fgdata/Aircraft/Generic/generic-autopilot.xml

<?xml version="1.0"?>
 
<!-- Reworked Generic Autopilot -->
<!-- Copyright (c) 2022 Josh Davidson (Octal450) -->

<!--
Configuration
You can modify the behavior of this system using the properties in /autopilot/config
When null, the default values are used

bank-limit
- Set the maxmimum bank angle in degrees (positive numbers only)

current-agl-prop
- Set the property for current agl altitude in feet

current-alt-prop
- Set the property for current altitude in feet

current-kts-prop
- Set the property for current airspeed in knots

current-mach-prop
- Set the property for current mach

max-alt-vs
- Set the maximum climb rate for altitude or agl modes in feet per minute

min-alt-vs
- Set the minimum descent rate for altitude or agl modes in feet per minute

pitch-limit-max
- Set the maximum pitch angle in degrees

pitch-limit-min
- Set the minimum pitch angle in degrees
-->

<PropertyList>
	
	<filter> <!-- Adjust the system response for different types of aircraft -->
		<name>Weight Gain Scalar</name>
		<type>gain</type>
		<gain>0.0001</gain>
		<!-- If adding support for a new flight model type, just provide gross weight in lbs and it will work -->
		<input>
			<condition>
				<equals>
					<property>/sim/flight-model</property>
					<value>jsb</value>
				</equals>
			</condition>
			<property>/fdm/jsbsim/inertia/weight-lbs</property>
		</input>
		<input>
			<condition>
				<equals>
					<property>/sim/flight-model</property>
					<value>yasim</value>
				</equals>
			</condition>
			<property>/fdm/yasim/gross-weight-lbs</property>
		</input>
		<input>50000</input> <!-- Halfway, if you're using some weird FDM! -->
		<output>/autopilot/internal/gain-factor</output>
		<min>1</min>
		<max>10</max>
	</filter>
	
	<!-- Logic -->
	<logic> <!-- Roll channel active -->
		<input>
			<or>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>wing-leveler</value>
				</equals>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>dg-heading-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>true-heading-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>nav1-hold</value>
				</equals>
			</or>
		</input>
		<output>/autopilot/internal/roll-active</output>
	</logic>
	
	<logic> <!-- Speed on pitch channel active -->
		<input>
			<or>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>speed-with-pitch-trim</value>
				</equals>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>mach-with-pitch-trim</value>
				</equals>
			</or>
		</input>
		<output>/autopilot/internal/speed-on-pitch-active</output>
	</logic>
	
	<logic> <!-- Basic pitch hold active -->
		<input>
			<and>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>pitch-hold</value>
				</equals>
				<not><property>/autopilot/internal/speed-on-pitch-active</property></not>
			</and>
		</input>
		<output>/autopilot/internal/pitch-hold-active</output>
	</logic>
	
	<logic> <!-- Pitch channel active -->
		<input>
			<or>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>vertical-speed-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>pitch-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>altitude-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>agl-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>gs1-hold</value>
				</equals>
				<property>/autopilot/internal/speed-on-pitch-active</property>
			</or>
		</input>
		<output>/autopilot/internal/pitch-active</output>
	</logic>
	
	<logic> <!-- Fpm channel active -->
		<input>
			<or>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>vertical-speed-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>altitude-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>agl-hold</value>
				</equals>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>gs1-hold</value>
				</equals>
				<property>/autopilot/internal/speed-on-pitch-active</property>
			</or>
		</input>
		<output>/autopilot/internal/vs-active</output>
	</logic>
	
	<logic> <!-- Throttle channel active -->
		<input>
			<or>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>speed-with-throttle</value>
				</equals>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>mach-with-throttle</value>
				</equals>
			</or>
		</input>
		<output>/autopilot/internal/throttle-active</output>
	</logic>
	
