Initial revision.
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parent
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Aircraft/Generic/generic-autopilot.xml
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Aircraft/Generic/generic-autopilot.xml
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<?xml version="1.0"?>
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<!-- Generic Autopilot Configuration -->
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<!-- Each component is evaluated in the order specified. You can make up -->
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<!-- property names to pass the result of one component on to a subsequent -->
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<!-- component. -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Roll Axis Modes -->
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<!-- =============================================================== -->
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<!-- Wing leveler -->
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<pid-controller>
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<name>Wing Leveler (Turn Coordinator based)</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>wing-leveler</value>
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</enable>
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<input>
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<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
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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>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.5</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Heading Bug Hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target roll based on diff between current heading -->
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<!-- and heading bug. -->
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<pid-controller>
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<name>Heading Bug Hold (DG based) Stage 1</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>dg-heading-hold</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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</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/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-1.0</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-20.0</u_min> <!-- minimum output clamp -->
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<u_max>20.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
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<pid-controller>
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<name>Heading Bug Hold (DG based) Stage 2</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>dg-heading-hold</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.1</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- True Heading hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target roll based on diff between current heading -->
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<!-- and target heading. -->
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<pid-controller>
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<name>True Heading Hold (DG based) Stage 1</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>true-heading-hold</value>
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</enable>
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<input>
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<prop>/autopilot/internal/true-heading-error-deg</prop>
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</input>
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<target>
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<prop>0.0</prop>
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</target>
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<output>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-1.0</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-20.0</u_min> <!-- minimum output clamp -->
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<u_max>20.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
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<pid-controller>
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<name>True Heading Hold (DG based) Stage 2</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>true-heading-hold</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.1</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Nav1 hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target roll based on diff between current heading -->
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<!-- and target heading. -->
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<pid-controller>
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<name>Nav1 Hold Stage 1</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>nav1-hold</value>
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</enable>
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<input>
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<prop>/autopilot/internal/nav1-heading-error-deg</prop>
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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/internal/target-roll-deg</prop>
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</output>
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<config>
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<Kp>-1.0</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-20.0</u_min> <!-- minimum output clamp -->
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<u_max>20.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
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<pid-controller>
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<name>Nav1 Hold Stage 2</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/heading</prop>
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<value>nav1-hold</value>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.1</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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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- =============================================================== -->
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<!-- Pitch Axis Modes -->
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<!-- =============================================================== -->
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<!-- Simple pitch hold -->
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<pid-controller>
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<name>Pitch hold</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/altitude</prop>
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<value>pitch-hold</value>
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</enable>
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<input>
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<prop>/orientation/pitch-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-pitch-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator-trim</prop>
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</output>
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<config>
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<Kp>-0.05</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>1.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Simple angle of attack hold -->
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<pid-controller>
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<name>AOA hold</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/altitude</prop>
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<value>aoa-hold</value>
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</enable>
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<input>
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<prop>/orientation/alpha-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-aoa-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator-trim</prop>
