<property>/orientation/heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/nav2-heading-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>nav2 selected course error computer/normalizer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/nav[1]/radials/selected-deg</property>
<offset>
<property>/orientation/heading-magnetic-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/nav2-course-error</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>vertical speed fpm computer</name>
<debug>false</debug>
<type>gain</type>
<input>/velocities/vertical-speed-fps</input>
<output>/autopilot/internal/vert-speed-fpm</output>
<gain>60.0</gain>
</filter>
<predict-simple>
<name>speed in 5 seconds predictor</name>
<debug>false</debug>
<input>/velocities/airspeed-kt</input>
<output>/autopilot/internal/lookahead-5-sec-airspeed-kt</output>
<seconds>5.0</seconds>
<filter-gain>0.0</filter-gain>
</predict-simple>
<predict-simple>
<name>speed in 10 seconds predictor</name>
<debug>false</debug>
<input>/velocities/airspeed-kt</input>
<output>/autopilot/internal/lookahead-10-sec-airspeed-kt</output>
<seconds>10.0</seconds>
<filter-gain>0.0</filter-gain>
</predict-simple>
<filter>
<name>static port pressure rate computer</name>
<debug>false</debug>
<type>derivative</type>
<input>/systems/static[0]/pressure-inhg</input>
<output>/autopilot/internal/pressure-rate</output>
<filter-time>1.0</filter-time>
</filter>
<filter>
<name>nav1 track error computer</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
<offset>
<property>orientation/track-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<output>/autopilot/internal/nav1-track-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
<gain>1.0</gain>
</filter>
<filter>
<name>limited-pitch</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/attitude-indicator/indicated-pitch-deg</property>
</input>
<gain>1.0</gain>
<output>/autopilot/internal/filtered-pitch-deg</output>
<min>-15.0</min>
<max>20.0</max>
</filter>
<filter>
<name>limited-roll</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/attitude-indicator/indicated-roll-deg</property>
</input>
<gain>1.0</gain>
<output>/autopilot/internal/filtered-roll-deg</output>
<min>-22.0</min>
<max>22.0</max>
</filter>
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<filter>
<name>limited-airspeed</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
</input>
<gain>1.0</gain>
<output>/autopilot/internal/filtered-airspeed</output>
<min>80.0</min>
<max>140.0</max>
</filter>
<filter>
<name>ALTS-delta</name>
<debug>false</debug>
<type>gain</type>
<input>
<property>/autopilot/settings/target-alt-ft</property>
<offset>
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
<scale>-1.0</scale>
</offset>
</input>
<gain>1.0</gain>
<output>/autopilot/internal/ALTS-target-altitude-delta-ft</output>
</filter>
<!-- Logic filters to show autopilot and Flight Director status -->
<logic>
<input>
<and>
<equals><property>/autopilot/locks/passive-mode</property><value>0</value></equals>
<or>
<not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
<not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
</or>
</and>
</input>
<output>/autopilot/annunciator/autopilot-enabled</output>
</logic>
<logic>
<input>
<and>
<equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
<or>
<not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
<not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
</or>
</and>
</input>
<output>/autopilot/annunciator/flight-director-enabled</output>
</logic>
<!-- =============================================================== -->
<!-- Roll Axis Modes -->
<!-- =============================================================== -->
<!-- Aileron control, used by all lateral modes ROL/NAV/HDG -->
<pid-controller>
<name>Roll Hold</name>
<debug>false</debug>
<enable>
<condition>
<and>
<or>
<equals>
<property>/autopilot/locks/heading</property>
<value>roll-hold</value>
</equals>
<equals>
<property>/autopilot/locks/heading</property>
<value>dg-heading-hold</value>
</equals>
<equals>
<property>/autopilot/locks/heading</property>
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<value>nav-hold</value>
</equals>
</or>
<equals>
<property>/autopilot/locks/passive-mode</property>
<value>0</value>
</equals>
<not>
<equals>
<property>/autopilot/locks/control-wheel-steering</property>
<value>1</value>
</equals>
</not>
</and>
</condition>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/settings/target-roll-deg</prop>
</reference>
<output>
<prop>/controls/flight/aileron</prop>
</output>
<config>
<Kp>0.1</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-1.0</u_min> <!-- minimum output clamp -->
<u_max>1.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Heading Bug Hold. 2 stage cascade controller. -->
<!-- Stage #1 sets target roll based on diff between current heading -->
<!-- and heading bug. -->
<pid-controller>
<name>Heading Bug Hold (DG based) Stage 1</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/heading</prop>
<value>dg-heading-hold</value>
</enable>
<input>
<prop>/autopilot/internal/heading-bug-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/settings/target-roll-deg</prop>
</output>
<config>
<Kp>-1.0</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-20.0</u_min> <!-- minimum output clamp -->
<u_max>20.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- True Heading hold. 2 stage cascade controller. -->
<!-- Stage #1 sets target roll based on diff between current heading -->
<!-- and target heading. -->
<pid-controller>
<name>True Heading Hold (DG based) Stage 1</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/heading</prop>
<value>true-heading-hold</value>
</enable>
<input>
<prop>/autopilot/internal/true-heading-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/settings/target-roll-deg</prop>
</output>
<config>
<Kp>-1.0</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-20.0</u_min> <!-- minimum output clamp -->
<u_max>20.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Nav1 hold. 2 stage cascade controller. -->
<!-- Stage #1 sets target roll based on diff between current heading -->
<!-- and target heading. -->
<pid-controller>
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<name>Nav1/GPS Hold Stage 1</name>
<debug>false</debug>
<enable>
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<condition>
<and>
<equals>
<property>/autopilot/locks/heading</property>
<value>nav-hold</value>
</equals>
<or>
<equals>
<property>/autopilot/settings/nav-mode-source</property>
<value>NAV1</value>
</equals>
