Roy Vegard Ovesen:
Here is the KAP140 Two Axis Autopilot update. I think it's fairly complete now, all the modes are working. I tested the localizer and glideslope hold and it was pretty stable all the way down to the middle marker. In the pilot guide for backcourse hold (REV) mode it says to reset the heading bug to the _front course_. I haven't figured out how to implement this so for the time beeing one should reset the heading bug to the _backcourse_. Apart from this the panel should operate identical to the way the pilot guide describes.
This commit is contained in:
curt
parent
a9a359055b
commit
8ab947db84
3 changed files with 610 additions and 51 deletions
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@ -220,6 +220,93 @@ properties' values.
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</transformations>
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</layer>
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<layer>
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<name>APR-ARM Anunciator</name>
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<condition>
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<equals>
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<property>/autopilot/KAP140/annunciators/apr-arm</property>
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<value>on</value>
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</equals>
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</condition>
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<texture>
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<path>Aircraft/Instruments/Textures/KAP140.rgb</path>
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<x1>0.13671875</x1>
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||||
<x2>0.265625</x2>
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||||
<y1>0.939453125</y1>
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<y2>1.0</y2>
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||||
</texture>
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||||
<w>64</w>
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||||
<h>30</h>
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<transformations>
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||||
<transformation>
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<type>x-shift</type>
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<offset>-145</offset>
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</transformation>
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<transformation>
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<type>y-shift</type>
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<offset>15</offset>
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</transformation>
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</transformations>
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</layer>
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<layer>
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<name>REV Anunciator</name>
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<condition>
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<equals>
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<property>/autopilot/KAP140/annunciators/rev</property>
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<value>on</value>
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</equals>
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</condition>
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<texture>
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<path>Aircraft/Instruments/Textures/KAP140.rgb</path>
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<x1>0.4375</x1>
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<x2>0.54296875</x2>
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||||
<y1>0.802734375</y1>
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||||
<y2>0.845703125</y2>
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</texture>
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<w>53</w>
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||||
<h>21</h>
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<transformations>
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<transformation>
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<type>x-shift</type>
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<offset>-150</offset>
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</transformation>
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<transformation>
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<type>y-shift</type>
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<offset>40</offset>
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</transformation>
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</transformations>
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</layer>
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<layer>
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<name>REV-ARM Anunciator</name>
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<condition>
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<equals>
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<property>/autopilot/KAP140/annunciators/rev-arm</property>
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<value>on</value>
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</equals>
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</condition>
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<texture>
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<path>Aircraft/Instruments/Textures/KAP140.rgb</path>
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<x1>0.2734375</x1>
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<x2>0.40234375</x2>
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||||
<y1>0.939453125</y1>
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<y2>1.0</y2>
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</texture>
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<w>64</w>
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<h>30</h>
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<transformations>
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<transformation>
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<type>x-shift</type>
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<offset>-145</offset>
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</transformation>
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<transformation>
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<type>y-shift</type>
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<offset>15</offset>
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</transformation>
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</transformations>
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</layer>
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<layer>
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<name>VS Anunciator</name>
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<condition>
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@ -343,6 +430,64 @@ properties' values.
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</transformations>
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</layer>
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<layer>
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<name>GS Anunciator</name>
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<condition>
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<equals>
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<property>/autopilot/KAP140/annunciators/gs</property>
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<value>on</value>
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</equals>
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</condition>
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<texture>
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<path>Aircraft/Instruments/Textures/KAP140.rgb</path>
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<x1>0.791015625</x1>
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<x2>0.85546875</x2>
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<y1>0.802734375</y1>
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<y2>0.845703125</y2>
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</texture>
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<w>31</w>
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<h>21</h>
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<transformations>
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<transformation>
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<type>x-shift</type>
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<offset>-47</offset>
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</transformation>
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<transformation>
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<type>y-shift</type>
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<offset>40</offset>
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</transformation>
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</transformations>
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</layer>
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<layer>
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<name>GS-ARM Anunciator</name>
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<condition>
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<equals>
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<property>/autopilot/KAP140/annunciators/gs-arm</property>
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<value>on</value>
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</equals>
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</condition>
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<texture>
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<path>Aircraft/Instruments/Textures/KAP140.rgb</path>
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<x1>0.548828125</x1>
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<x2>0.640625</x2>
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<y1>0.939453125</y1>
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<y2>1.0</y2>
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</texture>
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<w>45</w>
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<h>30</h>
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<transformations>
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<transformation>
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<type>x-shift</type>
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<offset>-136</offset>
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</transformation>
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<transformation>
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<type>y-shift</type>
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<offset>15</offset>
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</transformation>
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</transformations>
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</layer>
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</layers>
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<!-- Actions -->
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@ -424,6 +569,21 @@ properties' values.