	<filter> <!-- Bank limit computer -->
		<name>Bank Angle Max</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<greater-than>
					<property>/autopilot/config/bank-limit</property>
					<value>0</value>
				</greater-than>
			</condition>
			<expression>
				<min>
					<property>/autopilot/config/bank-limit</property>
					<table>
						<property>/velocities/airspeed-kt</property>
						<entry><ind> 80</ind><dep>15</dep></entry>
						<entry><ind>200</ind><dep>25</dep></entry>
						<entry><ind>250</ind><dep>30</dep></entry>
					</table>
				</min>
			</expression>
		</input>
		<input>
			<expression>
				<table>
					<property>/velocities/airspeed-kt</property>
					<entry><ind> 80</ind><dep>15</dep></entry>
					<entry><ind>200</ind><dep>25</dep></entry>
					<entry><ind>250</ind><dep>30</dep></entry>
				</table>
			</expression>
		</input>
		<output>/autopilot/internal/max-bank</output>
	</filter>
	
	<filter> <!-- Additive inverse of max bank -->
		<name>Bank Angle Min</name>
		<type>gain</type>
		<gain>-1.0</gain>
		<input>/autopilot/internal/max-bank</input>
		<output>/autopilot/internal/min-bank</output>
	</filter>
	
	<filter> <!-- Heading error computer -->
		<name>Heading/Nav Error Deg</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>nav1-hold</value>
				</equals>
			</condition>
			<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>true-heading-hold</value>
				</equals>
			</condition>
			<property>/autopilot/settings/true-heading-deg</property>
			<offset>
				<property>/orientation/heading-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>dg-heading-hold</value>
				</equals>
			</condition>
			<property>/autopilot/settings/heading-bug-deg</property>
			<offset>
				<property>/orientation/heading-magnetic-deg</property>
				<scale>-1.0</scale>
			</offset>
		</input>
		<input>0</input>
		<output>/autopilot/internal/heading-error-deg</output>
		<period>
			<min>-180</min>
			<max>180</max>
		</period>
	</filter>
	
	<filter> <!-- Hard pitch minimum -->
		<name>Pitch Angle Min</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<greater-than>
					<property>/autopilot/config/pitch-limit-min</property>
					<value>0</value>
				</greater-than>
			</condition>
			<property>/autopilot/config/pitch-limit-min</property>
			<scale>-1</scale>
		</input>
		<input>-15</input>
		<output>/autopilot/internal/min-pitch</output>
	</filter>
	
	<filter> <!-- Hard pitch maximum -->
		<name>Pitch Angle Max</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<greater-than>
					<property>/autopilot/config/pitch-limit-max</property>
					<value>0</value>
				</greater-than>
			</condition>
			<property>/autopilot/config/pitch-limit-max</property>
		</input>
		<input>30</input>
		<output>/autopilot/internal/max-pitch</output>
	</filter>
	
	<filter> <!-- Compute vertical speed in fpm -->
		<name>Internal Vertical Speed</name>
		<type>gain</type>
		<gain>60.0</gain>
		<input>/velocities/vertical-speed-fps</input>
		<output>/autopilot/internal/vertical-speed-fpm</output>
	</filter>
	
	<filter> <!-- Clamp glideslope target fpm -->
		<name>G/S FPM Calc</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>/instrumentation/nav[0]/gs-rate-of-climb-fpm</input>
		<output>/autopilot/internal/nav1-rate-of-climb-fpm</output>
		<min>-1500</min>
		<max>0</max>
	</filter>
	
	<filter> <!-- Estimate true airspeed, used because we want it to work whether we have airspeed instrument or not -->
		<name>Estimated True Speed Knots</name>
		<type>gain</type>
		<gain>1.0085</gain> <!-- Calibrate to instrumentation true -->
		<input>
			<expression>
				<product>
					<property>/velocities/mach</property>
					<table>
						<property>/position/altitude-ft</property>
						<entry><ind>    0</ind><dep>661</dep></entry>
						<entry><ind> 5000</ind><dep>650</dep></entry>
						<entry><ind>10000</ind><dep>638</dep></entry>
						<entry><ind>15000</ind><dep>626</dep></entry>
						<entry><ind>20000</ind><dep>614</dep></entry>
						<entry><ind>25000</ind><dep>602</dep></entry>
						<entry><ind>30000</ind><dep>589</dep></entry>
						<entry><ind>35000</ind><dep>574</dep></entry>
						<entry><ind>40000</ind><dep>573</dep></entry>
					</table>
				</product>
			</expression>
		</input>
		<output>/autopilot/internal/estimated-true-kt</output>
	</filter>
	
