269 lines
7.9 KiB
XML
269 lines
7.9 KiB
XML
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<PropertyList>
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<!-- GFC 700 Autopilot Finite State Machine for LATERAL mode-->
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<branch>/autopilot/GFC700/FSM/lateral</branch>
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<state>
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<name>OFF</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/heading</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/lateral-mode</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/lateral-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/lateral-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<!-- Roll mode. Either set wings level (if roll < 6.0), or set to current roll -->
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<name>ROL</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/lateral-mode</property>
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<value>ROL</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/lateral-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<!-- Go to wings level mode if roll [-6.0,6.0] -->
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<name>ROL-ROL-WL</name>
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<source>ROL</source>
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<target>ROL-WL</target>
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<condition>
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<less-than>
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<property>/autopilot/internal/filtered-roll-deg</property>
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<value>6.0</value>
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</less-than>
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<greater-than>
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<property>/autopilot/internal/filtered-roll-deg</property>
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<value>-6.0</value>
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</greater-than>
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</condition>
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</transition>
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<transition>
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<!-- Otherwise, just got to ROLL with the set roll value -->
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<name>ROL-ROL-SET</name>
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<source>ROL</source>
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<target>ROL-SET</target>
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<condition>
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<or>
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<greater-than>
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<property>/autopilot/internal/filtered-roll-deg</property>
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<value>6.0</value>
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</greater-than>
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<less-than>
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<property>/autopilot/internal/filtered-roll-deg</property>
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<value>-6.0</value>
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</less-than>
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</or>
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</condition>
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</transition>
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<state>
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<name>ROL-SET</name>
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<!-- Roll hold mode. We assign a filtered value, which limits to to [-22.0, 20.0] -->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-roll-deg</property>
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<property n="1">/autopilot/internal/filtered-roll-deg</property>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/heading</property>
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<value>roll-hold</value>
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</enter>
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</state>
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<state>
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<name>ROL-WL</name>
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<!-- Roll hold mode - wings level. Used if the roll value when enabled is [-6,6]-->
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<enter>
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<command>property-assign</command>
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<property>/autopilot/settings/target-roll-deg</property>
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<value>0.0</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/heading</property>
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<value>roll-hold</value>
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</enter>
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</state>
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<state>
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<name>GA</name>
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<!-- GA mode - Wings level -->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-roll-deg</property>
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<value>0.0</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/heading</property>
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<value>roll-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/lateral-mode</property>
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<value>GA</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/lateral-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>HDG</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/heading</property>
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<value>dg-heading-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/lateral-mode</property>
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<value>HDG</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/lateral-mode-button</property>
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<value></value>
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</enter>
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</state>
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<!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, changes to ROL mode -->
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<transition>
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<name>OFF-ROL</name>
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<source>OFF</source>
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<target>ROL</target>
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<exclude-target>true</exclude-target>
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<condition>
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<or>
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<equals><property>/autopilot/lateral-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/lateral-mode-button</property><value>CWS</value></equals>
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<equals><property>/autopilot/lateral-mode-button</property><value>NAV</value></equals>
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<equals><property>/autopilot/lateral-mode-button</property><value>BC</value></equals>
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<equals><property>/autopilot/lateral-mode-button</property><value>APR</value></equals>
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<equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
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</or>
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</condition>
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</transition>
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<transition>
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<name>OFF-HDG</name>
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<source>OFF</source>
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<target>HDG</target>
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<exclude-target>true</exclude-target>
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<condition>
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<or>
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<equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
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</or>
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</condition>
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</transition>
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<!-- AP/FD logic is somewhat complex:
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1) Pressing AP toggles the autopilot on/off
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a) OFF to ON : OFF-AP-ROL transition below
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b) ON to OFF : Handled by a separate FSM. We could use a series of transitions
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to the same states below, but that would result in entry bindings being repeated, which would be bad
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2) When the AP is enabled, the FD button is disabled. (Easy - no transition!)
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3) Pressing the FD button when the FD is enabled switches off the FD : Switch-off transition below
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-->
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<!-- From the OFF state, pressing AP changes to ROL mode, with the AP enabled (e.g. not passive mode) -->
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<transition>
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<name>OFF-AP-ROL</name>
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<source>OFF</source>
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<target>ROL</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>AP</value></equals>
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</condition>
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<binding>
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<command>property-assign</command>
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<property>/autopilot/locks/passive-mode</property>
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<value>0</value>
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</binding>
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</transition>
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<!-- From any state pressing FD when FD is ON switches off the FD -->
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<transition>
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<name>FD-Switch-off</name>
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<target>OFF</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
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</condition>
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</transition>
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<!-- Series of transitions to handle case where disabling the AP. Need to remain in existing state -->
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<!-- From any state, pressing GA goes to GA mode, and returns to ROL mode when pressed again -->
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<transition>
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<name>To GA</name>
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<target>GA</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>GA</value></equals>
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</condition>
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</transition>
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<transition>
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<name>From GA</name>
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<source>GA</source>
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<target>ROL</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>GA</value></equals>
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</condition>
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</transition>
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<!-- From any state, pressing HDG goes to HDG mode, and returns to ROL mode when pressed again -->
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<transition>
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<name>To HDG</name>
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<target>HDG</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
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</condition>
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</transition>
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<transition>
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<name>From HDG</name>
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<source>HDG</source>
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<target>ROL</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/lateral-mode-button</property><value>HDG</value></equals>
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</condition>
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</transition>
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</PropertyList>
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