diff --git a/Nasal/casdisable.nas b/Nasal/casdisable.nas
new file mode 100644
index 000000000..13580ed3e
--- /dev/null
+++ b/Nasal/casdisable.nas
@@ -0,0 +1,51 @@
+ #disable cas when engines running- otherwise we are overflooded with error messages in the console
+ call_casdisable = func {
+
+ if ( getprop("/rotors/main/rpm")> 80.0)
+
+
+
+ {
+
+ setprop("/controls/flight/fcs/cas-enabled", 0);
+
+ } else {
+
+ setprop("/controls/flight/fcs/cas-enabled", 1.0);
+
+
+ }
+
+ #if (RUN2 ==1) {
+
+ # setprop("/controls/flight/fcs/cas-enabled", 0);
+
+ # } else {
+
+ # setprop("/controls/flight/fcs/cas-enabled", 1.0);
+
+
+ # }
+
+
+settimer(call_casdisable, 0.2);
+
+}
+
+
+
+init = func {
+
+ settimer(call_casdisable, 0.0);
+
+}
+
+
+
+init();
+
+
+
+
+
+
\ No newline at end of file
diff --git a/Nasal/fcs.nas b/Nasal/fcs.nas
new file mode 100644
index 000000000..f5ae2a619
--- /dev/null
+++ b/Nasal/fcs.nas
@@ -0,0 +1,571 @@
+#
+# Flight Control System by Tatsuhiro Nishioka
+# $Id: fcs.nas,v 1.11 2008/08/28 02:41:04 tat Exp $
+#
+#This one simulates a jaw SAS
+
+var FCSFilter = {
+ new : func(input_path, output_path) {
+ var obj = { parents : [FCSFilter],
+ input_path : input_path,
+ output_path : output_path };
+ obj.axis_conv = {'roll' : 'aileron', 'pitch' : 'elevator', 'yaw' : 'rudder' };
+ obj.body_conv = {'roll' : 'v', 'pitch' : 'u' };
+ obj.last_body_fps = {'roll' : 0.0, 'pitch' : 0.0 };
+ obj.last_pos = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 0.0};
+ return obj;
+ },
+
+ # read input command for a given axis
+ read : func(axis) {
+ if (me.input_path == nil or me.input_path == "") {
+ return getprop("/controls/flight/" ~ me.axis_conv[axis]);
+ } else {
+ var value = getprop(me.input_path ~ "/" ~ axis);
+ value = int(value * 1000) / 1000.0;
+ }
+ },
+
+ # write output command for a given axis
+ # this will be the output of an next command filter (like SAS)
+ write : func(axis, value) {
+ if (me.output_path == nil or me.output_path == '') {
+ setprop("/controls/flight/fcs/" ~ axis, me.limit(value, 1.0));
+ } else {
+ setprop(me.output_path ~ "/" ~ axis, me.limit(value, 1.0));
+ }
+ },
+
+ toggleFilterStatus : func(name) {
+ var messages = ["disengaged", "engaged"];
+ var path = "/controls/flight/fcs/" ~ name ~ "-enabled";
+ var status = getprop(path);
+ setprop(path, 1 - status);
+ screen.log.write(name ~ " " ~ messages[1 - status]);
+ },
+
+ getStatus : func(name) {
+ var path = "/controls/flight/fcs/" ~ name ~ "-enabled";
+ return getprop(path);
+ },
+
+ limit : func(value, range) {
+ if (value > range) {
+ return range;
+ } elsif (value < -range) {
+ return - range;
+ }
+ return value;
+ },
+
+ max : func(val1, val2) {
+ return (val1 > val2) ? val1 : val2;
+ },
+
+ min : func(val1, val2) {
+ return (val1 > val2) ? val2 : val1;
+ },
+
+ calcCounterBodyFPS : func(axis, input, offset_deg) {
+ var position = getprop("/orientation/" ~ axis ~ "-deg");
+ var body_fps = 0;
+ var last_body_fps = me.last_body_fps[axis];
+ var reaction_gain = 0;
+ var heading = getprop("/orientation/heading-deg");
+ var wind_speed_fps = getprop("/environment/wind-speed-kt") * 1.6878099;
+ var wind_direction = getprop("/environment/wind-from-heading-deg");
+ var wind_direction -= heading;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var gear_pos = getprop("/gear/gear[0]/compression-norm") + getprop("/gear/gear[1]/compression-norm");
+ var counter_fps = 0;
+ var fps_axis = me.body_conv[axis]; # convert from {roll, pitch} to {u, v}
+ var target_pos = offset_deg;
+ var brake_deg = 0;
+
+ body_fps = getprop("/velocities/" ~ fps_axis ~ "Body-fps");
+ if (axis == 'roll') {
+ var wind_fps = math.sin(wind_direction / 180 * math.pi) * wind_speed_fps;
+ } else {
+ var wind_fps = math.cos(wind_direction / 180 * math.pi) * wind_speed_fps;
+ }
+ var brake_freq = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-brake-freq");
+ var brake_gain = getprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-" ~ axis);
+ body_fps -= wind_fps;
+ var dfps = body_fps - me.last_body_fps[axis];
+ var fps_coeff = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-coeff");
+ target_pos -= int(body_fps * 100) / 100 * fps_coeff;
+ if (axis == 'roll' and gear_pos > 0.0 and position > 0) {
+ target_pos -= position * gear_pos / 5;
+ }
+ reaction_gain = getprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-" ~ axis);
+ var brake_sensitivity = (axis == 'roll') ? 1 : 1;
+ if (math.abs(position + rate / brake_freq * brake_sensitivity) > math.abs(target_pos)) {
+ if (math.abs(dfps) > 1) {
+ dfps = 1;
+ }
+ var error_deg = target_pos - position;
+ brake_deg = (error_deg - rate / brake_freq) * math.abs(dfps * 10) * brake_gain;
+ if (target_pos > 0) {
+ brake_deg = me.min(brake_deg, 0);
+ } else {
+ brake_deg = me.max(brake_deg, 0);
+ }
+ }
+ counter_fps = me.limit((target_pos + brake_deg) * reaction_gain, 1.0);
+
+ setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-fps", body_fps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-wind-fps", wind_fps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-target-deg", target_pos);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-rate", rate);
+ setprop("/controls/flight/fcs/afcs/ah-delta-" ~ fps_axis ~ "body-fps", dfps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-brake-deg", brake_deg);
+
+ setprop("/controls/flight/fcs/afcs/counter-fps-" ~ axis, counter_fps);
+ me.last_pos[axis] = position;
+ me.last_body_fps[axis] = body_fps;
+ return me.limit(counter_fps + input * 0.2, 1.0);
+ },
+
+};
+
+#
+# AFCS : Automatic Flight Control System
+#
+var AFCS = {
+ new : func(input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, AFCS];
+ setprop("/controls/flight/fcs/auto-hover-enabled", 0);
+ setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-pitch", 1.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-roll", 0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-brake-freq", 3);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-coeff", -0.95);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-offset-deg", 0.9);
+ setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-pitch", -0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-roll", 0.3436);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-brake-freq", 8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-coeff", 0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-offset-deg", -0.8);
+ return obj;
+ },
+
+ toggleAutoHover : func() {
+ me.toggleFilterStatus("auto-hover");
+ },
+
+ toggleAirSpeedLock : func() {
+ me.toggleFilterStatus("air-speed-lock");
+ },
+
+ toggleHeadingLock : func() {
+ me.toggleFilterStatus("heading-lock");
+ },
+
+ toggleAltitudeLock : func() {
+ me.toggleFilterStatus("altitude-lock");
+ },
+
+ #
+ # auto hover : locks vBody_fps and uBody_fps regardless of wind speed/direction
+ #
+ autoHover : func(axis, input) {
+ if (axis == 'yaw') {
+ return input;
+ } else {
+ var offset_deg = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-offset-deg");
+ return me.calcCounterBodyFPS(axis, input, offset_deg);
+ }
+ },
+
+ altitudeLock : func(axis, input) {
+ # not implemented yet
+ return input;
+ },
+
+ headingLock : func(axis, input) {
+ # not implementet yet
+ return input;
+ },
+
+ apply : func(axis) {
+ var input = me.read(axis);
+ var hover_status = me.getStatus("auto-hover");
+ if (hover_status == 0) {
+ me.write(axis, input);
+ return;
+ }
+ me.write(axis, me.autoHover(axis, input));
+ }
+};
+
+#
+# SAS : Stability Augmentation System - a rate damper
+#
+var SAS = {
+ #
+ # new
+ # initial_gains: hash of initial gains for rate damping
+ # sensitivities: hash of minimum rates (deg/sec) that enables rate damper
+ # authority_limit: shows how much SAS can take over control
+ # 0 means no stability control, 1.0 means SAS fully takes over pilot control
+ # input_path: is a base path to input axis; nil for using raw input from KB/JS
+ # output_path: is a base path to output axis; nis for using /controls/flight/fcs
+ #
+ # with input_path / output_path, you can connect SAS, CAS, and more control filters
+ #
+ new : func(initial_gains, sensitivities, authority_limit, input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, SAS];
+ obj.authority_limit = authority_limit;
+ obj.sensitivities = sensitivities;
+ obj.initial_gains = initial_gains;
+ props.globals.getNode("/controls/flight/fcs/gains/sas", 1).setValues(obj.initial_gains);
+ setprop("/controls/flight/fcs/sas-enabled", 1);
+ return obj;
+ },
+
+ toggleEnable : func() {
+ me.toggleFilterStatus("sas");
+ },
+
+ #