<equals>
<!-- GPS is also slaved to NAV1 -->
<property>/autopilot/settings/nav-mode-source</property>
<value>GPS</value>
</equals>
</or>
</and>
</condition>
</enable>
<input>
<prop>/autopilot/internal/nav1-heading-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
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<prop>/autopilot/settings/target-roll-deg</prop>
</output>
<config>
<Kp>-1.0</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-20.0</u_min> <!-- minimum output clamp -->
<u_max>20.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<pid-controller>
<name>Nav2 Hold Stage 1</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/locks/heading</property>
<value>nav-hold</value>
</equals>
<equals>
<property>/autopilot/settings/nav-mode-source</property>
<value>NAV2</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/autopilot/internal/nav2-heading-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/settings/target-roll-deg</prop>
</output>
<config>
<Kp>-1.0</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-20.0</u_min> <!-- minimum output clamp -->
<u_max>20.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
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<!-- =============================================================== -->
<!-- Pitch Axis Modes -->
<!-- =============================================================== -->
<!-- Simple pitch hold for PIT and FLC modes. -->
<pid-controller>
<name>Pitch hold</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/locks/passive-mode</property>
<value>0</value>
</equals>
<not>
<equals>
<property>/autopilot/locks/control-wheel-steering</property>
<value>1</value>
</equals>
</not>
<or>
<not>
<equals>
<property>/autopilot/locks/altitude</property>
<value></value>
</equals>
</not>
<not>
<equals>
<property>/autopilot/locks/speed</property>
<value></value>
</equals>
</not>
</or>
</and>
</condition>
</enable>
<input>
<prop>/orientation/pitch-deg</prop>
</input>
<reference>
<prop>/autopilot/settings/target-pitch-deg</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</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>1.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-1.0</u_min> <!-- minimum output clamp -->
<u_max>1.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Common vertical speed controller for ALT/APR/VNV modes mode -->
<pid-controller>
<name>Altitude Hold (Altimeter based) Stage 2</name>
<debug>false</debug>
<enable>
<condition>
<and>
<not>
<equals>
<property>/autopilot/locks/control-wheel-steering</property>
<value>1</value>
</equals>
</not>
<or>
<equals>
<property>/autopilot/locks/altitude</property>
<value>altitude-hold</value>
</equals>
<equals>
<property>/autopilot/locks/altitude</property>
<value>altitude-hold2</value>
</equals>
</or>
</and>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</reference>
<output>
<prop>/autopilot/settings/target-pitch-deg</prop>
</output>
<config>
<Kp>0.1</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>1.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-15.0</u_min><!-- minimum output clamp -->
<u_max>15.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Altitude hold. 2 stage cascade controller. -->
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
<!-- and target altitude. -->
<pi-simple-controller>
<name>Altitude Hold (Altimeter based) Stage 1</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>altitude-hold</value>
</equals>
</condition>
</enable>
<input>
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
</input>
<reference>
<prop>/autopilot/settings/target-altitude-ft</prop>
</reference>
<output>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>0.3</Kp> <!-- proportional gain -->
<Ki>0.0</Ki> <!-- integral gain -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
</pi-simple-controller>
<!-- Altitude hold2. 2 stage cascade controller. -->
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
<!-- and target altitude. -->
<pi-simple-controller>
<name>Altitude Hold (Altimeter based) Stage 1</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>altitude-hold2</value>
</equals>
</condition>
</enable>
<input>
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
</input>
<reference>
<prop>/autopilot/settings/target-altitude-ft-2</prop>
</reference>
<output>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>0.3</Kp> <!-- proportional gain -->
<Ki>0.0</Ki> <!-- integral gain -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
</pi-simple-controller>
<!-- Glideslope hold. -->
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
<name>Glideslope Hold</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>gs1-hold</value>
</equals>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
</reference>
<output>
<prop>/autopilot/settings/target-pitch-deg</prop>
</output>
<config>
<Kp>-0.01</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>10.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-1.0</u_min> <!-- minimum output clamp -->
<u_max>1.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- vertical speed hold VS mode -->
<pid-controller>
<name>Vertical Speed Hold</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>vertical-speed-hold</value>
</equals>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/settings/vertical-speed-fpm</prop>
<scale>0.01667</scale>
</reference>
<output>
<prop>/autopilot/settings/target-pitch-deg</prop>
</output>
<config>
<Kp>0.1</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>1.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-15.0</u_min><!-- minimum output clamp -->
<u_max>15.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
<!-- =============================================================== -->
<!-- Velocity Modes -->
<!-- =============================================================== -->
<!-- FLC mode - Hold speed by varying pitch trim (Two stage cascading controller) -->
<pid-controller>
<name>Speed hold (vary pitch trim) Stage #1</name>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>/autopilot/locks/speed</property>
<value>speed-with-pitch-trim</value>
</equals>
</condition>
</enable>
<input>
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-kt</prop>
</reference>
<output>
<prop>/autopilot/settings/target-pitch-deg</prop>
</output>
<config>
<Kp>-1.0</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>1.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<u_min>-15.0</u_min><!-- minimum output clamp -->
<u_max>15.0</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
</PropertyList>