	<filter> <!-- Not used in control loop, tuning reference only -->
		<name>Internal FPA Computer</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<difference>
					<property>/orientation/pitch-deg</property>
					<property>/orientation/alpha-deg</property>
				</difference>
			</expression>
		</input>
		<output>/autopilot/internal/fpa</output>
	</filter>
	
	<filter> <!-- Airspeed reference input -->
		<name>Current Knots</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<property-path>/autopilot/config/current-kts-prop</property-path>
		</input>
		<input>/velocities/airspeed-kt</input>
		<output>/autopilot/internal/airspeed-kt</output>
	</filter>
	
	<filter> <!-- Mach reference input -->
		<name>Current Mach</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<property-path>/autopilot/config/current-mach-prop</property-path>
		</input>
		<input>/velocities/mach</input>
		<output>/autopilot/internal/mach</output>
	</filter>
	
	<filter> <!-- Compute knots rate -->
		<name>Knots Rate</name>
		<type>derivative</type>
		<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop -->
		<output>/autopilot/internal/kts-rate-raw</output>
		<filter-time>1.0</filter-time>
	</filter>
	
	<filter> <!-- Filter knots rate -->
		<name>Knots Rate Lag</name>
		<type>exponential</type>
		<input>/autopilot/internal/kts-rate-raw</input>
		<output>/autopilot/internal/kts-rate</output>
		<filter-time>0.08</filter-time>
	</filter>
	
	<filter> <!-- Knots rate computer for speed on pitch -->
		<name>Flch Knots Rate Command</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>mach-with-pitch-trim</value>
				</equals>
			</condition>
			<expression>
				<product>
					<difference>
						<property>/autopilot/settings/target-speed-mach</property>
						<property>/autopilot/internal/mach</property>
					</difference>
					<value>80</value>
				</product>
			</expression>
		</input>
		<input>
			<expression>
				<product>
					<difference>
						<property>/autopilot/settings/target-speed-kt</property>
						<property>/autopilot/internal/airspeed-kt</property>
					</difference>
					<value>0.08</value>
				</product>
			</expression>
		</input>
		<output>/autopilot/internal/flch-kts-error-cmd</output>
		<min>-1.5</min>
		<max>1.5</max>
	</filter>
	
	<filter> <!-- Knots rate command filter -->
		<name>Flch Knots Rate Filter</name>
		<type>noise-spike</type>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>/autopilot/internal/flch-kts-error-cmd</input>
		<output>/autopilot/internal/flch-kts-error</output>
		<max-rate-of-change>
			<condition>
				<and>
					<property>/autopilot/internal/speed-on-pitch-active</property>
					<not-equals> <!-- Fails true, which is we want -->
						<property>/gear/gear[0]/wow</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
			<value>2.5</value>
		</max-rate-of-change>
		<max-rate-of-change>100</max-rate-of-change>
	</filter>
	
	<!-- Roll Axis -->
	<filter> <!-- Copy target roll angle, 0 by default for wingn leveller -->
		<name>IT-CONTROLLER: Roll Deg/Wings Level</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<equals>
					<property>/autopilot/locks/heading</property>
					<value>wing-leveler</value>
				</equals>
			</condition>
		</enable>
		<input>/autopilot/settings/target-roll-deg</input>
		<output>/autopilot/internal/target-roll-deg</output>
	</filter>
	
	<filter> <!-- Compute target roll angle from heading error -->
		<name>IT-CONTROLLER: Heading</name>
		<type>gain</type>
		<gain>
			<expression>
				<table>
					<property>/velocities/airspeed-kt</property>
					<entry><ind> 80</ind><dep>0.9</dep></entry>
					<entry><ind>600</ind><dep>5.4</dep></entry>
				</table>
			</expression>
		</gain>
		<enable>
			<condition>
				<or>
					<equals>
						<property>/autopilot/locks/heading</property>
						<value>dg-heading-hold</value>
					</equals>
					<equals>
						<property>/autopilot/locks/heading</property>
						<value>true-heading-hold</value>
					</equals>
					<equals>
						<property>/autopilot/locks/heading</property>
						<value>nav1-hold</value>
					</equals>
				</or>
			</condition>
		</enable>
		<input>/autopilot/internal/heading-error-deg</input>
		<reference>0</reference>
		<output>/autopilot/internal/target-roll-deg</output>
		<min>/autopilot/internal/min-bank</min>
		<max>/autopilot/internal/max-bank</max>
	</filter>
	
