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Control: New speed on pitch for generic autopilot

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Josh Davidson 2022-10-14 23:43:57 -04:00 committed by Stuart Buchanan
parent b9b496d33b
commit 6e33987a91
1 changed files with 225 additions and 97 deletions
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318
Aircraft/Generic/generic-autopilot.xml
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@ -34,6 +34,9 @@ pitch-limit-max
pitch-limit-min pitch-limit-min
- Set the minimum pitch angle in degrees - Set the minimum pitch angle in degrees
speed-by-pitch-accel
- Set the maximum acceleration rate for speed on pitch
--> -->
<PropertyList> <PropertyList>
@ -423,10 +426,26 @@ pitch-limit-min
<output>/autopilot/internal/mach</output> <output>/autopilot/internal/mach</output>
</filter> </filter>
<filter> <!-- Filter knots -->
<name>Knots Lag</name>
<type>exponential</type>
<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop -->
<output>/autopilot/internal/kts-input-lag</output>
<filter-time>0.04</filter-time>
</filter>
<filter> <!-- Average knots -->
<name>Knots Average</name>
<type>moving-average</type>
<input>/autopilot/internal/kts-input-lag</input>
<output>/autopilot/internal/kts-input-avg</output>
<samples>60</samples>
</filter>
<filter> <!-- Compute knots rate --> <filter> <!-- Compute knots rate -->
<name>Knots Rate</name> <name>Knots Rate</name>
<type>derivative</type> <type>derivative</type>
<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop --> <input>/autopilot/internal/kts-input-avg</input>
<output>/autopilot/internal/kts-rate-raw</output> <output>/autopilot/internal/kts-rate-raw</output>
<filter-time>1.0</filter-time> <filter-time>1.0</filter-time>
</filter> </filter>
@ -436,7 +455,64 @@ pitch-limit-min
<type>exponential</type> <type>exponential</type>
<input>/autopilot/internal/kts-rate-raw</input> <input>/autopilot/internal/kts-rate-raw</input>
<output>/autopilot/internal/kts-rate</output> <output>/autopilot/internal/kts-rate</output>
<filter-time>0.08</filter-time> <filter-time>0.04</filter-time>
</filter>
<filter> <!-- Filter mach -->
<name>Mach Lag</name>
<type>exponential</type>
<input>/velocities/mach</input> <!-- This should NOT change no matter what, do not use the current mach prop -->
<output>/autopilot/internal/mach-input-lag</output>
<filter-time>0.04</filter-time>
</filter>
<filter> <!-- Average mach -->
<name>Mach Average</name>
<type>moving-average</type>
<input>/autopilot/internal/mach-input-lag</input>
<output>/autopilot/internal/mach-input-avg</output>
<samples>60</samples>
</filter>
<filter> <!-- Compute mach rate -->
<name>Mach Rate</name>
<type>derivative</type>
<input>/autopilot/internal/mach-input-avg</input>
<output>/autopilot/internal/mach-rate-raw</output>
<filter-time>1.0</filter-time>
</filter>
<filter> <!-- Multiply mach rate -->
<name>Mach Rate Gain</name>
<type>gain</type>
<gain>650</gain>
<input>/autopilot/internal/mach-rate-raw</input>
<output>/autopilot/internal/mach-rate-gain</output>
</filter>
<filter> <!-- Filter mach rate -->
<name>Mach Rate Lag</name>
<type>exponential</type>
<input>/autopilot/internal/mach-rate-raw</input>
<output>/autopilot/internal/mach-rate</output>
<filter-time>0.04</filter-time>
</filter>
<filter> <!-- Acceleration limit for speed on pitch -->
<name>Flch Acceleration Limit</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<greater-than>
<property>/autopilot/config/speed-by-pitch-accel</property>
<value>0</value>
</greater-than>
</condition>
<property>/autopilot/config/speed-by-pitch-accel</property>
</input>