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</binding>
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</action>
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<action>
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<name>REV Button</name>
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<button>0</button>
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<x>30</x>
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<y>-54</y>
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<w>30</w>
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<h>20</h>
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<binding>
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<command>nasal</command>
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<script>
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kap140.rev_button();
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</script>
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</binding>
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</action>
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<action>
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<name>DN Button</name>
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<button>0</button>
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@ -32,12 +32,12 @@
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>7.0</Kp> <!-- proportional gain -->
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>10.0</Ti> <!-- integrator time -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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@ -47,7 +47,7 @@
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<!-- Approach hold (APR) Mode-->
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<pid-controller>
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<name>Approach hold (APR) Mode</name>
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<debug>true</debug>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/apr-hold</prop>
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<value>apr</value>
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@ -62,12 +62,43 @@
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>7.0</Kp> <!-- proportional gain -->
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>10.0</Ti> <!-- integrator time -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.001</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Backcourse hold (REV) Mode-->
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<pid-controller>
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<name>Backcourse hold (REV) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/rev-hold</prop>
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<value>rev</value>
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</enable>
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<input>
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<prop>/radios/nav/heading-needle-deflection</prop>
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<scale>-1.0</scale>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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@ -84,7 +115,8 @@
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<value>hdg</value>
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</enable>
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<input>
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<prop>/autopilot/internal/heading-bug-error-deg</prop>
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<prop>/autopilot/internal/heading-bug-error-deg</prop> -->
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<!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
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</input>
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<reference>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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@ -173,7 +205,7 @@
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<!-- Glideslope Hold (GS) Mode -->
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<pid-controller>
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<name>Glideslope Hold (GS) Mode</name>
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<debug>true</debug>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/gs-hold</prop>
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<value>gs</value>
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455
Nasal/kap140.nas
455
Nasal/kap140.nas
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@ -79,6 +79,7 @@ ap_button = func {
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "off");
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setprop(Locks, "nav-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "roll-axis", "trn");
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setprop(Locks, "roll-mode", "rol");
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setprop(Locks, "pitch-axis", "vs");
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@ -106,6 +107,7 @@ ap_button = func {
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "off");
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setprop(Locks, "nav-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "roll-axis", "off");
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setprop(Locks, "roll-mode", "off");
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setprop(Locks, "pitch-axis", "off");
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@ -120,16 +122,19 @@ ap_button = func {
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setprop(Annunciators, "hdg", "off");
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setprop(Annunciators, "nav", "off");
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setprop(Annunciators, "nav-arm", "off");
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setprop(Annunciators, "apr", "off");
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setprop(Annunciators, "apr-arm", "off");
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setprop(Annunciators, "rev", "off");
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setprop(Annunciators, "rev-arm", "off");
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setprop(Annunciators, "vs", "off");
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setprop(Annunciators, "vs-number", "off");
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setprop(Annunciators, "fpm", "off");
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setprop(Annunciators, "alt", "off");
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setprop(Annunciators, "apr", "off");
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setprop(Annunciators, "gs", "off");
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setprop(Annunciators, "gs-arm", "off");
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flasher("ap", 1.0, 5, "off");
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setprop(Internal, "ft", 0.1);
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}
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}
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@ -147,6 +152,7 @@ hdg_button = func {
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{
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setprop(Locks, "alt-hold", "off");
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "hdg");
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setprop(Locks, "nav-hold", "off");
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@ -174,10 +180,12 @@ hdg_button = func {
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elsif (getprop(Locks, "roll-mode") == "rol" or
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getprop(Locks, "roll-mode") == "nav" or
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getprop(Locks, "roll-mode") == "nav-arm" or
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getprop(Locks, "roll-mode") == "rev")
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getprop(Locks, "roll-mode") == "rev" or
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getprop(Locks, "roll-mode") == "rev-arm")
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{
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#setprop(Locks, "alt-hold", "off");
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "hdg");
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setprop(Locks, "nav-hold", "off");
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@ -191,6 +199,7 @@ hdg_button = func {
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setprop(Annunciators, "hdg", "on");
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setprop(Annunciators, "nav", "off");
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setprop(Annunciators, "rol", "off");
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setprop(Annunciators, "rev", "off");
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setprop(Settings, "target-intercept-angle", 0.0);
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}
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@ -204,6 +213,7 @@ hdg_button = func {
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "nav-hold", "off");
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setprop(Locks, "roll-axis", "trn");
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setprop(Locks, "roll-mode", "rol");
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@ -222,8 +232,10 @@ hdg_button = func {
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# If we are in APR mode we also have to change pitch mode.