	<filter> <!-- Smooth engagement by syncing when disabled -->
		<name>System Command: Roll Target Inactive Sync</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<not><property>/autopilot/internal/roll-active</property></not>
			</condition>
		</enable>
		<input>/orientation/roll-deg</input>
		<output>/autopilot/internal/target-roll-deg</output>
		<min>/autopilot/internal/min-bank</min>
		<max>/autopilot/internal/max-bank</max>
	</filter>
	
	<filter> <!-- Filter target roll angle -->
		<name>System Command: Target Roll Filter</name>
		<type>noise-spike</type>
		<input>/autopilot/internal/target-roll-deg</input>
		<output>/autopilot/internal/target-roll</output>
		<max-rate-of-change>
			<condition>
				<property>/autopilot/internal/roll-active</property>
			</condition>
			<value>6</value>
		</max-rate-of-change>
		<max-rate-of-change>1000</max-rate-of-change>
	</filter>
	
	<filter> <!-- Compute target roll rate -->
		<name>System Command: Roll Rate Target</name>
		<type>gain</type>
		<gain>-0.8</gain>
		<input>/orientation/roll-deg</input>
		<reference>/autopilot/internal/target-roll</reference>
		<output>/autopilot/internal/target-roll-rate</output>
		<min>-5</min>
		<max>5</max>
	</filter>
	
	<pid-controller> <!-- Main aileron controller -->
		<name>System Command: Aileron</name>
		<enable>
			<condition>
				<property>/autopilot/internal/roll-active</property>
			</condition>
		</enable>
		<input>/orientation/roll-rate-degps</input>
		<reference>/autopilot/internal/target-roll-rate</reference>
		<output>/autopilot/internal/aileron-cmd</output>
		<config>
			<Kp>
				<expression>
					<product>
						<table>
							<property>/velocities/airspeed-kt</property>
							<entry><ind> 80</ind><dep>0.016</dep></entry>
							<entry><ind>360</ind><dep>0.007</dep></entry>
							<entry><ind>600</ind><dep>0.002</dep></entry>
						</table>
						<property>/autopilot/internal/gain-factor</property>
					</product>
				</expression>
			</Kp>
			<Ti>
				<expression>
					<sum>
						<value>0.6</value>
						<product>
							<table>
								<property>/autopilot/internal/gain-factor</property>
								<entry><ind>1</ind><dep>0</dep></entry>
								<entry><ind>5</ind><dep>1</dep></entry>
							</table>
							<value>0.4</value>
						</product>
					</sum>
				</expression>
			</Ti>
			<Td>0.0001</Td>
			<u_min>-1.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Aileron servo driver -->
		<name>System Command: Aileron Filter</name>
		<type>noise-spike</type>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<property>/autopilot/internal/roll-active</property>
			</condition>
		</enable>
		<input>/autopilot/internal/aileron-cmd</input>
		<output>/controls/flight/aileron</output>
		<max-rate-of-change>1.2</max-rate-of-change>
	</filter>
	
	<!-- Pitch Axis -->
	<filter> <!-- Compute target fpm from altitude error -->
		<name>IT-CONTROLLER: Altitude Capture/Hold</name>
		<type>gain</type>
		<gain>-5</gain>
		<input>
			<property-path>/autopilot/config/current-alt-prop</property-path>
		</input>
		<input>/position/altitude-ft</input>
		<reference>/autopilot/settings/target-altitude-ft</reference>
		<output>/autopilot/internal/target-fpm-alt</output>
		<min>
			<property-path>/autopilot/config/min-alt-vs</property-path>
		</min>
		<min>-1000</min>
		<max>
			<property-path>/autopilot/config/max-alt-vs</property-path>
		</max>
		<max>1000</max>
	</filter>
	
