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