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# TODO: Should we switch to VS or ALT mode? (currently VS)
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##
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elsif (getprop(Locks, "roll-mode") == "apr" and
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getprop(Locks, "pitch-mode") == "gs")
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elsif (getprop(Locks, "roll-mode") == "apr" or
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getprop(Locks, "roll-mode") == "apr-arm" or
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getprop(Locks, "pitch-mode") == "gs" or
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getprop(Locks, "pitch-mode") == "gs-arm")
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{
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setprop(Locks, "alt-hold", "off");
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setprop(Locks, "apr-hold", "off");
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@ -236,10 +248,12 @@ hdg_button = func {
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setprop(Locks, "pitch-mode", "vs");
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setprop(Annunciators, "alt", "off");
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setprop(Annunciators, "apr", "off");
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setprop(Annunciators, "gs", "off");
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setprop(Annunciators, "hdg", "on");
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setprop(Annunciators, "nav", "off");
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setprop(Annunciators, "apr", "off");
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setprop(Annunciators, "apr-arm", "off");
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setprop(Annunciators, "gs", "off");
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setprop(Annunciators, "gs-arm", "off");
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setprop(Annunciators, "vs", "on");
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setprop(Annunciators, "vs-number", "on");
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setprop(Annunciators, "fpm", "on");
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@ -253,12 +267,17 @@ hdg_button = func {
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nav_button = func {
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#print("nav_button");
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##
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# If we are in HDG mode we switch to the 45 degree angle intercept NAV mode
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##
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if (getprop(Locks, "roll-mode") == "hdg")
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{
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flasher("hdg", 0.5, 8, "off");
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "hdg-hold", "hdg");
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setprop(Locks, "nav-hold", "off");
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setprop(Locks, "roll-axis", "trn");
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@ -266,12 +285,16 @@ nav_button = func {
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nav_arm_from_hdg();
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}
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##
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# If we are in ROL mode we switch to the all angle intercept NAV mode.
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##
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elsif (getprop(Locks, "roll-mode") == "rol")
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{
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flasher("hdg", 0.5, 8, "off");
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "rev-hold", "off");
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setprop(Locks, "hdg-hold", "off");
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setprop(Locks, "nav-hold", "off");
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setprop(Locks, "roll-axis", "trn");
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@ -279,26 +302,19 @@ nav_button = func {
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nav_arm_from_rol();
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}
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elsif (getprop(Locks, "roll-mode") == "apr" and
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getprop(Locks, "pitch-mode") == "gs")
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{
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setprop(Locks, "alt-hold", "off");
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setprop(Locks, "apr-hold", "off");
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setprop(Locks, "gs-hold", "off");
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setprop(Locks, "hdg-hold", "hdg");
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setprop(Locks, "nav-hold", "nav");
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setprop(Locks, "roll-axis", "trn");
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setprop(Locks, "roll-mode", "nav");
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||||
setprop(Locks, "pitch-axis", "vs");
|
||||
setprop(Locks, "pitch-mode", "vs");
|
||||
|
||||
setprop(Settings, "target-pressure-rate", getprop(Internal,
|
||||
"pressure-rate"));