+ # calcGain - get gain for each axis based on air speed and dynamic pressure
+ # axis: one of 'roll', 'pitch', or 'yaw'
+ #
+ calcGain : func(axis) {
+ var mach = getprop("/velocities/mach");
+ var initial_gain = getprop("/controls/flight/fcs/gains/sas/" ~ axis);
+ var gain = initial_gain - 0.1 * mach * mach;
+ if (math.abs(gain) < math.abs(initial_gain) * 0.01 or gain * initial_gain < 0) {
+ gain = initial_gain * 0.01;
+ }
+ return gain;
+ },
+
+ calcAuthorityLimit : func() {
+ var mach = getprop("/velocities/mach");
+ var min_mach = 0.038;
+ var limit = me.authority_limit;
+ if (math.abs(mach < min_mach)) {
+ limit += (min_mach - math.abs(mach)) / min_mach * (1 - me.authority_limit) * 0.95;
+ }
+ setprop("/controls/flight/fcs/gains/sas/authority-limit", limit);
+ return limit;
+ },
+
+ #
+ # apply - apply SAS damper to a given input axis
+ # axis: one of 'roll', 'pitch', or 'yaw'
+ #
+ apply : func(axis) {
+ var status = me.getStatus("sas");
+ var input = me.read(axis);
+ if (status == 0) {
+ me.write(axis, input);
+ return;
+ }
+ var mach = getprop("/velocities/mach");
+ var value = 0;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var gain = me.calcGain(axis);
+ var limit = me.calcAuthorityLimit();
+ if (math.abs(rate) >= me.sensitivities[axis]) {
+ value = - gain * rate;
+ if (value > limit) {
+ value = limit;
+ } elsif (value < - limit) {
+ value = - limit;
+ }
+ }
+ me.write(axis, value + input);
+ }
+};
+
+#
+# CAS : Control Augmentation System - makes your aircraft more meneuverable
+#
+var CAS = {
+ new : func(input_gains, output_gains, sensitivities, input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, CAS];
+ obj.sensitivities = sensitivities;
+ obj.input_gains = input_gains;
+ obj.output_gains = output_gains;
+ props.globals.getNode("/controls/flight/fcs/gains/cas/input", 1).setValues(obj.input_gains);
+ props.globals.getNode("/controls/flight/fcs/gains/cas/output", 1).setValues(obj.output_gains);
+ setprop("/autopilot/locks/altitude", '');
+ setprop("/autopilot/locks/heading", '');
+ setprop("/controls/flight/fcs/cas-enabled", 1);
+ return obj;
+ },
+
+ calcRollRateAdjustment : func {
+ var position = getprop("/orientation/roll-deg");
+ return math.abs(math.sin(position / 180 * math.pi)) / 6;
+ },
+
+ calcSideSlipAdjustment : func {
+ var mach = getprop("/velocities/mach");
+ var slip = getprop("/orientation/side-slip-deg");
+ if (mach < 0.015) { # works only if air speed > 10kt
+ slip = 0;
+ }
+ var anti_slip_gain = getprop("/controls/flight/fcs/gains/cas/output/anti-side-slip-gain");
+ var roll_deg = getprop("/orientation/roll-deg");
+ var gain_adjuster = me.min(math.abs(mach) / 0.060, 1) * me.limit(0.2 + math.sqrt(math.abs(roll_deg)/10), 3);
+ anti_slip_gain *= gain_adjuster;
+ setprop("/controls/flight/fcs/cas/anti-side-slip", slip * anti_slip_gain);
+ return slip * anti_slip_gain;
+ },
+
+ # FIXME: command for CAS is just a temporal one
+ calcCommand: func (axis, input) {
+ var output = 0;
+ var mach = getprop("/velocities/mach");
+ var input_gain = me.calcGain(axis);
+ var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis);
+ var target_rate = input * input_gain;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var drate = target_rate - rate;
+ var locks = {'pitch' : getprop("/autopilot/locks/altitude"),
+ 'roll' : getprop("/autopilot/locks/heading")};
+ setprop("/controls/flight/fcs/cas/target_" ~ axis ~ "rate", target_rate);
+ setprop("/controls/flight/fcs/cas/delta_" ~ axis, drate);
+
+ if (axis == 'roll' or axis == 'pitch') {
+ if (math.abs(input > 0.7) or locks[axis] != '') {
+ output = drate * output_gain;
+ } else {
+ output = me.calcAttitudeCommand(axis);
+ }
+ if (axis == 'roll' and math.abs(mach) < 0.035) {
+ # FIXME: I don't know if OH-1 has this one
+ output += me.calcCounterBodyFPS(axis, input, -0.8);
+ }
+ } elsif (axis == 'yaw') {
+ output = drate * output_gain + me.calcSideSlipAdjustment();
+ } else {
+ output = drate * output_gain;
+ }
+ return output;
+ },
+
+ toggleEnable : func() {
+ me.toggleFilterStatus("cas");
+ },
+
+ calcAttitudeCommand : func(axis) {
+ var input_gain = getprop("/controls/flight/fcs/gains/cas/input/attitude-" ~ axis);
+ var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis);
+ var brake_freq = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake-freq");
+ var brake_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake");
+ var trim = getprop("/controls/flight/" ~ me.axis_conv[axis] ~ "-trim");
+
+ var current_deg = getprop("/orientation/" ~ axis ~ "-deg");
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var target_deg = (me.read(axis) + trim) * input_gain;
+ var command_deg = 0;
+ if (target_deg != 0) {
+ command_deg = (0.094 * math.ln(math.abs(target_deg)) + 0.53) * target_deg;
+ }
+
+ var error_deg = command_deg - current_deg;
+ var brake_deg = (error_deg - rate / brake_freq) * math.abs(error_deg) * brake_gain;
+
+ if (command_deg > 0) {
+ brake_deg = me.min(brake_deg, 0);
+ } else {
+ brake_deg = me.max(brake_deg, 0);
+ }
+
+ var monitor_prefix = me.output_path ~ "/" ~ axis;
+ setprop(monitor_prefix ~ "-target_deg", target_deg);
+ setprop(monitor_prefix ~ "-error_deg", error_deg);
+ setprop(monitor_prefix ~ "-brake_deg", brake_deg);
+ setprop(monitor_prefix ~ "-deg", current_deg);
+ setprop(monitor_prefix ~ "-rate", -rate);
+
+ return (error_deg + brake_deg) * output_gain;
+ },
+
+ # FixMe: gain should be calculated using both speed and dynamic pressure
+ calcGain : func(axis) {
+ var mach = getprop("/velocities/mach");
+ var input_gain = getprop("/controls/flight/fcs/gains/cas/input/" ~ axis);
+ var gain = input_gain;
+ if (axis == 'pitch') {
+ gain += 0.1 * mach * mach;
+ } elsif (axis== 'yaw') {
+ gain *= ((1 - mach) * (1 - mach));
+ }
+ if (gain * input_gain < 0.0 ) {
+ gain = 0;
+ }
+ return gain;
+ },
+
+ apply : func(axis) {
+ var input = me.read(axis);
+ var status = me.getStatus("cas");
+ var cas_command = 0;
+ # FIXME : hmm, a bit nasty. CAS should be enabled even with auto-hover....
+ if (status == 0 or (me.getStatus("auto-hover") == 1 and axis != 'yaw')) {
+ me.write(axis, input);
+ return;
+ }
+ cas_command = me.calcCommand(axis, input);
+ me.write(axis, cas_command);
+ }
+};
+
+#
+# Tail hstab, "stabilator," for stabilize the nose
+#
+var Stabilator = {
+ new : func() {
+ var obj = { parents : [Stabilator] };
+ setprop("/controls/flight/fcs/gains/stabilator", -1.8);
+ setprop("/controls/flight/fcs/auto-stabilator", 1);
+ # 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160, 170, 180, .....
+ me.gainTable = [-0.9, -0.8, 0.1, -0.5, 0.0, 0.7, 0.8, 0.9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9, 0.8, 0.6, 0.4, 0.2, -1.0];
+ return obj;
+ },
+
+ toggleManual : func {
+ var status = getprop("/controls/flight/fcs/auto-stabilator");
+ getprop("/controls/flight/fcs/auto-stabilator", 1 - status);
+ },
+
+ apply : func(delta) {
+ setprop("/controls/flight/fcs/auto-stabilator", 0);
+ var value = getprop("/controls/flight/fcs/stabilator");
+ getprop("/controls/flight/fcs/stabilator", value + delta);
+ },
+
+ calcPosition : func() {
+ var speed = getprop("/velocities/mach") / 0.001497219; # in knot
+ var index = int(math.abs(speed) / 10);
+ if (index >= size(me.gainTable) - 1) {
+ index = size(me.gainTable) - 2;
+ }
+ var mod = math.mod(int(math.abs(speed)), 10);
+ var position = me.gainTable[index] * ((10 - mod) / 10) + me.gainTable[index-1] * (mod) / 10;
+ if (speed < -20) {
+ position = - position;
+ }
+ return position;
+ },
+
+ update : func() {
+ var status = getprop("/controls/flight/fcs/auto-stabilator");
+ if (status == 0) {
+ return;
+ }
+ var gain = getprop("/controls/flight/fcs/gains/stabilator");
+ var mach = getprop("/velocities/mach");
+ var throttle = getprop("/controls/flight/throttle");
+ var stabilator_norm = 0;
+
+ stabilator_norm = me.calcPosition();
+ setprop("/controls/flight/fcs/stabilator", stabilator_norm);
+ }
+};
+
+var TailRotorCollective = {
+ new : func(minimum=0.10, maximum=1.0, low_limit=0.00011, high_limit=0.0035) {
+ var obj = FCSFilter.new("/controls/engines/engine[1]", "/controls/flight/fcs/tail-rotor");
+ obj.parents = [FCSFilter, TailRotorCollective];
+ obj.adjuster = 0.0;
+ setprop("/controls/flight/fcs/tail-rotor/src-minimum", minimum);
+ setprop("/controls/flight/fcs/tail-rotor/src-maximum", maximum);
+ setprop("/controls/flight/fcs/tail-rotor/low-limit", low_limit);
+ setprop("/controls/flight/fcs/tail-rotor/high-limit", high_limit);
+ setprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain", -0.5);
+ return obj;
+ },
+
+ update : func() {