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</output>
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<config>
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<Kp>-0.05</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>0.5</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Altitude hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target rate of climb based on diff between current alt -->
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<!-- and target altitude. -->
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<pid-controller>
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<name>Altitude Hold (Altimeter based) Stage 1</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/altitude</prop>
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<value>altitude-hold</value>
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</enable>
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<input>
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<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-altitude-ft</prop>
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</reference>
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<output>
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<prop>/autopilot/internal/target-climb-rate-fps</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>1000.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-16.67</u_min> <!-- minimum output clamp -->
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<u_max>8.33</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
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<pid-controller>
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<name>Altitude Hold (Altimeter based) Stage 2</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/altitude</prop>
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<value>altitude-hold</value>
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</enable>
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<input>
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<prop>/velocities/vertical-speed-fps</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-climb-rate-fps</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator-trim</prop>
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</output>
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<config>
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<Kp>-0.01</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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||||||
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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||||||
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<Ti>10.0</Ti> <!-- integrator time -->
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||||||
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- AGL hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target rate of climb based on diff between current agl -->
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<!-- and target agl. -->
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<pid-controller>
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<name>AGL Hold (Altimeter based) Stage 1</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/locks/altitude</prop>
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||||||
|
<value>terrain-follow</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/position/altitude-agl-ft</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/autopilot/settings/target-agl-ft</prop>
|
||||||
|
</reference>
|
||||||
|
<config>
|
||||||
|
<Kp>1.0</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>10000.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>-16.67</u_min> <!-- minimum output clamp -->
|
||||||
|
<u_max>8.33</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
|
||||||
|
<pid-controller>
|
||||||
|
<name>Altitude Hold (Altimeter based) Stage 2</name>
|
||||||
|
<debug>false</debug>
|
||||||
|
<enable>
|
||||||
|
<prop>/autopilot/locks/altitude</prop>
|
||||||
|
<value>terrain-follow</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/velocities/vertical-speed-fps</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||||||
|
</reference>
|
||||||
|
<output>
|
||||||
|
<prop>/controls/flight/elevator-trim</prop>
|
||||||
|
</output>
|
||||||
|
<config>
|
||||||
|
<Kp>-0.01</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>10.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||||
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
<!-- Glideslope hold. -->
|
||||||
|
|
||||||
|
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
|
||||||
|
<pid-controller>
|
||||||
|
<name>Glideslop Hold</name>
|
||||||
|
<debug>false</debug>
|
||||||
|
<enable>
|
||||||
|
<prop>/autopilot/locks/altitude</prop>
|
||||||
|
<value>gs1-hold</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/velocities/vertical-speed-fps</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/radios/nav[0]/gs-rate-of-climb</prop>
|
||||||
|
</reference>
|
||||||
|
<output>
|
||||||
|
<prop>/controls/flight/elevator-trim</prop>
|
||||||
|
</output>
|
||||||
|
<config>
|
||||||
|
<Kp>-0.01</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>10.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||||
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- =============================================================== -->
|
||||||
|
<!-- Velocity Modes -->
|
||||||
|
<!-- =============================================================== -->
|
||||||
|
|
||||||
|
<!-- Auto throttle -->
|
||||||
|
<pid-controller>
|
||||||
|
<name>Auto Throttle (5 sec lookahead)</name>
|
||||||
|
<debug>false</debug>
|
||||||
|
<enable>
|
||||||
|
<prop>/autopilot/locks/speed</prop>
|
||||||
|
<value>speed-with-throttle</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||||
|
</reference>
|
||||||
|
<output>
|
||||||
|
<prop>/controls/engines/engine[0]/throttle</prop>
|
||||||
|
<prop>/controls/engines/engine[1]/throttle</prop>
|
||||||
|
</output>
|
||||||
|
<config>
|
||||||
|
<Kp>0.1</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>10.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>0.0</u_min> <!-- minimum output clamp -->
|
||||||
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
<!-- Hold speed by varying pitch (Two stage cascading controller) -->
|
||||||
|
<pid-controller>
|
||||||
|
<name>Speed hold (vary pitch) Stage #1</name>
|
||||||
|
<debug>false</debug>
|
||||||
|
<enable>
|
||||||
|
<prop>/autopilot/locks/speed</prop>
|
||||||
|
<value>speed-with-pitch</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||||
|
</reference>
|
||||||
|
<output>
|
||||||
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||||
|
</output>
|
||||||
|
<config>
|
||||||
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>1.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
||||||
|
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
<pid-controller>
|
||||||
|
<name>Speed hold (vary pitch) Stage #2</name>
|
||||||
|
<debug>false</debug>
|
||||||
|
<enable>
|
||||||
|
<prop>/autopilot/locks/speed</prop>
|
||||||
|
<value>speed-with-pitch</value>
|
||||||
|
</enable>
|
||||||
|
<input>
|
||||||
|
<prop>/orientation/pitch-deg</prop>
|
||||||
|
</input>
|
||||||
|
<reference>
|
||||||
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||||
|
</reference>
|
||||||
|
<output>
|
||||||
|
<prop>/controls/flight/elevator-trim</prop>
|
||||||
|
</output>
|
||||||
|
<config>
|
||||||
|
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||||
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||||
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||||
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||||
|
<!-- unfiltered derivative error -->
|
||||||
|
<Ti>1.0</Ti> <!-- integrator time -->
|
||||||
|
<Td>0.00001</Td> <!-- derivator time -->
|
||||||
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||||
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||||
|
</config>
|
||||||
|
</pid-controller>
|
||||||
|
|
||||||
|
</PropertyList>
|
||||||
Loading…
Reference in a new issue