	<filter> <!-- Compute target fpm from agl error -->
		<name>IT-CONTROLLER: AGL Capture/Hold</name>
		<type>gain</type>
		<gain>-5</gain>
		<input>
			<property-path>/autopilot/config/current-agl-prop</property-path>
		</input>
		<input>/position/altitude-agl-ft</input>
		<reference>/autopilot/settings/target-agl-ft</reference>
		<output>/autopilot/internal/target-fpm-agl</output>
		<min>
			<property-path>/autopilot/config/min-alt-vs</property-path>
		</min>
		<min>-1000</min>
		<max>
			<property-path>/autopilot/config/max-alt-vs</property-path>
		</max>
		<max>1000</max>
	</filter>
	
	<filter> <!-- Filter vertical speed target fpm -->
		<name>Vertical Speed Filter</name>
		<type>noise-spike</type>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>vertical-speed-hold</value>
				</equals>
			</condition>
			<property>/autopilot/settings/vertical-speed-fpm</property>
		</input>
		<input>/autopilot/internal/vertical-speed-fpm</input>
		<output>/autopilot/internal/target-fpm-vs</output>
		<max-rate-of-change>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>vertical-speed-hold</value>
				</equals>
			</condition>
			<value>300</value>
		</max-rate-of-change>
		<max-rate-of-change>10000</max-rate-of-change>
	</filter>
	
	<filter> <!-- Compute target fpm from target fpa -->
		<name>IT-CONTROLLER: FPA</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
			</condition>
			<expression>
				<product>
					<sin>
						<deg2rad>
							<property>/autopilot/settings/target-fpa-deg</property>
						</deg2rad>
					</sin>
					<property>/autopilot/internal/estimated-true-kt</property>
					<value>101.26859142607174</value> <!-- FPM to Knot -->
				</product>
			</expression>
		</input>
		<input>/autopilot/internal/vertical-speed-fpm</input>
		<output>/autopilot/internal/target-fpm-fpa-raw</output>
		<min>
			<expression>
				<difference>
					<property>/autopilot/internal/vert-speed-fpm</property>
					<value>2000</value>
				</difference>
			</expression>
		</min>
		<max>
			<expression>
				<sum>
					<property>/autopilot/internal/vert-speed-fpm</property>
					<value>2000</value>
				</sum>
			</expression>
		</max>
	</filter>
	
	<filter> <!-- Filter fpa target fpm -->
		<name>FPA FPM Filter</name>
		<type>noise-spike</type>
		<input>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
			</condition>
			<property>/autopilot/internal/target-fpm-fpa-raw</property>
		</input>
		<input>/autopilot/internal/vert-speed-fpm</input>
		<output>/autopilot/internal/target-fpm-fpa</output>
		<max-rate-of-change>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
			</condition>
			<value>300</value>
		</max-rate-of-change>
		<max-rate-of-change>10000</max-rate-of-change>
	</filter>
	
	<pid-controller> <!-- Speed on pitch target fpm controller -->
		<name>IT-CONTROLLER: Speed By Pitch</name>
		<enable>
			<condition>
				<property>/autopilot/internal/speed-on-pitch-active</property>
			</condition>
		</enable>
		<input>/autopilot/internal/kts-rate</input>
		<reference>/autopilot/internal/flch-kts-error</reference>
		<output>/autopilot/internal/target-fpm-flch</output>
		<config>
			<Kp>
				<expression>
					<table>
						<property>/velocities/airspeed-kt</property>
						<entry><ind> 80</ind><dep>-380</dep></entry>
						<entry><ind>360</ind><dep>-430</dep></entry>
						<entry><ind>600</ind><dep>-470</dep></entry>
					</table>
				</expression>
			</Kp>
			<Ti>1.3</Ti>
			<Td>0.0</Td>
			<u_min>
				<expression>
					<difference>
						<property>/autopilot/internal/vertical-speed-fpm</property>
						<value>2000</value>
					</difference>
				</expression>
			</u_min>
			<u_max>
				<expression>
					<sum>
						<property>/autopilot/internal/vertical-speed-fpm</property>
						<value>2000</value>
					</sum>
				</expression>
			</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Smooth engagement by syncing when disabled -->
		<name>Speed By Pitch Inactive Sync</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<not><property>/autopilot/internal/speed-on-pitch-active</property></not>
			</condition>
		</enable>
		<input>/autopilot/internal/vertical-speed-fpm</input>
		<output>/autopilot/internal/target-fpm-flch</output>
	</filter>
	