<input>1.5</input>
<output>/autopilot/internal/flch-accel</output>
</filter> </filter>
<filter> <!-- Knots rate computer for speed on pitch --> <filter> <!-- Knots rate computer for speed on pitch -->
@ -456,7 +532,7 @@ pitch-limit-min
<property>/autopilot/settings/target-speed-mach</property> <property>/autopilot/settings/target-speed-mach</property>
<property>/autopilot/internal/mach</property> <property>/autopilot/internal/mach</property>
</difference> </difference>
<value>80</value> <value>100</value>
</product> </product>
</expression> </expression>
</input> </input>
@ -467,13 +543,16 @@ pitch-limit-min
<property>/autopilot/settings/target-speed-kt</property> <property>/autopilot/settings/target-speed-kt</property>
<property>/autopilot/internal/airspeed-kt</property> <property>/autopilot/internal/airspeed-kt</property>
</difference> </difference>
<value>0.08</value> <value>0.1</value>
</product> </product>
</expression> </expression>
</input> </input>
<output>/autopilot/internal/flch-kts-error-cmd</output> <output>/autopilot/internal/flch-kts-error-cmd</output>
<min>-1.5</min> <min>
<max>1.5</max> <property>/autopilot/internal/flch-accel</property>
<scale>-1</scale>
</min>
<max>/autopilot/internal/flch-accel</max>
</filter> </filter>
<filter> <!-- Knots rate command filter --> <filter> <!-- Knots rate command filter -->
@ -493,7 +572,7 @@ pitch-limit-min
</not-equals> </not-equals>
</and> </and>
</condition> </condition>
<value>2.5</value> <value>1.5</value>
</max-rate-of-change> </max-rate-of-change>
<max-rate-of-change>100</max-rate-of-change> <max-rate-of-change>100</max-rate-of-change>
</filter> </filter>
@ -610,7 +689,7 @@ pitch-limit-min
<property>/velocities/airspeed-kt</property> <property>/velocities/airspeed-kt</property>
<entry><ind> 80</ind><dep>0.016</dep></entry> <entry><ind> 80</ind><dep>0.016</dep></entry>
<entry><ind>360</ind><dep>0.007</dep></entry> <entry><ind>360</ind><dep>0.007</dep></entry>
<entry><ind>600</ind><dep>0.002</dep></entry> <entry><ind>600</ind><dep>0.003</dep></entry>
</table> </table>
<property>/autopilot/internal/gain-factor</property> <property>/autopilot/internal/gain-factor</property>
</product> </product>
@ -788,59 +867,150 @@ pitch-limit-min
<max-rate-of-change>10000</max-rate-of-change> <max-rate-of-change>10000</max-rate-of-change>
</filter> </filter>
<pid-controller> <!-- Speed on pitch target fpm controller --> <filter> <!-- Speed on pitch target fpm delta controller -->
<name>IT-CONTROLLER: Speed By Pitch</name> <name>IT-CONTROLLER: Speed By Pitch Delta</name>
<enable> <type>gain</type>
<condition> <gain>
<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> <expression>
<table> <table>
<property>/velocities/airspeed-kt</property> <property>/velocities/airspeed-kt</property>
<entry><ind> 80</ind><dep>-380</dep></entry> <entry><ind>140</ind><dep> 700</dep></entry>
<entry><ind>360</ind><dep>-430</dep></entry> <entry><ind>360</ind><dep>1400</dep></entry>
<entry><ind>600</ind><dep>-470</dep></entry> <entry><ind>600</ind><dep>2100</dep></entry>
</table> </table>
</expression> </expression>
</Kp> </gain>
<Ti>1.3</Ti> <input>
<Td>0.0</Td> <condition>
<u_min> <equals>
<expression> <property>/autopilot/locks/speed</property>
<difference> <value>mach-with-pitch-trim</value>
<property>/autopilot/internal/vertical-speed-fpm</property> </equals>
<value>2000</value> </condition>
</difference> <property>/autopilot/internal/mach-rate</property>
</expression> </input>
</u_min> <input>/autopilot/internal/kts-rate</input>
<u_max> <reference>/autopilot/internal/flch-kts-error</reference>
<expression> <output>/autopilot/internal/flch-raw</output>