|
||||
}
|
||||
##
|
||||
# TODO:
|
||||
# NAV mode can only be armed if we are in HDG or ROL mode.
|
||||
# Can anyone verify that this is correct?
|
||||
##
|
||||
}
|
||||
|
||||
nav_arm_from_hdg = func
|
||||
{
|
||||
##
|
||||
# Abort the NAV-ARM mode if something has changed the roll mode to something
|
||||
# else than NAV-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "nav-arm")
|
||||
{
|
||||
setprop(Annunciators, "nav-arm", "off");
|
||||
|
|
@ -306,21 +322,33 @@ nav_arm_from_hdg = func
|
|||
}
|
||||
|
||||
setprop(Annunciators, "nav-arm", "on");
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
print("flashing...");
|
||||
settimer(nav_arm_from_hdg, 2.5);
|
||||
return;
|
||||
}
|
||||
|
||||
##
|
||||
# Activate the nav-hold controller and check the needle deviation.
|
||||
##
|
||||
setprop(Locks, "nav-hold", "nav");
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(nav_arm_from_hdg, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the NAV-ARM annunciator
|
||||
# and show the NAV annunciator. End of NAV-ARM sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
|
|
@ -331,12 +359,18 @@ nav_arm_from_hdg = func
|
|||
|
||||
nav_arm_from_rol = func
|
||||
{
|
||||
##
|
||||
# Abort the NAV-ARM mode if something has changed the roll mode to something
|
||||
# else than NAV-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "nav-arm")
|
||||
{
|
||||
setprop(Annunciators, "nav-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
setprop(Annunciators, "nav-arm", "on");
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
|
|
@ -345,17 +379,26 @@ nav_arm_from_rol = func
|
|||
settimer(nav_arm_from_rol, 2.5);
|
||||
return;
|
||||
}
|
||||
|
||||
##
|
||||
# Turn the ROL annunciator back on and activate the ROL mode.
|
||||
##
|
||||
setprop(Annunciators, "rol", "on");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Settings, "target-turn-rate", 0.0);
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(nav_arm_from_rol, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the NAV-ARM annunciator
|
||||
# and show the NAV annunciator. End of NAV-ARM sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
|
|
@ -365,6 +408,7 @@ nav_arm_from_rol = func
|
|||
|
||||
setprop(Locks, "apr-hold", "off");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "hdg");
|
||||
setprop(Locks, "nav-hold", "nav");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
|
|
@ -374,37 +418,360 @@ nav_arm_from_rol = func
|
|||
|
||||
apr_button = func {
|
||||
#print("apr_button");
|
||||
if (getprop(Locks, "roll-mode") == "hdg" or
|
||||
getprop(Locks, "roll-mode") == "rol" or
|
||||
getprop(Locks, "roll-mode") == "rev" or
|
||||
#getprop(Locks, "roll-mode") == "apr" or
|
||||
getprop(Locks, "pitch-mode") == "nav")
|
||||
##
|
||||
# If we are in HDG mode we switch to the 45 degree intercept angle APR mode
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") == "hdg")
|
||||
{
|
||||
setprop(Locks, "alt-hold", "off");
|
||||
flasher("hdg", 0.5, 8, "off");
|
||||
|
||||
#setprop(Locks, "alt-hold", "off");
|
||||
setprop(Locks, "apr-hold", "apr");
|
||||
setprop(Locks, "gs-hold", "gs");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "hdg");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "apr-arm");
|
||||
#setprop(Locks, "pitch-axis", "vs");
|
||||
#setprop(Locks, "pitch-mode", "gs");
|
||||
|
||||
apr_arm_from_hdg();
|
||||
}
|
||||
elsif (getprop(Locks, "roll-mode") == "rol")
|
||||
{
|
||||
flasher("hdg", 0.5, 8, "off");
|
||||
|
||||
#setprop(Locks, "alt-hold", "off");
|
||||
setprop(Locks, "apr-hold", "off");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "off");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "apr");
|
||||
setprop(Locks, "pitch-axis", "vs");
|
||||
setprop(Locks, "pitch-mode", "gs");
|
||||
setprop(Locks, "roll-mode", "apr-arm");
|
||||
#setprop(Locks, "pitch-axis", "vs");
|
||||
#setprop(Locks, "pitch-mode", "vs");
|
||||
|
||||
apr_arm_from_rol();
|
||||
}
|
||||
elsif (getprop(Locks, "roll-mode") == "apr" and
|
||||
getprop(Locks, "pitch-mode") == "gs")
|
||||
}
|
||||
|
||||
apr_arm_from_hdg = func
|
||||
{
|
||||
##
|
||||
# Abort the APR-ARM mode if something has changed the roll mode to something
|
||||
# else than APR-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "apr-arm")
|
||||
{
|
||||
setprop(Annunciators, "apr-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
setprop(Annunciators, "apr-arm", "on");
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
print("flashing...");
|
||||
settimer(apr_arm_from_hdg, 2.5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# Activate the apr-hold controller and check the needle deviation.