	<pid-controller> <!-- Main fpm controller -->
		<name>IT-CONTROLLER: FPM Hold</name>
		<enable>
			<condition>
				<property>/autopilot/internal/vs-active</property>
			</condition>
		</enable>
		<input>/autopilot/internal/vertical-speed-fpm</input>
		<reference> <!-- Must be on top of the others -->
			<condition>
				<property>/autopilot/internal/speed-on-pitch-active</property>
			</condition>
			<property>/autopilot/internal/target-fpm-flch</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>altitude-hold</value>
				</equals>
			</condition>
			<property>/autopilot/internal/target-fpm-alt</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>agl-hold</value>
				</equals>
			</condition>
			<property>/autopilot/internal/target-fpm-agl</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>fpa-hold</value>
				</equals>
			</condition>
			<property>/autopilot/internal/target-fpm-fpa</property>
		</reference>
		<reference>
			<condition>
				<equals>
					<property>/autopilot/locks/altitude</property>
					<value>gs1-hold</value>
				</equals>
			</condition>
			<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
		</reference>
		<reference>/autopilot/internal/target-fpm-vs</reference>
		<output>/autopilot/internal/target-pitch-deg</output>
		<config>
			<Kp>
				<expression>
					<table>
						<property>/velocities/airspeed-kt</property>
						<entry><ind> 80</ind><dep>0.0035</dep></entry>
						<entry><ind>360</ind><dep>0.0009</dep></entry>
						<entry><ind>600</ind><dep>0.0004</dep></entry>
					</table>
				</expression>
			</Kp>
			<Ti>2.5</Ti>
			<Td>0.0001</Td>
			<u_min>
				<expression>
					<max>
						<dif>
							<property>/orientation/pitch-deg</property>
							<value>5</value>
						</dif>
						<property>/autopilot/internal/min-pitch</property>
					</max>
				</expression>
			</u_min>
			<u_max>
				<expression>
					<min>
						<sum>
							<property>/orientation/pitch-deg</property>
							<value>5</value>
						</sum>
						<property>/autopilot/internal/max-pitch</property>
					</min>
				</expression>
			</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Copy target pitch angle -->
		<name>IT-CONTROLLER: Pitch Deg</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<property>/autopilot/internal/pitch-hold-active</property>
			</condition>
		</enable>
		<input>/autopilot/settings/target-pitch-deg</input>
		<output>/autopilot/internal/target-pitch-deg</output>
	</filter>
	
	<filter> <!-- Smooth engagement by syncing when disabled -->
		<name>System Command: Pitch Target Inactive Sync</name>
		<type>gain</type>
		<gain>1.0</gain>
		<enable>
			<condition>
				<not><property>/autopilot/internal/pitch-active</property></not>
			</condition>
		</enable>
		<input>/orientation/pitch-deg</input>
		<output>/autopilot/internal/target-pitch-deg</output>
		<min>/autopilot/internal/min-pitch</min>
		<max>/autopilot/internal/max-pitch</max>
	</filter>
	
	<filter> <!-- Filter target pitch angle -->
		<name>System Command: Target Pitch Filter</name>
		<type>noise-spike</type>
		<input>/autopilot/internal/target-pitch-deg</input>
		<output>/autopilot/internal/target-pitch</output>
		<max-rate-of-change>
			<condition>
				<and>
					<property>/autopilot/internal/pitch-active</property>
					<not><property>/autopilot/internal/vs-active</property></not>
				</and>
			</condition>
			<value>4</value>
		</max-rate-of-change>
		<max-rate-of-change>1000</max-rate-of-change>
	</filter>
	