+ var throttle = me.read("throttle");
+ var pedal_pos_deg = getprop("/controls/flight/fcs/yaw");
+ var cas_input = cas.read('yaw');
+ var cas_input_gain = cas.calcGain('yaw');
+ var target_rate = cas_input * cas_input_gain;
+ var rate = getprop("/orientation/yaw-rate-degps");
+ var error_rate = getprop("/controls/flight/fcs/cas/delta_yaw");
+ var error_adjuster_gain = getprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain");
+
+ var minimum = getprop("/controls/flight/fcs/tail-rotor/src-minimum");
+ var maximum = getprop("/controls/flight/fcs/tail-rotor/src-maximum");
+ var low_limit = getprop("/controls/flight/fcs/tail-rotor/low-limit");
+ var high_limit = getprop("/controls/flight/fcs/tail-rotor/high-limit");
+ var output = 0;
+ var range = maximum - minimum;
+
+ if (throttle < minimum) {
+ output = low_limit;
+ } elsif (throttle > maximum) {
+ output = high_limit;
+ } else {
+ output = low_limit + (throttle - minimum) / range * (high_limit - low_limit);
+ }
+
+ # CAS driven tail rotor thrust adjuster
+ me.adjuster = error_rate * error_adjuster_gain;
+ me.adjuster = me.limit(me.adjuster, 0.3);
+ output += me.adjuster;
+
+ setprop("/controls/flight/fcs/tail-rotor/error-rate", error_rate);
+ setprop("/controls/flight/fcs/tail-rotor/adjuster", me.adjuster);
+
+ me.write("throttle", output);
+ }
+};
+
+var sas = nil;
+var cas = nil;
+var afcs = nil;
+var stabilator = nil;
+var tail = nil;
+var count = 0;
+
+var sensitivities = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 1.125 };
+var sas_initial_gains = {'roll' : 0, 'pitch' : 0, 'yaw' : 0.004 };
+var cas_input_gains = {'roll' : 30, 'pitch' : -60, 'yaw' : 30,
+ 'attitude-roll' : 80, 'attitude-pitch' : -80 };
+var cas_output_gains = {'roll' : 0.06, 'pitch' : -0.1, 'yaw' : 0.5,
+ 'roll-brake-freq' : 10, 'pitch-brake-freq' : 3,
+ 'roll-brake' : 0.4, 'pitch-brake' : 6,
+ 'anti-side-slip-gain' : -4.5};
+
+var update = func {
+ count += 1;
+ # AFCS, CAS, and SAS run at 60Hz
+ if (math.mod(count, 2) == 0) {
+ return;
+ }
+ cas.apply('roll');
+ cas.apply('pitch');
+ cas.apply('yaw');
+
+ afcs.apply('roll');
+ afcs.apply('pitch');
+ afcs.apply('yaw');
+
+ sas.apply('roll');
+ sas.apply('pitch');
+ sas.apply('yaw');
+ stabilator.update();
+ tail.update();
+}
+
+var initialize = func {
+ cas = CAS.new(cas_input_gains, cas_output_gains, sensitivities, nil, "/controls/flight/fcs/cas");
+ afcs = AFCS.new("/controls/flight/fcs/cas", "/controls/flight/fcs/afcs");
+ sas = SAS.new(sas_initial_gains, sensitivities, 3, "/controls/flight/fcs/afcs", "/controls/flight/fcs");
+ stabilator = Stabilator.new();
+ tail = TailRotorCollective.new();
+ setlistener("/rotors/main/cone-deg", update);
+}
+
+_setlistener("/sim/signals/fdm-initialized", initialize);
+
diff --git a/Nasal/fcs2.nas b/Nasal/fcs2.nas
new file mode 100644
index 000000000..31948e338
--- /dev/null
+++ b/Nasal/fcs2.nas
@@ -0,0 +1,570 @@
+#
+# Flight Control System by Tatsuhiro Nishioka
+# $Id: fcs.nas,v 1.11 2008/08/28 02:41:04 tat Exp $
+#
+#This one simulates a P/R and Jaw SAS
+
+var FCSFilter = {
+ new : func(input_path, output_path) {
+ var obj = { parents : [FCSFilter],
+ input_path : input_path,
+ output_path : output_path };
+ obj.axis_conv = {'roll' : 'aileron', 'pitch' : 'elevator', 'yaw' : 'rudder' };
+ obj.body_conv = {'roll' : 'v', 'pitch' : 'u' };
+ obj.last_body_fps = {'roll' : 0.0, 'pitch' : 0.0 };
+ obj.last_pos = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 0.0};
+ return obj;
+ },
+
+ # read input command for a given axis
+ read : func(axis) {
+ if (me.input_path == nil or me.input_path == "") {
+ return getprop("/controls/flight/" ~ me.axis_conv[axis]);
+ } else {
+ var value = getprop(me.input_path ~ "/" ~ axis);
+ value = int(value * 1000) / 1000.0;
+ }
+ },
+
+ # write output command for a given axis
+ # this will be the output of an next command filter (like SAS)
+ write : func(axis, value) {
+ if (me.output_path == nil or me.output_path == '') {
+ setprop("/controls/flight/fcs/" ~ axis, me.limit(value, 1.0));
+ } else {
+ setprop(me.output_path ~ "/" ~ axis, me.limit(value, 1.0));
+ }
+ },
+
+ toggleFilterStatus : func(name) {
+ var messages = ["disengaged", "engaged"];
+ var path = "/controls/flight/fcs/" ~ name ~ "-enabled";
+ var status = getprop(path);
+ setprop(path, 1 - status);
+ #screen.log.write(name ~ " " ~ messages[1 - status]);
+ },
+
+ getStatus : func(name) {
+ var path = "/controls/flight/fcs/" ~ name ~ "-enabled";
+ return getprop(path);
+ },
+
+ limit : func(value, range) {
+ if (value > range) {
+ return range;
+ } elsif (value < -range) {
+ return - range;
+ }
+ return value;
+ },
+
+ max : func(val1, val2) {
+ return (val1 > val2) ? val1 : val2;
+ },
+
+ min : func(val1, val2) {
+ return (val1 > val2) ? val2 : val1;
+ },
+
+ calcCounterBodyFPS : func(axis, input, offset_deg) {
+ var position = getprop("/orientation/" ~ axis ~ "-deg");
+ var body_fps = 0;
+ var last_body_fps = me.last_body_fps[axis];
+ var reaction_gain = 0;
+ var heading = getprop("/orientation/heading-deg");
+ var wind_speed_fps = getprop("/environment/wind-speed-kt") * 1.6878099;
+ var wind_direction = getprop("/environment/wind-from-heading-deg");
+ var wind_direction -= heading;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var gear_pos = getprop("/gear/gear[0]/compression-norm") + getprop("/gear/gear[1]/compression-norm");
+ var counter_fps = 0;
+ var fps_axis = me.body_conv[axis]; # convert from {roll, pitch} to {u, v}
+ var target_pos = offset_deg;
+ var brake_deg = 0;
+
+ body_fps = getprop("/velocities/" ~ fps_axis ~ "Body-fps");
+ if (axis == 'roll') {
+ var wind_fps = math.sin(wind_direction / 180 * math.pi) * wind_speed_fps;
+ } else {
+ var wind_fps = math.cos(wind_direction / 180 * math.pi) * wind_speed_fps;
+ }
+ var brake_freq = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-brake-freq");
+ var brake_gain = getprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-" ~ axis);
+ body_fps -= wind_fps;
+ var dfps = body_fps - me.last_body_fps[axis];
+ var fps_coeff = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-coeff");
+ target_pos -= int(body_fps * 100) / 100 * fps_coeff;
+ if (axis == 'roll' and gear_pos > 0.0 and position > 0) {
+ target_pos -= position * gear_pos / 5;
+ }
+ reaction_gain = getprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-" ~ axis);
+ var brake_sensitivity = (axis == 'roll') ? 1 : 1;
+ if (math.abs(position + rate / brake_freq * brake_sensitivity) > math.abs(target_pos)) {
+ if (math.abs(dfps) > 1) {
+ dfps = 1;
+ }
+ var error_deg = target_pos - position;
+ brake_deg = (error_deg - rate / brake_freq) * math.abs(dfps * 10) * brake_gain;
+ if (target_pos > 0) {
+ brake_deg = me.min(brake_deg, 0);
+ } else {
+ brake_deg = me.max(brake_deg, 0);
+ }
+ }
+ counter_fps = me.limit((target_pos + brake_deg) * reaction_gain, 1.0);
+
+ setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-fps", body_fps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-wind-fps", wind_fps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-target-deg", target_pos);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-rate", rate);
+ setprop("/controls/flight/fcs/afcs/ah-delta-" ~ fps_axis ~ "body-fps", dfps);
+ setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-brake-deg", brake_deg);
+
+ setprop("/controls/flight/fcs/afcs/counter-fps-" ~ axis, counter_fps);
+ me.last_pos[axis] = position;
+ me.last_body_fps[axis] = body_fps;
+ return me.limit(counter_fps + input * 0.2, 1.0);
+ },
+
+};
+
+#
+# AFCS : Automatic Flight Control System
+#
+var AFCS = {
+ new : func(input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, AFCS];
+ setprop("/controls/flight/fcs/auto-hover-enabled", 0);
+ setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-pitch", 1.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-roll", 0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-brake-freq", 3);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-coeff", -0.95);
+ setprop("/controls/flight/fcs/gains/afcs/fps-pitch-offset-deg", 0.9);
+ setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-pitch", -0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-roll", 0.3436);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-brake-freq", 8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-coeff", 0.8);
+ setprop("/controls/flight/fcs/gains/afcs/fps-roll-offset-deg", -0.8);
+ return obj;
+ },
+
+ toggleAutoHover : func() {
+ me.toggleFilterStatus("auto-hover");
+ },
+
+ toggleAirSpeedLock : func() {
+ me.toggleFilterStatus("air-speed-lock");
+ },