|
||||
##
|
||||
setprop(Locks, "apr-hold", "apr");
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(apr_arm_from_hdg, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the APR-ARM annunciator
|
||||
# and show the APR annunciator. End of APR-ARM sequence. Start the GS-ARM
|
||||
# sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
setprop(Annunciators, "apr-arm", "off");
|
||||
setprop(Annunciators, "apr", "on");
|
||||
setprop(Locks, "pitch-mode", "gs-arm");
|
||||
|
||||
gs_arm();
|
||||
}
|
||||
}
|
||||
|
||||
apr_arm_from_rol = func
|
||||
{
|
||||
##
|
||||
# Abort the APR-ARM mode if something has changed the roll mode to something
|
||||
# else than APR-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "apr-arm")
|
||||
{
|
||||
setprop(Annunciators, "apr-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
setprop(Annunciators, "apr-arm", "on");
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
print("flashing...");
|
||||
setprop(Annunciators, "rol", "off");
|
||||
settimer(apr_arm_from_rol, 2.5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# Turn the ROL annunciator back on and activate the ROL mode.
|
||||
##
|
||||
setprop(Annunciators, "rol", "on");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Settings, "target-turn-rate", 0.0);
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(apr_arm_from_rol, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the APR-ARM annunciator
|
||||
# and show the APR annunciator. End of APR-ARM sequence. Start the GS-ARM
|
||||
# sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
setprop(Annunciators, "rol", "off");
|
||||
setprop(Annunciators, "apr-arm", "off");
|
||||
setprop(Annunciators, "apr", "on");
|
||||
|
||||
setprop(Locks, "apr-hold", "apr");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "hdg");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "apr");
|
||||
setprop(Locks, "pitch-mode", "gs-arm");
|
||||
|
||||
gs_arm();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gs_arm = func {
|
||||
##
|
||||
# Abort the GS-ARM mode if something has changed the pitch mode to something
|
||||
# else than GS-ARM.
|
||||
##
|
||||
if (getprop(Locks, "pitch-mode") != "gs-arm")
|
||||
{
|
||||
setprop(Annunciators, "gs-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
setprop(Annunciators, "gs-arm", "on");
|
||||
|
||||
deviation = getprop("/radios/nav/gs-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 1 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 1.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(gs_arm, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn off the GS-ARM annunciator
|
||||
# and show the GS annunciator. Activate the GS pitch mode.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
setprop(Annunciators, "alt", "off");
|
||||
setprop(Annunciators, "vs", "off");
|
||||
setprop(Annunciators, "vs-number", "off");
|
||||
setprop(Annunciators, "fpm", "off");
|
||||
setprop(Annunciators, "gs-arm", "off");
|
||||
setprop(Annunciators, "gs", "on");
|
||||
|
||||
setprop(Locks, "alt-hold", "off");
|
||||
setprop(Locks, "gs-hold", "gs");
|
||||
setprop(Locks, "pitch-mode", "gs");
|
||||
#setprop(Locks, "hdg-hold", "hdg");
|
||||
#setprop(Locks, "nav-hold", "off");
|
||||
#setprop(Locks, "roll-axis", "trn");
|
||||
#setprop(Locks, "roll-mode", "apr");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
rev_button = func {
|
||||
#print("rev_button");
|
||||
##
|
||||
# If we are in HDG mode we switch to the 45 degree intercept angle REV mode
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") == "hdg")
|
||||
{
|
||||
flasher("hdg", 0.5, 8, "off");
|
||||
|
||||
#setprop(Locks, "alt-hold", "off");
|
||||
setprop(Locks, "apr-hold", "off");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "hdg");
|
||||
setprop(Locks, "nav-hold", "nav");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "nav");