	<filter> <!-- Compute targe pitch rate -->
		<name>System Command: Pitch Rate Target</name>
		<type>gain</type>
		<gain>-0.55</gain>
		<input>/orientation/pitch-deg</input>
		<reference>/autopilot/internal/target-pitch</reference>
		<output>/autopilot/internal/target-pitch-rate</output>
		<min>-1.5</min>
		<max>1.5</max>
	</filter>
	
	<pid-controller> <!-- Main elevator controller -->
		<name>System Command: Elevator</name>
		<enable>
			<condition>
				<property>/autopilot/internal/pitch-active</property>
			</condition>
		</enable>
		<input>/orientation/pitch-rate-degps</input>
		<reference>/autopilot/internal/target-pitch-rate</reference>
		<output>/autopilot/internal/elevator-cmd</output>
		<config>
			<Kp>
				<expression>
					<product>
						<table>
							<property>/velocities/airspeed-kt</property>
							<entry><ind> 80</ind><dep>-0.019</dep></entry>
							<entry><ind>360</ind><dep>-0.009</dep></entry>
							<entry><ind>600</ind><dep>-0.004</dep></entry>
						</table>
						<property>/autopilot/internal/gain-factor</property>
					</product>
				</expression>
			</Kp>
			<Ti>
				<expression>
					<sum>
						<value>0.3</value>
						<product>
							<table>
								<property>/autopilot/internal/gain-factor</property>
								<entry><ind>1</ind><dep>0</dep></entry>
								<entry><ind>5</ind><dep>1</dep></entry>
							</table>
							<value>0.2</value>
						</product>
					</sum>
				</expression>
			</Ti>
			<Td>0.001</Td>
			<u_min>-1.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Elevator servo driver -->
		<name>System Command: Elevator Filter</name>
		<type>noise-spike</type>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<property>/autopilot/internal/pitch-active</property>
			</condition>
		</enable>
		<input>/autopilot/internal/elevator-cmd</input>
		<output>/controls/flight/elevator</output>
		<max-rate-of-change>1.2</max-rate-of-change>
	</filter>
	
	<filter> <!-- Main elevator trim controller + servo driver -->
		<name>System Command: Elevator Trim</name>
		<type>noise-spike</type>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<and>
					<not-equals> <!-- Fails true, which is we want -->
						<property>/gear/gear[0]/wow</property>
						<value>1</value>
					</not-equals>
					<property>/autopilot/internal/pitch-active</property>
					<or>
						<greater-than>
							<property>/autopilot/internal/elevator-cmd</property>
							<value>0.01</value>
						</greater-than>
						<less-than>
							<property>/autopilot/internal/elevator-cmd</property>
							<value>-0.01</value>
						</less-than>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<condition>
				<greater-than>
					<property>/autopilot/internal/elevator-cmd</property>
					<value>0.01</value>
				</greater-than>
			</condition>
			<value>1</value>
		</input>
		<input>
			<condition>
				<less-than>
					<property>/autopilot/internal/elevator-cmd</property>
					<value>-0.01</value>
				</less-than>
			</condition>
			<value>-1</value>
		</input>
		<output>/controls/flight/elevator-trim</output>
		<min>-1.0</min>
		<max>1.0</max>
		<max-rate-of-change>
			<expression>
				<table>
					<abs><property>/autopilot/internal/elevator-cmd</property></abs>
					<entry><ind>0.01</ind><dep>0.001</dep></entry>
					<entry><ind>0.10</ind><dep>0.010</dep></entry>
				</table>
			</expression>
		</max-rate-of-change>
	</filter>
	
	<!-- Throttle Axis -->
	<filter> <!-- Clamp target knots -->
		<name>A/THR Knots Input Gain</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>/autopilot/settings/target-speed-kt</input>
		<output>/autopilot/internal/athr-kts-cmd</output>
		<min>
			<expression>
				<difference>
					<property>/autopilot/internal/airspeed-kt</property>
					<value>25</value>
				</difference>
			</expression>
		</min>
		<max>
			<expression>
				<sum>
					<property>/autopilot/internal/airspeed-kt</property>
					<value>25</value>
				</sum>
			</expression>
		</max>
	</filter>
	