+
+ toggleHeadingLock : func() {
+ me.toggleFilterStatus("heading-lock");
+ },
+
+ toggleAltitudeLock : func() {
+ me.toggleFilterStatus("altitude-lock");
+ },
+
+ #
+ # auto hover : locks vBody_fps and uBody_fps regardless of wind speed/direction
+ #
+ autoHover : func(axis, input) {
+ if (axis == 'yaw') {
+ return input;
+ } else {
+ var offset_deg = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-offset-deg");
+ return me.calcCounterBodyFPS(axis, input, offset_deg);
+ }
+ },
+
+ altitudeLock : func(axis, input) {
+ # not implemented yet
+ return input;
+ },
+
+ headingLock : func(axis, input) {
+ # not implementet yet
+ return input;
+ },
+
+ apply : func(axis) {
+ var input = me.read(axis);
+ var hover_status = me.getStatus("auto-hover");
+ if (hover_status == 0) {
+ me.write(axis, input);
+ return;
+ }
+ me.write(axis, me.autoHover(axis, input));
+ }
+};
+
+#
+# SAS : Stability Augmentation System - a rate damper
+#
+var SAS = {
+ #
+ # new
+ # initial_gains: hash of initial gains for rate damping
+ # sensitivities: hash of minimum rates (deg/sec) that enables rate damper
+ # authority_limit: shows how much SAS can take over control
+ # 0 means no stability control, 1.0 means SAS fully takes over pilot control
+ # input_path: is a base path to input axis; nil for using raw input from KB/JS
+ # output_path: is a base path to output axis; nis for using /controls/flight/fcs
+ #
+ # with input_path / output_path, you can connect SAS, CAS, and more control filters
+ #
+ new : func(initial_gains, sensitivities, authority_limit, input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, SAS];
+ obj.authority_limit = authority_limit;
+ obj.sensitivities = sensitivities;
+ obj.initial_gains = initial_gains;
+ props.globals.getNode("/controls/flight/fcs/gains/sas", 1).setValues(obj.initial_gains);
+ setprop("/controls/flight/fcs/sas-enabled", 1);
+ return obj;
+ },
+
+ toggleEnable : func() {
+ me.toggleFilterStatus("sas");
+ },
+
+ #
+ # calcGain - get gain for each axis based on air speed and dynamic pressure
+ # axis: one of 'roll', 'pitch', or 'yaw'
+ #
+ calcGain : func(axis) {
+ var mach = getprop("/velocities/mach");
+ var initial_gain = getprop("/controls/flight/fcs/gains/sas/" ~ axis);
+ var gain = initial_gain - 0.1 * mach * mach;
+ if (math.abs(gain) < math.abs(initial_gain) * 0.01 or gain * initial_gain < 0) {
+ gain = initial_gain * 0.01;
+ }
+ return gain;
+ },
+
+ calcAuthorityLimit : func() {
+ var mach = getprop("/velocities/mach");
+ var min_mach = 0.038;
+ var limit = me.authority_limit;
+ if (math.abs(mach < min_mach)) {
+ limit += (min_mach - math.abs(mach)) / min_mach * (1 - me.authority_limit) * 0.95;
+ }
+ setprop("/controls/flight/fcs/gains/sas/authority-limit", limit);
+ return limit;
+ },
+
+ #
+ # apply - apply SAS damper to a given input axis
+ # axis: one of 'roll', 'pitch', or 'yaw'
+ #
+ apply : func(axis) {
+ var status = me.getStatus("sas");
+ var input = me.read(axis);
+ if (status == 0) {
+ me.write(axis, input);
+ return;
+ }
+ var mach = getprop("/velocities/mach");
+ var value = 0;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var gain = me.calcGain(axis);
+ var limit = me.calcAuthorityLimit();
+ if (math.abs(rate) >= me.sensitivities[axis]) {
+ value = - gain * rate;
+ if (value > limit) {
+ value = limit;
+ } elsif (value < - limit) {
+ value = - limit;
+ }
+ }
+ me.write(axis, value + input);
+ }
+};
+
+#
+# CAS : Control Augmentation System - makes your aircraft more meneuverable
+#
+var CAS = {
+ new : func(input_gains, output_gains, sensitivities, input_path, output_path) {
+ var obj = FCSFilter.new(input_path, output_path);
+ obj.parents = [FCSFilter, CAS];
+ obj.sensitivities = sensitivities;
+ obj.input_gains = input_gains;
+ obj.output_gains = output_gains;
+ props.globals.getNode("/controls/flight/fcs/gains/cas/input", 1).setValues(obj.input_gains);
+ props.globals.getNode("/controls/flight/fcs/gains/cas/output", 1).setValues(obj.output_gains);
+ setprop("/autopilot/locks/altitude", '');
+ setprop("/autopilot/locks/heading", '');
+ setprop("/controls/flight/fcs/cas-enabled", 1);
+ return obj;
+ },
+
+ calcRollRateAdjustment : func {
+ var position = getprop("/orientation/roll-deg");
+ return math.abs(math.sin(position / 180 * math.pi)) / 6;
+ },
+
+ calcSideSlipAdjustment : func {
+ var mach = getprop("/velocities/mach");
+ var slip = getprop("/orientation/side-slip-deg");
+ if (mach < 0.015) { # works only if air speed > 10kt
+ slip = 0;
+ }
+ var anti_slip_gain = getprop("/controls/flight/fcs/gains/cas/output/anti-side-slip-gain");
+ var roll_deg = getprop("/orientation/roll-deg");
+ var gain_adjuster = me.min(math.abs(mach) / 0.060, 1) * me.limit(0.2 + math.sqrt(math.abs(roll_deg)/10), 3);
+ anti_slip_gain *= gain_adjuster;
+ setprop("/controls/flight/fcs/cas/anti-side-slip", slip * anti_slip_gain);
+ return slip * anti_slip_gain;
+ },
+
+ # FIXME: command for CAS is just a temporal one
+ calcCommand: func (axis, input) {
+ var output = 0;
+ var mach = getprop("/velocities/mach");
+ var input_gain = me.calcGain(axis);
+ var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis);
+ var target_rate = input * input_gain;
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var drate = target_rate - rate;
+ var locks = {'pitch' : getprop("/autopilot/locks/altitude"),
+ 'roll' : getprop("/autopilot/locks/heading")};
+ setprop("/controls/flight/fcs/cas/target_" ~ axis ~ "rate", target_rate);
+ setprop("/controls/flight/fcs/cas/delta_" ~ axis, drate);
+
+ if (axis == 'roll' or axis == 'pitch') {
+ if (math.abs(input > 0.7) or locks[axis] != '') {
+ output = drate * output_gain;
+ } else {
+ output = me.calcAttitudeCommand(axis);
+ }
+ if (axis == 'roll' and math.abs(mach) < 0.035) {
+ # FIXME: I don't know if OH-1 has this one
+ output += me.calcCounterBodyFPS(axis, input, -0.8);
+ }
+ } elsif (axis == 'yaw') {
+ output = drate * output_gain + me.calcSideSlipAdjustment();
+ } else {
+ output = drate * output_gain;
+ }
+ return output;
+ },
+
+ toggleEnable : func() {
+ me.toggleFilterStatus("cas");
+ },
+
+ calcAttitudeCommand : func(axis) {
+ var input_gain = getprop("/controls/flight/fcs/gains/cas/input/attitude-" ~ axis);
+ var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis);
+ var brake_freq = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake-freq");
+ var brake_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake");
+ var trim = getprop("/controls/flight/" ~ me.axis_conv[axis] ~ "-trim");
+
+ var current_deg = getprop("/orientation/" ~ axis ~ "-deg");
+ var rate = getprop("/orientation/" ~ axis ~ "-rate-degps");
+ var target_deg = (me.read(axis) + trim) * input_gain;
+ var command_deg = 0;
+ if (target_deg != 0) {
+ command_deg = (0.094 * math.ln(math.abs(target_deg)) + 0.53) * target_deg;
+ }
+
+ var error_deg = command_deg - current_deg;
+ var brake_deg = (error_deg - rate / brake_freq) * math.abs(error_deg) * brake_gain;
+
+ if (command_deg > 0) {
+ brake_deg = me.min(brake_deg, 0);
+ } else {
+ brake_deg = me.max(brake_deg, 0);
+ }
+
+ var monitor_prefix = me.output_path ~ "/" ~ axis;
+ setprop(monitor_prefix ~ "-target_deg", target_deg);
+ setprop(monitor_prefix ~ "-error_deg", error_deg);
+ setprop(monitor_prefix ~ "-brake_deg", brake_deg);
+ setprop(monitor_prefix ~ "-deg", current_deg);
+ setprop(monitor_prefix ~ "-rate", -rate);
+
+ return (error_deg + brake_deg) * output_gain;
+ },
+
+ # FixMe: gain should be calculated using both speed and dynamic pressure
+ calcGain : func(axis) {
+ var mach = getprop("/velocities/mach");
+ var input_gain = getprop("/controls/flight/fcs/gains/cas/input/" ~ axis);
+ var gain = input_gain;
+ if (axis == 'pitch') {
+ gain += 0.1 * mach * mach;
+ } elsif (axis== 'yaw') {
+ gain *= ((1 - mach) * (1 - mach));
+ }
+ if (gain * input_gain < 0.0 ) {
+ gain = 0;
+ }
+ return gain;
+ },
+
+ apply : func(axis) {
+ var input = me.read(axis);
+ var status = me.getStatus("cas");
+ var cas_command = 0;
+ # FIXME : hmm, a bit nasty. CAS should be enabled even with auto-hover....
+ if (status == 0 or (me.getStatus("auto-hover") == 1 and axis != 'yaw')) {
+ me.write(axis, input);
+ return;
+ }
+ cas_command = me.calcCommand(axis, input);
+ me.write(axis, cas_command);
+ }
+};
+
+#
+# Tail hstab, "stabilator," for stabilize the nose
+#
+var Stabilator = {
+ new : func() {
+ var obj = { parents : [Stabilator] };
+ setprop("/controls/flight/fcs/gains/stabilator", -1.8);
+ setprop("/controls/flight/fcs/auto-stabilator", 1);
+ # 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160, 170, 180, .....
