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fgdata/Aircraft/c172p/Systems/KAP140.xml

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Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<?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>
Roy Vegard Ovesen: I've finished the emigration of the radiostack, and I've also removed it completely. It turned out that the comm radio is completely implemented in the ATC subsystem. I've changed the affected ATC files to point to /instrumentation/com, but I guess that the maintainer of the ATC code should decide wether to make it configureable, and how. I also had to change some files in Network and Main. The changes in network should be obvious, but the changes in Main were a bit suspect. The files included radiostack.hxx, but they weren't directly depending on radiostack-hxx. They were depending on other files that were included by radiostack.hxx. I got it to compile, but I'm not sure if I included the correct directly depending file. For the data directory I changed every occurrence of /radios/ with /instrumentation/ with this simple one-liner that I found on the net: find -name '*.xml' -type f | xargs perl -pi -e 's/\/radios\//\/instrumentation\//g' Instead of me sending all the files that got changed by this I suggest that you execute the one-liner yourself. Of course I can not guarantee that this will work perfectly, but I considered hand editing to be not an option (I'm lazy). I don't want to test every aircraft to see if everything still works, I think it's better to wait and see if anyone complaints about broken nav radios/instruments.
2004-12-03 21:25:48 +00:00
<prop>/instrumentation/nav/heading-needle-deflection</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</output>
<config>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<Kp>2.0</Kp> <!-- proportional gain -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<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 -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<Ti>15.0</Ti> <!-- integrator time -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<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>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<debug>false</debug>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<enable>
<prop>/autopilot/KAP140/locks/apr-hold</prop>
<value>apr</value>
</enable>
<input>
Roy Vegard Ovesen: I've finished the emigration of the radiostack, and I've also removed it completely. It turned out that the comm radio is completely implemented in the ATC subsystem. I've changed the affected ATC files to point to /instrumentation/com, but I guess that the maintainer of the ATC code should decide wether to make it configureable, and how. I also had to change some files in Network and Main. The changes in network should be obvious, but the changes in Main were a bit suspect. The files included radiostack.hxx, but they weren't directly depending on radiostack-hxx. They were depending on other files that were included by radiostack.hxx. I got it to compile, but I'm not sure if I included the correct directly depending file. For the data directory I changed every occurrence of /radios/ with /instrumentation/ with this simple one-liner that I found on the net: find -name '*.xml' -type f | xargs perl -pi -e 's/\/radios\//\/instrumentation\//g' Instead of me sending all the files that got changed by this I suggest that you execute the one-liner yourself. Of course I can not guarantee that this will work perfectly, but I considered hand editing to be not an option (I'm lazy). I don't want to test every aircraft to see if everything still works, I think it's better to wait and see if anyone complaints about broken nav radios/instruments.
2004-12-03 21:25:48 +00:00
<prop>/instrumentation/nav/heading-needle-deflection</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
</output>
<config>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<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>
Roy Vegard Ovesen: I've finished the emigration of the radiostack, and I've also removed it completely. It turned out that the comm radio is completely implemented in the ATC subsystem. I've changed the affected ATC files to point to /instrumentation/com, but I guess that the maintainer of the ATC code should decide wether to make it configureable, and how. I also had to change some files in Network and Main. The changes in network should be obvious, but the changes in Main were a bit suspect. The files included radiostack.hxx, but they weren't directly depending on radiostack-hxx. They were depending on other files that were included by radiostack.hxx. I got it to compile, but I'm not sure if I included the correct directly depending file. For the data directory I changed every occurrence of /radios/ with /instrumentation/ with this simple one-liner that I found on the net: find -name '*.xml' -type f | xargs perl -pi -e 's/\/radios\//\/instrumentation\//g' Instead of me sending all the files that got changed by this I suggest that you execute the one-liner yourself. Of course I can not guarantee that this will work perfectly, but I considered hand editing to be not an option (I'm lazy). I don't want to test every aircraft to see if everything still works, I think it's better to wait and see if anyone complaints about broken nav radios/instruments.
2004-12-03 21:25:48 +00:00
<prop>/instrumentation/nav/heading-needle-deflection</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<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 -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<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 -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<Ti>15.0</Ti> <!-- integrator time -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<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>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<prop>/autopilot/internal/heading-bug-error-deg</prop> -->
<!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</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 -->
Roy Vegard Ovesen: Here are some updates to the KAP140 autopilot in the default c172. It now uses ailerons and elevator instead of aileron-trim and elevator-trim. I've started to "upgrade" it to the "two axis altitude preselect" version. Vertical speed select rounds to nearest 100 fpm. I've also modified the c172 electrical configuration to turn on the gps instrument. Perhaps the most important change is that the nasal script for the KAP140 has moved from data/Nasal to the c172p aircraft subdir. So it is important that you delete data/Nasal/kap140.nas. Having the kap140.nas script as a global script was not a good solution. Now it is aircraft specific, and thus included in the c172p-set.xml file. Ideally I would like it to be instrument specific, so that it would be included whenever the KAP140*.xml instruments where included on the panel.
2004-10-17 17:41:05 +00:00
<u_min>-1.0</u_min> <!-- minimum output clamp -->
<u_max>1.0</u_max> <!-- maximum output clamp -->
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</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>
Roy Vegard Ovesen: Here are some updates to the KAP140 autopilot in the default c172. It now uses ailerons and elevator instead of aileron-trim and elevator-trim. I've started to "upgrade" it to the "two axis altitude preselect" version. Vertical speed select rounds to nearest 100 fpm. I've also modified the c172 electrical configuration to turn on the gps instrument. Perhaps the most important change is that the nasal script for the KAP140 has moved from data/Nasal to the c172p aircraft subdir. So it is important that you delete data/Nasal/kap140.nas. Having the kap140.nas script as a global script was not a good solution. Now it is aircraft specific, and thus included in the c172p-set.xml file. Ideally I would like it to be instrument specific, so that it would be included whenever the KAP140*.xml instruments where included on the panel.