	<filter> <!-- Filter target knots -->
		<name>A/THR Knots Input Filter</name>
		<type>noise-spike</type>
		<initialize-to>output</initialize-to>
		<input>/autopilot/internal/athr-kts-cmd</input>
		<output>/autopilot/internal/athr-kts</output>
		<max-rate-of-change>
			<condition>
				<and>
					<equals>
						<property>/autopilot/locks/speed</property>
						<value>speed-with-throttle</value>
					</equals>
					<not-equals> <!-- Fails true, which is we want -->
						<property>/gear/gear[0]/wow</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
			<value>10</value>
		</max-rate-of-change>
		<max-rate-of-change>200</max-rate-of-change>
	</filter>
	
	<pid-controller> <!-- Knots throttle controller -->
		<name>IT-CONTROLLER: Knots</name>
		<enable>
			<condition>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>speed-with-throttle</value>
				</equals>
			</condition>
		</enable>
		<input>/autopilot/internal/airspeed-kt</input>
		<reference>/autopilot/internal/athr-kts</reference>
		<output>/autopilot/internal/throttle-cmd-pid</output>
		<config>
			<Kp>0.055</Kp>
			<Ti>9.0</Ti>
			<Td>0.00001</Td>
			<u_min>0.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Clamp target mach -->
		<name>A/THR Mach Input Gain</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>/autopilot/settings/target-speed-mach</input>
		<output>/autopilot/internal/athr-mach-cmd</output>
		<min>
			<expression>
				<difference>
					<property>/autopilot/internal/mach</property>
					<value>0.045</value>
				</difference>
			</expression>
		</min>
		<max>
			<expression>
				<sum>
					<property>/autopilot/internal/mach</property>
					<value>0.045</value>
				</sum>
			</expression>
		</max>
	</filter>
	
	<filter> <!-- Filter target mach -->
		<name>A/THR Mach Input Filter</name>
		<type>noise-spike</type>
		<initialize-to>output</initialize-to>
		<input>/autopilot/internal/athr-mach-cmd</input>
		<output>/autopilot/internal/athr-mach</output>
		<max-rate-of-change>
			<condition>
				<and>
					<equals>
						<property>/autopilot/locks/speed</property>
						<value>mach-with-throttle</value>
					</equals>
					<not-equals> <!-- Fails true, which is we want -->
						<property>/gear/gear[0]/wow</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
			<value>0.08</value>
		</max-rate-of-change>
		<max-rate-of-change>2</max-rate-of-change>
	</filter>
	
	<pid-controller> <!-- Mach throttle controller -->
		<name>IT-CONTROLLER: Mach</name>
		<enable>
			<condition>
				<equals>
					<property>/autopilot/locks/speed</property>
					<value>mach-with-throttle</value>
				</equals>
			</condition>
		</enable>
		<input>
			<property>/autopilot/internal/mach</property>
			<scale>1000</scale>
		</input>
		<reference>
			<property>/autopilot/internal/athr-mach</property>
			<scale>1000</scale>
		</reference>
		<output>/autopilot/internal/throttle-cmd-pid</output>
		<config>
			<Kp>0.055</Kp>
			<Ti>9.0</Ti>
			<Td>0.00001</Td>
			<u_min>0.0</u_min>
			<u_max>1.0</u_max>
		</config>
	</pid-controller>
	
	<filter> <!-- Throttle servo driver -->
		<name>System Command: Throttle</name>
		<type>noise-spike</type>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<enable>
			<condition>
				<property>/autopilot/internal/throttle-active</property>
			</condition>
		</enable>
		<input>/autopilot/internal/throttle-cmd-pid</input>
		<output>
			<property>/controls/engines/engine[0]/throttle</property>
			<property>/controls/engines/engine[1]/throttle</property>
			<property>/controls/engines/engine[2]/throttle</property>
			<property>/controls/engines/engine[3]/throttle</property>
			<property>/controls/engines/engine[4]/throttle</property>
			<property>/controls/engines/engine[5]/throttle</property>
			<property>/controls/engines/engine[6]/throttle</property>
			<property>/controls/engines/engine[7]/throttle</property>
		</output>
		<max-rate-of-change>0.3</max-rate-of-change>
	</filter>

</PropertyList>