+ me.gainTable = [-0.9, -0.8, 0.1, -0.5, 0.0, 0.7, 0.8, 0.9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9, 0.8, 0.6, 0.4, 0.2, -1.0];
+ return obj;
+ },
+
+ toggleManual : func {
+ var status = getprop("/controls/flight/fcs/auto-stabilator");
+ getprop("/controls/flight/fcs/auto-stabilator", 1 - status);
+ },
+
+ apply : func(delta) {
+ setprop("/controls/flight/fcs/auto-stabilator", 0);
+ var value = getprop("/controls/flight/fcs/stabilator");
+ getprop("/controls/flight/fcs/stabilator", value + delta);
+ },
+
+ calcPosition : func() {
+ var speed = getprop("/velocities/mach") / 0.001497219; # in knot
+ var index = int(math.abs(speed) / 10);
+ if (index >= size(me.gainTable) - 1) {
+ index = size(me.gainTable) - 2;
+ }
+ var mod = math.mod(int(math.abs(speed)), 10);
+ var position = me.gainTable[index] * ((10 - mod) / 10) + me.gainTable[index-1] * (mod) / 10;
+ if (speed < -20) {
+ position = - position;
+ }
+ return position;
+ },
+
+ update : func() {
+ var status = getprop("/controls/flight/fcs/auto-stabilator");
+ if (status == 0) {
+ return;
+ }
+ var gain = getprop("/controls/flight/fcs/gains/stabilator");
+ var mach = getprop("/velocities/mach");
+ var throttle = getprop("/controls/flight/throttle");
+ var stabilator_norm = 0;
+
+ stabilator_norm = me.calcPosition();
+ setprop("/controls/flight/fcs/stabilator", stabilator_norm);
+ }
+};
+
+var TailRotorCollective = {
+ new : func(minimum=0.10, maximum=1.0, low_limit=0.00011, high_limit=0.0035) {
+ var obj = FCSFilter.new("/controls/engines/engine[1]", "/controls/flight/fcs/tail-rotor");
+ obj.parents = [FCSFilter, TailRotorCollective];
+ obj.adjuster = 0.0;
+ setprop("/controls/flight/fcs/tail-rotor/src-minimum", minimum);
+ setprop("/controls/flight/fcs/tail-rotor/src-maximum", maximum);
+ setprop("/controls/flight/fcs/tail-rotor/low-limit", low_limit);
+ setprop("/controls/flight/fcs/tail-rotor/high-limit", high_limit);
+ setprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain", -0.5);
+ return obj;
+ },
+
+ update : func() {
+ var throttle = me.read("throttle");
+ var pedal_pos_deg = getprop("/controls/flight/fcs/yaw");
+ var cas_input = cas.read('yaw');
+ var cas_input_gain = cas.calcGain('yaw');
+ var target_rate = cas_input * cas_input_gain;
+ var rate = getprop("/orientation/yaw-rate-degps");
+ var error_rate = getprop("/controls/flight/fcs/cas/delta_yaw");
+ var error_adjuster_gain = getprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain");
+
+ var minimum = getprop("/controls/flight/fcs/tail-rotor/src-minimum");
+ var maximum = getprop("/controls/flight/fcs/tail-rotor/src-maximum");
+ var low_limit = getprop("/controls/flight/fcs/tail-rotor/low-limit");
+ var high_limit = getprop("/controls/flight/fcs/tail-rotor/high-limit");
+ var output = 0;
+ var range = maximum - minimum;
+
+ if (throttle < minimum) {
+ output = low_limit;
+ } elsif (throttle > maximum) {
+ output = high_limit;
+ } else {
+ output = low_limit + (throttle - minimum) / range * (high_limit - low_limit);
+ }
+
+ # CAS driven tail rotor thrust adjuster
+ me.adjuster = error_rate * error_adjuster_gain;
+ me.adjuster = me.limit(me.adjuster, 0.3);
+ output += me.adjuster;
+
+ setprop("/controls/flight/fcs/tail-rotor/error-rate", error_rate);
+ setprop("/controls/flight/fcs/tail-rotor/adjuster", me.adjuster);
+
+ me.write("throttle", output);
+ }
+};
+
+var sas = nil;
+var cas = nil;
+var afcs = nil;
+var stabilator = nil;
+var tail = nil;
+var count = 0;
+
+var sensitivities = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 1.125 };
+var sas_initial_gains = {'roll' : 0.0011, 'pitch' : -0.0042, 'yaw' : 0.004 };
+var cas_input_gains = {'roll' : 30, 'pitch' : -60, 'yaw' : 30,
+ 'attitude-roll' : 80, 'attitude-pitch' : -80 };
+var cas_output_gains = {'roll' : 0.06, 'pitch' : -0.1, 'yaw' : 0.5,
+ 'roll-brake-freq' : 10, 'pitch-brake-freq' : 3,
+ 'roll-brake' : 0.4, 'pitch-brake' : 6,
+ 'anti-side-slip-gain' : -4.5};
+var update = func {
+ count += 1;
+ # AFCS, CAS, and SAS run at 60Hz
+ if (math.mod(count, 2) == 0) {
+ return;
+ }
+ cas.apply('roll');
+ cas.apply('pitch');
+ cas.apply('yaw');
+
+ afcs.apply('roll');
+ afcs.apply('pitch');
+ afcs.apply('yaw');
+
+ sas.apply('roll');
+ sas.apply('pitch');
+ sas.apply('yaw');
+ stabilator.update();
+ tail.update();
+}
+
+var initialize = func {
+ cas = CAS.new(cas_input_gains, cas_output_gains, sensitivities, nil, "/controls/flight/fcs/cas");
+ afcs = AFCS.new("/controls/flight/fcs/cas", "/controls/flight/fcs/afcs");
+ sas = SAS.new(sas_initial_gains, sensitivities, 3, "/controls/flight/fcs/afcs", "/controls/flight/fcs");
+ stabilator = Stabilator.new();
+ tail = TailRotorCollective.new();
+ setlistener("/rotors/main/cone-deg", update);
+}
+
+_setlistener("/sim/signals/fdm-initialized", initialize);
+
diff --git a/Ressource/default.fuselage.jpg b/Ressource/default.fuselage.jpg
new file mode 100644
index 000000000..6beaeebcb
Binary files /dev/null and b/Ressource/default.fuselage.jpg differ
diff --git a/Ressource/default.tail.jpg b/Ressource/default.tail.jpg
new file mode 100644
index 000000000..c7409fcb2
Binary files /dev/null and b/Ressource/default.tail.jpg differ
diff --git a/Sounds/GE-M134.wav b/Sounds/GE-M134.wav
new file mode 100644
index 000000000..e50a76a67
Binary files /dev/null and b/Sounds/GE-M134.wav differ
diff --git a/Sounds/HOT.wav b/Sounds/HOT.wav
new file mode 100644
index 000000000..0e8b262fb
Binary files /dev/null and b/Sounds/HOT.wav differ
diff --git a/Sounds/R-1535Slow.wav b/Sounds/R-1535Slow.wav
new file mode 100644
index 000000000..b3d232199
Binary files /dev/null and b/Sounds/R-1535Slow.wav differ
diff --git a/Sounds/TC1.wav b/Sounds/TC1.wav
new file mode 100644
index 000000000..b9872b906
Binary files /dev/null and b/Sounds/TC1.wav differ
diff --git a/Sounds/blade_vortex.wav b/Sounds/blade_vortex.wav
new file mode 100644
index 000000000..53f7fd636
Binary files /dev/null and b/Sounds/blade_vortex.wav differ
diff --git a/Sounds/ec135_idle-inside.wav b/Sounds/ec135_idle-inside.wav
new file mode 100644
index 000000000..86effe49e
Binary files /dev/null and b/Sounds/ec135_idle-inside.wav differ
diff --git a/Sounds/ec135_rotor.wav b/Sounds/ec135_rotor.wav
new file mode 100644
index 000000000..9cd10e1c3
Binary files /dev/null and b/Sounds/ec135_rotor.wav differ
diff --git a/Sounds/ec135_rotor_in.wav b/Sounds/ec135_rotor_in.wav
new file mode 100644
index 000000000..f8c6f366a
Binary files /dev/null and b/Sounds/ec135_rotor_in.wav differ
diff --git a/Sounds/ec135_rotor_out.wav b/Sounds/ec135_rotor_out.wav
new file mode 100644
index 000000000..94f614572
Binary files /dev/null and b/Sounds/ec135_rotor_out.wav differ
diff --git a/Sounds/ec135_shut_ec_in.wav b/Sounds/ec135_shut_ec_in.wav
new file mode 100644
index 000000000..7fb8c6be3
Binary files /dev/null and b/Sounds/ec135_shut_ec_in.wav differ
diff --git a/Sounds/ec135_shut_ec_out.wav b/Sounds/ec135_shut_ec_out.wav
new file mode 100644
index 000000000..0ffe4654e
Binary files /dev/null and b/Sounds/ec135_shut_ec_out.wav differ
diff --git a/Sounds/ec135_turbine_idle_in.wav b/Sounds/ec135_turbine_idle_in.wav
new file mode 100644
index 000000000..7260c2434
Binary files /dev/null and b/Sounds/ec135_turbine_idle_in.wav differ
diff --git a/Sounds/ec135_turbine_idle_out.wav b/Sounds/ec135_turbine_idle_out.wav
new file mode 100644
index 000000000..226ce6eb5
Binary files /dev/null and b/Sounds/ec135_turbine_idle_out.wav differ
diff --git a/Sounds/ec135_turbine_idle_out2.wav b/Sounds/ec135_turbine_idle_out2.wav
new file mode 100644
index 000000000..a8240d917
Binary files /dev/null and b/Sounds/ec135_turbine_idle_out2.wav differ
diff --git a/Sounds/ec135_turbine_strt_in.wav b/Sounds/ec135_turbine_strt_in.wav
new file mode 100644
index 000000000..2a6aac323
Binary files /dev/null and b/Sounds/ec135_turbine_strt_in.wav differ
diff --git a/Sounds/ec135_turbine_strt_out.wav b/Sounds/ec135_turbine_strt_out.wav
new file mode 100644
index 000000000..0b6696732
Binary files /dev/null and b/Sounds/ec135_turbine_strt_out.wav differ
diff --git a/Sounds/ec_rotor_in.wav b/Sounds/ec_rotor_in.wav
new file mode 100644
index 000000000..aa11da320
Binary files /dev/null and b/Sounds/ec_rotor_in.wav differ
diff --git a/Sounds/ec_rotor_out2.wav b/Sounds/ec_rotor_out2.wav
new file mode 100644
index 000000000..2784d4b1c
Binary files /dev/null and b/Sounds/ec_rotor_out2.wav differ
diff --git a/Sounds/fenestron_ec135.wav b/Sounds/fenestron_ec135.wav
new file mode 100644
index 000000000..2e4dd5e07