<sum> <min>
<property>/autopilot/internal/vertical-speed-fpm</property> <condition>
<value>2000</value> <or>
</sum> <equals>
</expression> <property>/gear/gear[1]/wow</property>
</u_max> <value>1</value>
</config> </equals>
</pid-controller> <equals>
<property>/gear/gear[2]/wow</property>
<value>1</value>
</equals>
</or>
</condition>
<value>0</value>
</min>
<min>-2000</min>
<max>2000</max>
</filter>
<filter> <!-- Smooth engagement by syncing when disabled --> <filter> <!-- Filter speed on pitch target fpm delta -->
<name>Speed By Pitch Inactive Sync</name> <name>Speed By Pitch Filter</name>
<type>noise-spike</type>
<input>/autopilot/internal/flch-raw</input>
<output>/autopilot/internal/flch-filtered</output>
<max-rate-of-change>
<condition>
<property>/autopilot/internal/speed-on-pitch-active</property>
</condition>
<value>1500</value>
</max-rate-of-change>
<max-rate-of-change>10000</max-rate-of-change>
</filter>
<filter> <!-- Compute speed on pitch target fpm -->
<name>Speed By Pitch Final</name>
<type>gain</type> <type>gain</type>
<gain>1.0</gain> <gain>1.0</gain>
<enable> <input>
<condition> <expression>
<not><property>/autopilot/internal/speed-on-pitch-active</property></not> <sum>
</condition> <property>/autopilot/internal/vert-speed-fpm</property>
</enable> <property>/autopilot/internal/flch-filtered</property>
<input>/autopilot/internal/vertical-speed-fpm</input> </sum>
</expression>
</input>
<output>/autopilot/internal/target-fpm-flch</output> <output>/autopilot/internal/target-fpm-flch</output>
<min>
<condition>
<or>
<equals>
<property>/gear/gear[1]/wow</property>
<value>1</value>
</equals>
<equals>
<property>/gear/gear[2]/wow</property>
<value>1</value>
</equals>
</or>
</condition>
<value>0</value>
</min>
<min>-100000</min>
<max>100000</max>
</filter>
<filter> <!-- Filter target fpm -->
<name>Target FPM Filter</name>
<type>noise-spike</type>
<input> <!-- Must be on top of the others -->
<condition>
<property>/autopilot/internal/speed-on-pitch-active</property>
</condition>
<property>/autopilot/internal/target-fpm-flch</property>
</input>
<input>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>altitude-hold</value>
</equals>
</condition>
<property>/autopilot/internal/target-fpm-alt</property>
</input>
<input>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>agl-hold</value>
</equals>
</condition>
<property>/autopilot/internal/target-fpm-agl</property>
</input>
<input>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>fpa-hold</value>
</equals>
</condition>
<property>/autopilot/internal/target-fpm-fpa</property>
</input>
<input>
<condition>
<equals>
<property>/autopilot/locks/altitude</property>
<value>gs1-hold</value>
</equals>
</condition>
<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
</input>
<input>/autopilot/internal/target-fpm-vs</input>
<output>/autopilot/internal/target-fpm</output>
<max-rate-of-change>
<condition>
<property>/autopilot/internal/vs-active</property>
</condition>
<value>700</value>
</max-rate-of-change>
<max-rate-of-change>10000</max-rate-of-change>
</filter> </filter>
<pid-controller> <!-- Main fpm controller --> <pid-controller> <!-- Main fpm controller -->
@ -851,49 +1021,7 @@ pitch-limit-min
</condition> </condition>
</enable> </enable>
<input>/autopilot/internal/vertical-speed-fpm</input> <input>/autopilot/internal/vertical-speed-fpm</input>
<reference> <!-- Must be on top of the others --> <reference>/autopilot/internal/target-fpm</reference>
<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> <output>/autopilot/internal/target-pitch-deg</output>
<config> <config>
<Kp> <Kp>