2004-10-17 17:41:05 +00:00
<prop>/controls/flight/aileron</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</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>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
2004-04-16 22:14:00 +00:00
<debug>false</debug>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<enable>
<prop>/autopilot/KAP140/locks/gs-hold</prop>
<value>gs</value>
</enable>
<input>
Roy Vegard Ovesen: I've finished the emigration of the radiostack, and I've also removed it completely. It turned out that the comm radio is completely implemented in the ATC subsystem. I've changed the affected ATC files to point to /instrumentation/com, but I guess that the maintainer of the ATC code should decide wether to make it configureable, and how. I also had to change some files in Network and Main. The changes in network should be obvious, but the changes in Main were a bit suspect. The files included radiostack.hxx, but they weren't directly depending on radiostack-hxx. They were depending on other files that were included by radiostack.hxx. I got it to compile, but I'm not sure if I included the correct directly depending file. For the data directory I changed every occurrence of /radios/ with /instrumentation/ with this simple one-liner that I found on the net: find -name '*.xml' -type f | xargs perl -pi -e 's/\/radios\//\/instrumentation\//g' Instead of me sending all the files that got changed by this I suggest that you execute the one-liner yourself. Of course I can not guarantee that this will work perfectly, but I considered hand editing to be not an option (I'm lazy). I don't want to test every aircraft to see if everything still works, I think it's better to wait and see if anyone complaints about broken nav radios/instruments.
2004-12-03 21:25:48 +00:00
<prop>/instrumentation/nav/gs-needle-deflection</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</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>
Roy Vegard Ovesen: Here are some updates to the KAP140 autopilot in the default c172. It now uses ailerons and elevator instead of aileron-trim and elevator-trim. I've started to "upgrade" it to the "two axis altitude preselect" version. Vertical speed select rounds to nearest 100 fpm. I've also modified the c172 electrical configuration to turn on the gps instrument. Perhaps the most important change is that the nasal script for the KAP140 has moved from data/Nasal to the c172p aircraft subdir. So it is important that you delete data/Nasal/kap140.nas. Having the kap140.nas script as a global script was not a good solution. Now it is aircraft specific, and thus included in the c172p-set.xml file. Ideally I would like it to be instrument specific, so that it would be included whenever the KAP140*.xml instruments where included on the panel.
2004-10-17 17:41:05 +00:00
<filter>
<name>pressure-rate-filter</name>
<debug>false</debug>
<type>double-exponential</type>
<input>/autopilot/internal/pressure-rate</input>
<output>/autopilot/internal/filtered-pressure-rate</output>
<filter-time>0.1</filter-time>
</filter>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
<!-- 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>
Roy Vegard Ovesen: Here are some updates to the KAP140 autopilot in the default c172. It now uses ailerons and elevator instead of aileron-trim and elevator-trim. I've started to "upgrade" it to the "two axis altitude preselect" version. Vertical speed select rounds to nearest 100 fpm. I've also modified the c172 electrical configuration to turn on the gps instrument. Perhaps the most important change is that the nasal script for the KAP140 has moved from data/Nasal to the c172p aircraft subdir. So it is important that you delete data/Nasal/kap140.nas. Having the kap140.nas script as a global script was not a good solution. Now it is aircraft specific, and thus included in the c172p-set.xml file. Ideally I would like it to be instrument specific, so that it would be included whenever the KAP140*.xml instruments where included on the panel.
2004-10-17 17:41:05 +00:00
<prop>/autopilot/internal/filtered-pressure-rate</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</input>
<reference>
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
</reference>
<output>
Roy Vegard Ovesen: Here are some updates to the KAP140 autopilot in the default c172. It now uses ailerons and elevator instead of aileron-trim and elevator-trim. I've started to "upgrade" it to the "two axis altitude preselect" version. Vertical speed select rounds to nearest 100 fpm. I've also modified the c172 electrical configuration to turn on the gps instrument. Perhaps the most important change is that the nasal script for the KAP140 has moved from data/Nasal to the c172p aircraft subdir. So it is important that you delete data/Nasal/kap140.nas. Having the kap140.nas script as a global script was not a good solution. Now it is aircraft specific, and thus included in the c172p-set.xml file. Ideally I would like it to be instrument specific, so that it would be included whenever the KAP140*.xml instruments where included on the panel.
2004-10-17 17:41:05 +00:00
<prop>/controls/flight/elevator</prop>
Roy Vegard Ovesen: Here is the KAP140 Two Axis Autopilot. Aircraft/Instruments/KAP140TwoAxis.xml Is of course the instrument config file. Aircraft/Instruments/Textures/KAP140.rgb The texture. Nasal/kap140.nas Most of the work is done here. Without Nasal I don't see how I could implement the NAV-ARM modes and the flashing annunciators. Aircraft/c172p/Systems/KAP140.xml The autopilot PID controllers configuration file. Maybe this file should be in a more accessible directory and not hidden deep inside c172p!? I've also attached the changes to the default C172 to include this autopilot in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've managed to include all that is needed.
2004-04-16 21:59:51 +00:00
</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>
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