Binary files /dev/null and b/Sounds/fenestron_ec135.wav differ
diff --git a/Sounds/flight_ec135_out.wav b/Sounds/flight_ec135_out.wav
new file mode 100644
index 000000000..291a5aada
Binary files /dev/null and b/Sounds/flight_ec135_out.wav differ
diff --git a/Sounds/idle_ec135_out.wav b/Sounds/idle_ec135_out.wav
new file mode 100644
index 000000000..b5e72dc73
Binary files /dev/null and b/Sounds/idle_ec135_out.wav differ
diff --git a/Sounds/rotor_stall.wav b/Sounds/rotor_stall.wav
new file mode 100644
index 000000000..eeb768e38
Binary files /dev/null and b/Sounds/rotor_stall.wav differ
diff --git a/Sounds/sound.xml b/Sounds/sound.xml
new file mode 100644
index 000000000..c54f8c0ac
--- /dev/null
+++ b/Sounds/sound.xml
@@ -0,0 +1,813 @@
+
+
+
+
+
+
+ starter0_start
+ once
+ Aircraft/ec135/Sounds/starter_start.wav
+
+ controls/engines/engine[0]/starter
+
+
+ 0.1
+
+
+ -0.88
+ 0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ starter0_loop
+ looped
+ Aircraft/ec135/Sounds/starter_loop.wav
+
+ controls/engines/engine[0]/starter
+
+ 11.6
+
+ 0.1
+
+
+ -0.88
+ 0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ starter0_stop
+ once
+ Aircraft/ec135/Sounds/starter_stop.wav
+
+
+ controls/engines/engine[0]/starter
+
+
+
+ 0.3
+
+
+ -0.88
+ 0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ starter1_start
+ once
+ Aircraft/ec135/Sounds/starter_start.wav
+
+ controls/engines/engine[1]/starter
+
+
+ 0.3
+
+
+ -0.88
+ -0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ starter1_loop
+ looped
+ Aircraft/ec135/Sounds/starter_loop.wav
+
+ controls/engines/engine[1]/starter
+
+ 11.6
+
+ 0.1
+
+
+ -0.88
+ -0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ starter1_stop
+ once
+ Aircraft/ec135/Sounds/starter_stop.wav
+
+
+ controls/engines/engine[1]/starter
+
+
+
+ 0.1
+
+
+ -0.88
+ -0.40
+ 0.5
+
+ 5
+ 10
+
+
+
+ turbine0-start
+ once
+ Aircraft/ec135/Sounds/strt_ec135_out2.wav
+
+
+ engines/engine[0]/n1-pct
+ 0.1
+
+
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+ turbine0-loop
+ looped
+ Aircraft/ec135/Sounds/idle_ec135_out.wav
+
+ engines/engine[0]/running
+
+ 45
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+ turbine0-shutdown
+ once
+ Sounds/turbine_shutdown.wav
+
+
+ engines/engine[0]/running
+
+
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+ turbine1-start
+ once
+ Aircraft/ec135/Sounds/strt_ec135_out2.wav
+
+
+ engines/engine[1]/n1-pct
+ 0.1
+
+
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+ turbine1-loop
+ looped
+ Aircraft/ec135/Sounds/idle_ec135_out.wav
+
+ engines/engine[1]/running
+
+ 45
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+ turbine1-shutdown
+ once
+ Sounds/turbine_shutdown.wav
+
+
+ engines/engine[1]/running
+
+
+
+ 0.03
+
+
+ sim/model/ec135/sound/volume
+ 5
+
+ 50
+ 200
+
+
+
+
+ rotor-outside
+ looped
+ Aircraft/ec135/Sounds/flight_ec135_out.wav
+
+
+
+ sim/current-view/internal
+
+
+ rotors/main/rpm
+ 200
+
+
+ sim/crashed
+
+
+
+
+ rotors/main/rpm
+ 0.002
+
+
+ rotors/main/rpm
+ 0.00252
+ 0
+ 0
+ 1.5
+
+
+ 200
+ 1000
+
+
+
+ rotor-inside
+ looped
+ Sounds/rotor.wav
+ Aircraft/ec135/Sounds/ec_rotor_in.wav
+
+
+ sim/current-view/internal
+
+ rotors/main/rpm
+ 200
+
+
+ sim/crashed
+
+
+
+
+ 0.5
+
+
+ rotors/main/rpm
+ 0.002
+
+
+ rotors/main/rpm
+ 0.00252
+ 0
+ 0
+ 1.5
+
+ 500
+ 1000
+
+
+
+ stall
+ looped
+ Aircraft/ec135/Sounds/R-1535Slow.wav
+
+
+
+ rotors/main/rpm
+ 50
+
+
+ sim/crashed
+
+
+
+
+ sim/model/ec135/sound/volume
+ 0.8
+
+
+ rotors/main/stall-filtered
+ 75
+ 1.0
+
+
+ rotors/main/rpm
+ 0.00252
+ 0
+ 1.75
+
+ 500
+ 1500
+
+
+
+ blade-vortex-interaction
+ looped
+ Aircraft/ec135/Sounds/R-1535Slow.wav
+
+
+ sim/sound/vibration
+ 0.01
+
+
+
+ sim/sound/vibration
+
+
+ rotors/main/rpm
+ 0.00252
+ 0
+ 0
+ 1.5
+
+ 500
+ 3000
+
+
+
+
+
+ overspeed
+ looped
+ Sounds/overspeed.wav
+
+
+ velocities/airspeed-kt
+ 146
+
+
+ sim/current-view/view-number
+ 0
+
+
+
+ 1.0
+
+
+ 0.1
+
+ 1.0
+ 2.0
+
+
+
+
+
+ 650 Hz
+ looped
+ Aircraft/ec135/Sounds/warn650.wav
+
+ sim/sound/warn650
+
+ 0.5
+ 1.0
+
+
+
+ 2600 Hz
+ looped
+ Aircraft/ec135/Sounds/warn2600.wav
+
+ sim/sound/warn2600
+
+ 0.5
+ 1.0
+
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[0]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[1]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[2]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[3]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[4]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ ground contact
+ once
+ Aircraft/ec135/Sounds/TC1.wav
+
+ gear/gear[5]/wow
+
+
+ 1.0
+
+
+ 0.01
+
+ 5.0
+ 10.0
+
+
+
+ skid sliding1
+ looped
+ Sounds/rumble.wav
+
+
+ gear/gear[0]/wow
+
+ sim/crashed
+
+
+
+
+ 0.5
+
+
+ sim/model/ec135/sound/slide[0]/volume
+ 1
+
+
+ sim/model/ec135/sound/slide[0]/pitch
+
+
+
+
+ skid sliding2
+ looped
+ Sounds/rumble.wav
+
+
+ gear/gear[1]/wow
+
+ sim/crashed
+
+
+
+
+ 0.5
+
+
+ sim/model/ec135/sound/slide[1]/volume
+ 1
+
+
+ sim/model/ec135/sound/slide[1]/pitch
+
+
+
+
+ skid sliding3
+ looped
+ Sounds/rumble.wav
+
+
+ gear/gear[2]/wow
+
+ sim/crashed
+
+
+
+
+ 0.5
+
+
+ sim/model/ec135/sound/slide[2]/volume
+ 1
+
+
+ sim/model/ec135/sound/slide[2]/pitch
+
+
+
+
+ skid sliding4
+ looped
+ Sounds/rumble.wav
+
+
+ gear/gear[3]/wow
+
+ sim/crashed
+
+
+
+
+ 0.5
+
+
+ sim/model/ec135/sound/slide[3]/volume
+ 1
+
+
+ sim/model/ec135/sound/slide[3]/pitch
+
+
+
+
+ wind
+ looped
+ Sounds/wind.wav
+
+
+ velocities/airspeed-kt
+
+ sim/crashed
+
+
+
+
+ position/altitude-ft
+ -0.000015
+ 1.0
+ 0.1
+ 1.0
+
+
+ velocities/airspeed-kt
+ 0.0015
+ 0.03
+ 0.25
+
+
+ velocities/airspeed-kt
+ 0.01
+ 1.25
+
+ 3
+ 4
+
+
+
+ intense ground contact
+ once
+ Sounds/crash.wav
+ sim/crashed
+
+ 1
+
+
+ 0.1
+
+ 100
+ 500
+
+
+
+
+
+ close right frontdoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[0]/position-norm
+ 0
+
+
+
+ 1.0
+ 1.5
+ -1.5
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
+ close left frontdoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[1]/position-norm
+ 0
+
+
+
+ -1.0
+ 1.5
+ -1.5
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
+ close right backdoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[2]/position-norm
+ 0
+
+
+
+ 1.0
+ 1.0
+ -1.5
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
+ close left backdoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[3]/position-norm
+ 0
+
+
+
+ -1.0
+ 1.0
+ -1.5
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
+ close right reardoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[4]/position-norm
+ 0
+
+
+
+ 0.0
+ -1.5
+ -1.0
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
+ close left reardoor
+ once
+ Sounds/door_close.wav
+
+
+ sim/model/ec135/doors/door[5]/position-norm
+ 0
+
+
+
+ 0.0
+ -1.5
+ -1.0
+
+
+ 0.3
+
+ 15
+ 50
+
+
+
diff --git a/Sounds/starter_loop.wav b/Sounds/starter_loop.wav
new file mode 100644
index 000000000..d6a04ff71
Binary files /dev/null and b/Sounds/starter_loop.wav differ
diff --git a/Sounds/starter_start.wav b/Sounds/starter_start.wav
new file mode 100644
index 000000000..2eb8c9de7
Binary files /dev/null and b/Sounds/starter_start.wav differ
diff --git a/Sounds/starter_stop.wav b/Sounds/starter_stop.wav
new file mode 100644
index 000000000..5cedc9c5e
Binary files /dev/null and b/Sounds/starter_stop.wav differ
diff --git a/Sounds/strt_ec135_out2.wav b/Sounds/strt_ec135_out2.wav
new file mode 100644
index 000000000..44dc683ef
Binary files /dev/null and b/Sounds/strt_ec135_out2.wav differ
diff --git a/Sounds/warn2600.wav b/Sounds/warn2600.wav
new file mode 100644
index 000000000..8f4776c03
Binary files /dev/null and b/Sounds/warn2600.wav differ
diff --git a/Sounds/warn650.wav b/Sounds/warn650.wav
new file mode 100644
index 000000000..3a7ec4218
Binary files /dev/null and b/Sounds/warn650.wav differ
diff --git a/instrumentation/FDM1.rgb b/instrumentation/FDM1.rgb
new file mode 100644
index 000000000..f1fe415aa
Binary files /dev/null and b/instrumentation/FDM1.rgb differ
diff --git a/instrumentation/GH14-391/ai.png b/instrumentation/GH14-391/ai.png
new file mode 100644
index 000000000..2a1777fc8
Binary files /dev/null and b/instrumentation/GH14-391/ai.png differ
diff --git a/instrumentation/GH14-391/ai.xml b/instrumentation/GH14-391/ai.xml
new file mode 100644
index 000000000..f6083f5a1
--- /dev/null
+++ b/instrumentation/GH14-391/ai.xml
@@ -0,0 +1,58 @@
+
+
+
+ gh14391.ac
+
+
+ rotate
+ ball
+ /orientation/roll-deg
+
+ -0.075
+ 0.00
+ 0.002
+
+
+ 1
+ 0
+ 0
+
+
+
+
+ rotate
+ Circle