|
||||
setprop(Locks, "pitch-axis", "vs");
|
||||
setprop(Locks, "pitch-mode", "vs");
|
||||
setprop(Locks, "roll-mode", "rev-arm");
|
||||
#setprop(Locks, "pitch-axis", "vs");
|
||||
#setprop(Locks, "pitch-mode", "gs");
|
||||
|
||||
setprop(Settings, "target-pressure-rate", getprop(Internal,
|
||||
"pressure-rate"));
|
||||
rev_arm_from_hdg();
|
||||
}
|
||||
elsif (getprop(Locks, "roll-mode") == "rol")
|
||||
{
|
||||
flasher("hdg", 0.5, 8, "off");
|
||||
|
||||
#setprop(Locks, "alt-hold", "off");
|
||||
setprop(Locks, "apr-hold", "off");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "off");
|
||||
setprop(Locks, "hdg-hold", "off");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "rev-arm");
|
||||
#setprop(Locks, "pitch-axis", "vs");
|
||||
#setprop(Locks, "pitch-mode", "vs");
|
||||
|
||||
rev_arm_from_rol();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rev_arm_from_hdg = func
|
||||
{
|
||||
##
|
||||
# Abort the REV-ARM mode if something has changed the roll mode to something
|
||||
# else than REV-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "rev-arm")
|
||||
{
|
||||
setprop(Annunciators, "rev-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
setprop(Annunciators, "rev-arm", "on");
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
print("flashing...");
|
||||
settimer(rev_arm_from_hdg, 2.5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# Activate the rev-hold controller and check the needle deviation.
|
||||
##
|
||||
setprop(Locks, "rev-hold", "rev");
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(rev_arm_from_hdg, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the REV-ARM annunciator
|
||||
# and show the REV annunciator. End of REV-ARM sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
setprop(Annunciators, "rev-arm", "off");
|
||||
setprop(Annunciators, "rev", "on");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rev_arm_from_rol = func
|
||||
{
|
||||
##
|
||||
# Abort the REV-ARM mode if something has changed the roll mode to something
|
||||
# else than REV-ARM.
|
||||
##
|
||||
if (getprop(Locks, "roll-mode") != "rev-arm")
|
||||
{
|
||||
setprop(Annunciators, "rev-arm", "off");
|
||||
return;
|
||||
}
|
||||
|
||||
setprop(Annunciators, "rev-arm", "on");
|
||||
##
|
||||
# Wait for the HDG annunciator flashing to finish.
|
||||
##
|
||||
if (flash_timer > -0.5)
|
||||
{
|
||||
print("flashing...");
|
||||
setprop(Annunciators, "rol", "off");
|
||||
settimer(rev_arm_from_rol, 2.5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# Turn the ROL annunciator back on and activate the ROL mode.
|
||||
##
|
||||
setprop(Annunciators, "rol", "on");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Settings, "target-turn-rate", 0.0);
|
||||
deviation = getprop("/radios/nav/heading-needle-deflection");
|
||||
##
|
||||
# If the deflection is more than 3 degrees wait 5 seconds and check again.
|
||||
##
|
||||
if (abs(deviation) > 3.0)
|
||||
{
|
||||
print("deviation");
|
||||
settimer(rev_arm_from_rol, 5);
|
||||
return;
|
||||
}
|
||||
##
|
||||
# If the deviation is less than 3 degrees turn of the REV-ARM annunciator
|
||||
# and show the REV annunciator. End of REV-ARM sequence.
|
||||
##
|
||||
elsif (abs(deviation) < 3.1)
|
||||
{
|
||||
print("capture");
|
||||
setprop(Annunciators, "rol", "off");
|
||||
setprop(Annunciators, "rev-arm", "off");
|
||||
setprop(Annunciators, "rev", "on");
|
||||
|
||||
setprop(Locks, "apr-hold", "off");
|
||||
setprop(Locks, "gs-hold", "off");
|
||||
setprop(Locks, "rev-hold", "rev");
|
||||
setprop(Locks, "hdg-hold", "hdg");
|
||||
setprop(Locks, "nav-hold", "off");
|
||||
setprop(Locks, "roll-axis", "trn");
|
||||
setprop(Locks, "roll-mode", "rev");
|
||||
#setprop(Locks, "pitch-mode", "gs-arm");
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue