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Default autopilot tweaks.

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curt 2004-02-07 21:48:39 +00:00
parent 065c893dca
commit a180a0d659
3 changed files with 17 additions and 11 deletions
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21
Aircraft/Generic/generic-autopilot.xml
View file

@ -318,7 +318,7 @@
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>1.0</Kp> <!-- proportional gain -->
<Kp>0.5</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 -->
@ -469,7 +469,8 @@
<value>speed-with-throttle</value>
</enable>
<input>
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
<!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> -->
<prop>/velocities/airspeed-kt</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-kt</prop>
@ -477,6 +478,12 @@
<output>
<prop>/controls/engines/engine[0]/throttle</prop>
<prop>/controls/engines/engine[1]/throttle</prop>
<prop>/controls/engines/engine[2]/throttle</prop>
<prop>/controls/engines/engine[3]/throttle</prop>
<prop>/controls/engines/engine[4]/throttle</prop>
<prop>/controls/engines/engine[5]/throttle</prop>
<prop>/controls/engines/engine[6]/throttle</prop>
<prop>/controls/engines/engine[7]/throttle</prop>
</output>
<config>
<Kp>0.1</Kp> <!-- proportional gain -->
@ -491,13 +498,13 @@
</config>
</pid-controller>
<!-- Hold speed by varying pitch (Two stage cascading controller) -->
<!-- Hold speed by varying pitch trim (Two stage cascading controller) -->
<pid-controller>
<name>Speed hold (vary pitch) Stage #1</name>
<name>Speed hold (vary pitch trim) Stage #1</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/speed</prop>
<value>speed-with-pitch</value>
<value>speed-with-pitch-trim</value>
</enable>
<input>
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
@ -522,11 +529,11 @@
</pid-controller>
<pid-controller>
<name>Speed hold (vary pitch) Stage #2</name>
<name>Speed hold (vary pitch trim) Stage #2</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/speed</prop>
<value>speed-with-pitch</value>
<value>speed-with-pitch-trim</value>
</enable>
<input>
<prop>/orientation/pitch-deg</prop>

3
Nasal/controls.nas
View file

@ -268,8 +268,7 @@ incElevator = func {
if ( elevator.getValue() > 1.0 ) {
elevator.setValue( 1.0 );
}
}
if ( auto.getValue() == "altitude-hold" ) {
} elsif ( auto.getValue() == "altitude-hold" ) {
node = props.globals.getNode("/autopilot/settings/target-altitude-ft", 1);
if ( node.getValue() == nil ) {
node.setValue( 0.0 );

4
gui/dialogs/autopilot.xml
View file

@ -343,7 +343,7 @@
-->
<input>
<name>autospeed-w-pitch</name>
<name>autospeed</name>
<x>150</x>
<y>130</y>
<width>150</width>
@ -400,7 +400,7 @@
<command>nasal</command>
<script>
node = props.globals.getNode("/autopilot/locks/speed", 1);
node.setValue( "speed-with-pitch" );
node.setValue( "speed-with-pitch-trim" );
</script>
</binding>
<binding>