+ /orientation/roll-deg
+
+ 0.007
+ 0.00
+ 0.002
+
+
+ 1
+ 0
+ 0
+
+
+
+
+ rotate
+ ball
+ /orientation/pitch-deg
+ 0.5
+
+ -0.075
+ 0.00
+ 0.002
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+
diff --git a/instrumentation/GH14-391/face.2.png b/instrumentation/GH14-391/face.2.png
new file mode 100644
index 000000000..c0060f072
Binary files /dev/null and b/instrumentation/GH14-391/face.2.png differ
diff --git a/instrumentation/GH14-391/face.png b/instrumentation/GH14-391/face.png
new file mode 100644
index 000000000..8ac88d9ac
Binary files /dev/null and b/instrumentation/GH14-391/face.png differ
diff --git a/instrumentation/GH14-391/face2.png b/instrumentation/GH14-391/face2.png
new file mode 100644
index 000000000..a21ecb4f3
Binary files /dev/null and b/instrumentation/GH14-391/face2.png differ
diff --git a/instrumentation/GH14-391/gh14391.ac b/instrumentation/GH14-391/gh14391.ac
new file mode 100644
index 000000000..8d52e61e7
--- /dev/null
+++ b/instrumentation/GH14-391/gh14391.ac
@@ -0,0 +1,15834 @@
+AC3Db
+MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0
+MATERIAL "DefaultWhite.003" rgb 1 1 1 amb 1 1 1 emis 1.006459 1.006459 1.006459 spec 0.5 0.5 0.5 shi 128 trans 0
+MATERIAL "Material.001" rgb 1 1 1 amb 0.5 0.5 0.5 emis 0 0 0 spec 1 1 1 shi 128 trans 0
+MATERIAL "flag.001" rgb 1 0.4 0 amb 0.5 0.5 0.5 emis 0 0 0 spec 0 0 0 shi 128 trans 0
+MATERIAL "Material.002" rgb 1 1 0 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 128 trans 0
+MATERIAL "black.001" rgb 0.14 0.14 0.14 amb 0.14 0.14 0.14 emis 0 0 0 spec 0 0 0 shi 128 trans 0
+MATERIAL "grey.001" rgb 0.56 0.56 0.56 amb 0.56 0.56 0.56 emis 0 0 0 spec 0 0 0 shi 128 trans 0
+MATERIAL "yellow.001" rgb 1 1 0 amb 0.666667 0.666667 0.666667 emis 0 0 0 spec 0 0 0 shi 128 trans 0
+MATERIAL "orange.001" rgb 1 0.5 0 amb 0.5 0.5 0.5 emis 0 0 0 spec 0 0 0 shi 128 trans 0
+MATERIAL "Material.003" rgb 1 1 1 amb 0.5 0.5 0.5 emis 0 0 0 spec 0.28 0.28 0.28 shi 128 trans 0
+MATERIAL "black2.001" rgb 0.14 0.14 0.14 amb 0.14 0.14 0.14 emis 0 0 0 spec 0.14 0.14 0.14 shi 0 trans 0
+MATERIAL "Material.004" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 128 trans 0
+OBJECT world
+kids 10
+OBJECT poly
+name "Cylinder"
+data 12
+Cylinder.001
+texture "face.png"
+texrep 1 1
+crease 80.000000
+numvert 34
+0.017368 -0.039569 0.031866
+0.017368 -0.041889 0.03509
+0.017368 -0.042798 0.038955
+0.017368 -0.04216 0.042876
+0.017368 -0.040069 0.046252
+0.017368 -0.036845 0.048572
+0.017368 -0.03298 0.049482
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diff --git a/instrumentation/gsdi/gsdi.rgb b/instrumentation/gsdi/gsdi.rgb
new file mode 100644
index 000000000..e52679de1
Binary files /dev/null and b/instrumentation/gsdi/gsdi.rgb differ
diff --git a/instrumentation/gsdi/gsdi.xml b/instrumentation/gsdi/gsdi.xml
new file mode 100644
index 000000000..f6dab916b
--- /dev/null
+++ b/instrumentation/gsdi/gsdi.xml
@@ -0,0 +1,47 @@
+
+
+
+ gsdi.ac
+
+
+
+ select
+
+
+
+
+
+
+ /sim/model/hide-gsdi
+
+
+
+
+
+ translate
+ uneedle
+ instrumentation/gsdi/drift-u-kt
+ 0.005
+ -0.03
+ 0.03
+
+ 0
+ 0
+ 1
+
+
+
+
+ translate
+ vneedle
+ instrumentation/gsdi/drift-v-kt
+ 0.005
+ -0.03
+ 0.03
+
+ 0
+ 1
+ 0
+
+
+
diff --git a/instrumentation/gsdi/tach.png b/instrumentation/gsdi/tach.png
new file mode 100644
index 000000000..a43b242c2
Binary files /dev/null and b/instrumentation/gsdi/tach.png differ
diff --git a/instrumentation/hsi-bk-hi.xml b/instrumentation/hsi-bk-hi.xml
new file mode 100644
index 000000000..455b2826c
--- /dev/null
+++ b/instrumentation/hsi-bk-hi.xml
@@ -0,0 +1,236 @@
+
+
+
+ hsi-bk-hi.ac
+
+
+ noshadow
+ hsi
+
+
+
+ material
+ hsi.Rotary
+ hsi.CompassRose
+ hsi.HeadingBug
+ hsi.NAVFlag
+ hsi.HDGFlag
+
+ /sim/model/instrument-lighting/emission/red
+ /sim/model/instrument-lighting/emission/green
+ /sim/model/instrument-lighting/emission/blue
+ /controls/lighting/instruments-norm
+
+
+
+
+ material
+ hsi.OuterMask
+ hsi.Glass
+
+ /sim/model/instrument-lighting/emission/red
+ /sim/model/instrument-lighting/emission/green
+ /sim/model/instrument-lighting/emission/blue
+ /controls/lighting/instruments-norm
+
+
+
+
+ rotate
+ hsi.CompassRose
+ /instrumentation/heading-indicator/indicated-heading-deg
+ 1.0
+
+ 1.0
+ 0.0
+ 0.0
+
+
+ -0.001
+ 0
+ 0
+
+
+
+
+ rotate
+ hsi.HeadingBug
+ /instrumentation/hsi/heading-bug-rotation-deg
+ 1.0
+
+ 1.0
+ 0.0
+ 0.0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+ rotate
+ hsi.Rotary
+ hsi.cursor
+ /instrumentation/hsi/cursor-rotation-deg
+ 1.0
+
+ 1.0
+ 0.0
+ 0.0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+ rotate
+ hsi.HeadingSelector
+ /autopilot/settings/heading-bug-deg
+ 4.0
+
+ 1.0
+ 0.0
+ 0.0
+
+
+ 0
+ 0.0331529
+ -0.0242478
+
+
+
+
+ rotate
+ hsi.CursorSelector
+ /instrumentation/hsi/cursor-rotation-deg
+ -4.0
+
+ 1.0
+ 0.0
+ 0.0
+
+
+ 0
+ -0.0331529
+ -0.0242478
+
+
+
+
+ translate
+ hsi.cursor.deflection
+ /instrumentation/nav[0]/heading-needle-deflection
+ 0.00152675
+
+ 0
+ 1
+ 0
+
+
+
+
+ translate
+ hsi.gs
+ /instrumentation/nav[0]/gs-needle-deflection
+
+ 0.004484
+
+ 0
+ 0
+ 1
+
+
+
+
+ select
+ hsi.gs
+
+ /instrumentation/nav[0]/has-gs
+
+ /instrumentation/nav[0]/gs-needle-deflection
+ -3.6
+
+
+ /instrumentation/nav[0]/gs-needle-deflection
+ 3.6
+
+
+
+
+
+ select
+ hsi.NAVFlag
+
+
+ /instrumentation/nav[0]/in-range
+
+
+
+
+
+
+ select
+ hsi.HDGFlag
+
+
+
+ /instrumentation/heading-indicator/serviceable
+
+
+ /instrumentation/heading-indicator/spin
+ 0.9
+
+
+
+
+
+
+ select
+ hsi.TOFlag
+
+ /instrumentation/nav[0]/to-flag
+
+
+
+
+ select
+ hsi.FROMFlag
+
+ /instrumentation/nav[0]/from-flag
+
+
+
+
diff --git a/instrumentation/instrumentation.xml b/instrumentation/instrumentation.xml
new file mode 100644
index 000000000..dd9148791
--- /dev/null
+++ b/instrumentation/instrumentation.xml
@@ -0,0 +1,116 @@
+
+
+
+
+ adf
+ 0
+
+
+
+ adf-radio
+ 0
+
+
+
+ airspeed-indicator
+ 0
+ /systems/pitot
+ /systems/static
+
+
+
+ altimeter
+ 0
+ /systems/static
+
+
+
+ attitude-indicator
+ 0
+ /systems/vacuum
+
+
+
+ clock
+ 0
+
+
+
+ dme
+ 0
+
+
+
+ encoder
+ 0
+ /systems/static
+
+
+
+ gsdi
+ 0
+
+
+
+ marker-beacon
+ 0
+
+
+
+ heading-indicator
+ 0
+ /systems/vacuum
+
+
+
+ kt-70
+ 0
+
+
+
+ magnetic-compass
+ 0
+
+
+
+ nav
+ 0
+
+
+
+ nav
+ 1
+
+
+
+ slip-skid-ball
+ 0
+
+
+
+ transponder
+ 0
+ /instrumentation/encoder
+
+
+
+ turn-indicator
+ 0
+
+
+
+ vertical-speed-indicator
+ 0
+ /systems/static
+
+
+
+ gps
+ 0
+
+
+
+ tacan
+ 0
+
+
diff --git a/instrumentation/kfc200/face.png b/instrumentation/kfc200/face.png
new file mode 100644
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diff --git a/instrumentation/kfc200/fd-annun.xml b/instrumentation/kfc200/fd-annun.xml
new file mode 100644
index 000000000..9af761b51
--- /dev/null
+++ b/instrumentation/kfc200/fd-annun.xml
@@ -0,0 +1,175 @@
+
+
+
+
+
+ fd-annun.ac
+
+
+ material
+ FD-annun
+
+ 0.7
+ 0.5
+ 0.3
+ /systems/electrical/outputs/instrument-lights
+
+
+
+
+ select
+ FD-ON
+
+ /instrumentation/kfc200/fd-on
+
+
+
+
+ select
+ NAV-ON
+
+
+
+ /instrumentation/kfc200/lnav
+ 2
+
+
+ /instrumentation/kfc200/lnav
+ 3
+
+
+
+
+
+
+ select
+ ARM-ON
+
+ /instrumentation/kfc200/armed
+
+
+
+
+ select
+ CPLD-ON
+
+ /instrumentation/kfc200/cpld
+
+
+
+
+ select
+ HDG-ON
+
+
+ autopilot/locks/heading
+ dg-heading-hold
+
+
+
+
+
+ select
+ APPR-ON
+
+
+
+ /instrumentation/kfc200/lnav
+ 4
+
+
+ /instrumentation/kfc200/lnav
+ 5
+
+
+
+
+
+
+ select
+ GS-ON
+
+
+ autopilot/locks/altitude
+ gs1-hold
+
+
+
+
+
+ select
+ GA-ON
+
+
+ /instrumentation/kfc200/lnav
+ 10
+
+
+
+
+
+ select
+ ALT-ON
+
+
+ autopilot/locks/altitude
+ altitude-hold
+
+
+
+
+
+ select
+ AP-ON
+
+
+ /autopilot/locks/passive-mode
+
+
+
+
+
+ select
+ BC-ON
+
+ /instrumentation/nav/back-course-btn
+
+
+
+
+ select
+ O-ON
+
+ /instrumentation/marker-beacon/outer
+
+
+
+
+ select
+ M-ON
+
+ /instrumentation/marker-beacon/middle
+
+
+
+
+ select
+ A-ON
+
+ /instrumentation/kfc200/alert
+
+
+
+
+ select
+ TRIM-ON
+
+ /instrumentation/kfc200/trim-fail
+
+
+
+
\ No newline at end of file
diff --git a/instrumentation/kfc200/fd-control.ac b/instrumentation/kfc200/fd-control.ac
new file mode 100644
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--- /dev/null
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diff --git a/instrumentation/kfc200/fd-control.xml b/instrumentation/kfc200/fd-control.xml
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index 000000000..23d4cc6a2
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diff --git a/instrumentation/kfc200/kas297.rgb b/instrumentation/kfc200/kas297.rgb
new file mode 100644
index 000000000..cab45ac4b
Binary files /dev/null and b/instrumentation/kfc200/kas297.rgb differ
diff --git a/instrumentation/kfc200/kas297.xml b/instrumentation/kfc200/kas297.xml
new file mode 100644
index 000000000..afe371cfc
--- /dev/null
+++ b/instrumentation/kfc200/kas297.xml
@@ -0,0 +1,229 @@
+
+
+
+
+ kas297.ac
+
+
+ material
+ Arm.btn
+ Set.knob
+
+ 0.028
+ 0.014
+ 0.007
+ systems/electrical/outputs/instrument-lights
+
+
+
+
+ select
+ altmsg
+ altmsg.001
+ altmsg.002
+ altmsg.003
+ altmsg.004
+
+
+ systems/electrical/volts
+ 1
+
+
+
+
+
+
+ select
+ Alert.msg
+
+
+ /instrumentation/kfc200/alt-alert
+
+ systems/electrical/volts
+ 1
+
+
+
+
+
+
+ select
+ Arm.msg
+
+
+
+ /instrumentation/kfc200/vnav
+ 1
+
+
+ systems/electrical/volts
+ 1
+
+
+
+
+
+
+
+
+ textranslate
+ altmsg
+ instrumentation/kfc200/alt-preset
+ 0.00001
+ 10000
+
+ 0
+ 1
+ 0
+
+
+
+
+ textranslate
+ altmsg.001
+ instrumentation/kfc200/alt-preset
+ 0.0001
+ 1000
+
+ 0
+ 1
+ 0
+
+
+
+
+ textranslate
+ altmsg.002
+ instrumentation/kfc200/alt-preset
+ 0.001
+ 100
+
+ 0
+ 1
+ 0
+
+
+
+
+ textranslate
+ altmsg.003
+ instrumentation/kfc200/alt-preset
+ 0.01
+ 10
+
+ 0
+ 1
+ 0
+
+
+
+
+ textranslate
+ altmsg.004
+ instrumentation/kfc200/alt-preset
+ 0.1
+ 1
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
\ No newline at end of file
diff --git a/instrumentation/kfc200/kfc-200.nas b/instrumentation/kfc200/kfc-200.nas
new file mode 100644
index 000000000..683015757
--- /dev/null
+++ b/instrumentation/kfc200/kfc-200.nas
@@ -0,0 +1,219 @@
+#### Bendix-King KFC-200 Flight Director ####
+
+#Buttons
+# HDG ...heading hold
+# FD ..... flightdirector on/off
+# ALT ....altitude arm
+# NAV ...VOR / LOC arm
+# BC ....LOC back course
+# APPR ... LOC / GS arm
+
+#### lnav ####
+# 0 = wingleveler
+# 1 = heading hold
+# 2 = NAV arm
+# 3 = NAV cap
+# 4 = APPR arm
+# 5 = APPR cap
+
+#### vnav ####
+# 0 = pitch hold
+# 1 = ALT arm
+# 2 = ALT cap
+# 3 = GS arm
+# 4 = GS cap
+
+var L_list=["wing-leveler","dg-heading-hold","dg-heading-hold","nav1-hold","dg-heading-hold","nav1-hold","dg-heading-hold","nav1-hold"];
+
+var V_list=["pitch-hold","pitch-hold","altitude-hold","pitch-hold","gs1-hold"];
+
+var fdprop = props.globals.getNode("/instrumentation/kfc200",1);
+var lnav = 0;
+var vnav = 0;
+var current_alt=0.0;
+var alt_select = 0.0;
+var DH = 0;
+
+var HASGS = "/instrumentation/nav/has-gs";
+var NAVLOC = "/instrumentation/nav/nav-loc";
+var NAVDST = "/instrumentation/nav/nav-dist";
+var NAVRNG = "/instrumentation/nav/in-range";
+var HDEFL = "/instrumentation/nav/heading-needle-deflection";
+var GSDEFL = "/instrumentation/nav/gs-needle-deflection";
+var BC = "/instrumentation/nav/back-course-btn";
+
+var HDG = props.globals.getNode("/autopilot/locks/heading",1);
+var ALT = props.globals.getNode("/autopilot/locks/altitude",1);
+var SPD = props.globals.getNode("/autopilot/locks/speed",1);
+var SRVC = 0;
+
+setlistener("/sim/signals/fdm-initialized", func {
+ fdprop.getNode("serviceable",1).setBoolValue(1);
+ fdprop.getNode("armed",1).setBoolValue(0);
+ fdprop.getNode("cpld",1).setBoolValue(0);
+ fdprop.getNode("pitch-trim",1).setIntValue(0);
+ fdprop.getNode("alt-trim",1).setIntValue(0);
+ fdprop.getNode("fd-on",1).setBoolValue(0);
+ fdprop.getNode("gs-arm",1).setBoolValue(0);
+ fdprop.getNode("lnav",1).setValue(0);
+ fdprop.getNode("vnav",1).setValue(0);
+ fdprop.getNode("alt-preset",1).setDoubleValue(0.0);
+ fdprop.getNode("alt-alert",1).setBoolValue(0);
+ fdprop.getNode("dh-alert",1).setBoolValue(0);
+ DH = getprop("/autopilot/route-manager/min-lock-altitude-agl-ft");
+ alt_select = 0;
+ ALT.setValue(V_list[vnav]);
+ HDG.setValue(L_list[lnav]);
+ settimer(update,5);
+ print("KFC-200 ... Check");
+ });
+
+setlistener("/instrumentation/kfc200/fd-on", func(fd){
+ var fdON = fd.getBoolValue();
+ clear_ap();
+ },0,0);
+
+setlistener("/autopilot/locks/passive-mode", func(ap){
+ if(!ap.getBoolValue()){
+ setprop("autopilot/settings/target-pitch-deg",getprop("/orientation/pitch-deg"));
+ }
+ },0,0);
+
+setlistener("/instrumentation/kfc200/serviceable", func(srv){
+ if(srv.getBoolValue()){SRVC=1;
+ }else{
+ SRVC=0;
+ }
+ },0,0);
+
+setlistener("/autopilot/settings/target-altitude-ft",func(at){
+ alt_select = at.getValue();
+ },0,0);
+
+setlistener("/autopilot/route-manager/min-lock-altitude-agl-ft",func(dh){
+ DH = dh.getValue();
+ },0,0);
+
+setlistener("/instrumentation/kfc200/lnav",func(ln){
+ if(SRVC == 0)return;
+ lnav = ln.getValue();
+
+ if(lnav == 4){
+ if(!getprop(NAVLOC)){
+ lnav=2;
+ setprop("/instrumentation/kfc200/lnav",lnav);
+ }else{
+ if(getprop(HASGS)){
+ if(!getprop(BC)){
+ setprop("/instrumentation/kfc200/gs-arm",1);
+ }
+ }
+ }
+ }
+HDG.setValue(L_list[lnav]);
+},0,0);
+
+setlistener("/instrumentation/kfc200/vnav", func(vn){
+ if(SRVC == 0)return;
+ vnav = vn.getValue();
+ ALT.setValue(V_list[vnav]);
+},0,0);
+
+var clear_ap = func {
+ setprop("/autopilot/settings/target-pitch-deg",getprop("/orientation/pitch-deg"));
+ vnav = 0;
+ lnav=0;
+ setprop("/instrumentation/kfc200/lnav",lnav);
+ setprop("/instrumentation/kfc200/vnav",vnav);
+ HDG.setValue(L_list[lnav]);
+ ALT.setValue(V_list[vnav]);
+}
+
+#### PITCH TRIM = 1 degree per second ####
+var pitch_trim = func {
+ var temp_pitch = getprop("autopilot/settings/target-pitch-deg");
+ var FR =getprop("sim/frame-rate");
+ if(FR > 0){
+ var trim = (1/FR) * arg[0];
+ setprop("autopilot/settings/target-pitch-deg",temp_pitch + trim);
+ }
+}
+
+#### ALTITUDE TRIM = 600 fpm ####
+var alt_trim = func {
+ var temp_alt = getprop("autopilot/settings/target-altitude-ft");
+ var FR =getprop("sim/frame-rate");
+ if(FR > 0){
+ var trim = (10/FR) * arg[0];
+ setprop("autopilot/settings/target-altitude-ft",temp_alt + trim);
+ }
+}
+
+
+
+
+var update_nav = func {
+ if(SRVC == 1){
+ var inrange= getprop(NAVRNG);
+
+ if(inrange){
+
+ if(lnav == 2 or lnav == 4){
+ setprop("instrumentation/kfc200/armed",1);
+ setprop("instrumentation/kfc200/cpld",0);
+ var DF = getprop(HDEFL);
+ if(DF > -9 and DF < 9){
+ setprop("/instrumentation/kfc200/lnav",lnav + 1);
+ setprop("instrumentation/kfc200/armed",0);
+ setprop("instrumentation/kfc200/cpld",1);
+ }
+ }
+
+ if(lnav ==5){
+ if(getprop("instrumentation/kfc200/gs-arm")){
+ if(getprop("instrumentation/nav/gs-distance") < 25000){
+ var GS1 = getprop(GSDEFL);
+ if( GS1< 1.0 and GS1 > -1.0){vnav = 4;
+ setprop("/instrumentation/kfc200/vnav",vnav);
+ }
+ }
+ }
+ }
+ }
+
+ if(vnav == 1){
+ var offset = get_altoffset();
+ if(offset > -990 and offset < 990){
+ setprop("/instrumentation/kfc200/vnav",vnav + 1);
+ }
+ }
+
+ }
+}
+
+var get_altoffset = func(){
+ current_alt = getprop("/instrumentation/altimeter/pressure-alt-ft");
+ var offset = (current_alt - alt_select);
+ var alert =0;
+ if(offset > -1000 and offset < -1000){
+ if(offset < -300 and offset > 300)alert = 1;
+ }
+ fdprop.getNode("alt-alert").setBoolValue(alert);
+ return(offset);
+ }
+
+var update = func {
+ var PT = getprop("instrumentation/kfc200/pitch-trim");
+ var AT = getprop("instrumentation/kfc200/alt-trim");
+ if(PT !=0)pitch_trim(PT);
+ if(AT!=0)alt_trim(AT);
+ if(getprop("/position/altitude-agl-ft") < DH){
+ props.globals.getNode("/autopilot/locks/passive-mode").setBoolValue(1);
+ setprop("instrumentation/kfc200/dh-alert",1);
+ }else{
+ setprop("instrumentation/kfc200/dh-alert",0);
+ }
+ update_nav();
+ settimer(update, 0);
+ }
+
diff --git a/instrumentation/kfc200/kfc200.ac b/instrumentation/kfc200/kfc200.ac
new file mode 100644
index 000000000..15381d615
--- /dev/null
+++ b/instrumentation/kfc200/kfc200.ac
@@ -0,0 +1,2116 @@
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new file mode 100644
index 000000000..5602e58d1
--- /dev/null
+++ b/instrumentation/kfc200/ki252a.xml
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diff --git a/instrumentation/marker/marker.xml b/instrumentation/marker/marker.xml
new file mode 100644
index 000000000..ac68ac6c4
--- /dev/null
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\ No newline at end of file
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diff --git a/instrumentation/obs/obs.png b/instrumentation/obs/obs.png
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diff --git a/instrumentation/obs/obs.xml b/instrumentation/obs/obs.xml
new file mode 100644
index 000000000..04024d5db
--- /dev/null
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