<?xml version="1.0"?> <!-- KAP 140 Autopilot Configuration --> <!-- Each component is evaluated in the order specified. You can make up --> <!-- property names to pass the result of one component on to a subsequent --> <!-- component. --> <PropertyList> <!-- =============================================================== --> <!-- Roll Axis Modes --> <!-- =============================================================== --> <!-- Nav hold (NAV) Mode--> <pid-controller> <name>Nav hold (NAV) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/nav-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/instrumentation/nav/heading-needle-deflection</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/KAP140/settings/target-intercept-angle</prop> </output> <config> <Kp>2.0</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>15.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-45.0</u_min> <!-- minimum output clamp --> <u_max>45.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Approach hold (APR) Mode--> <pid-controller> <name>Approach hold (APR) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/apr-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/instrumentation/nav/heading-needle-deflection</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/KAP140/settings/target-intercept-angle</prop> </output> <config> <Kp>2.0</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>15.0</Ti> <!-- integrator time --> <Td>0.001</Td> <!-- derivator time --> <u_min>-45.0</u_min> <!-- minimum output clamp --> <u_max>45.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Backcourse hold (REV) Mode--> <pid-controller> <name>Backcourse hold (REV) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/rev-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/instrumentation/nav/heading-needle-deflection</prop> <scale>-1.0</scale> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/KAP140/settings/target-intercept-angle</prop> </output> <config> <Kp>2.0</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>15.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-45.0</u_min> <!-- minimum output clamp --> <u_max>45.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Heading Select (HDG) Mode --> <pid-controller> <name>Heading Select (HDG) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/hdg-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/autopilot/internal/heading-bug-error-deg</prop> <!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> --> </input> <reference> <prop>/autopilot/KAP140/settings/target-intercept-angle</prop> </reference> <output> <prop>/autopilot/KAP140/settings/target-turn-rate</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>15.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Wing leveler (ROL) Mode --> <pid-controller> <name>Wing Leveler (ROL) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/roll-axis</prop> <value type="bool">true</value> </enable> <input> <prop>/instrumentation/turn-indicator/indicated-turn-rate</prop> </input> <reference> <prop>/autopilot/KAP140/settings/target-turn-rate</prop> </reference> <output> <prop>/controls/flight/aileron</prop> </output> <config> <Kp>0.15</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>15.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-0.25</u_min> <!-- minimum output clamp --> <u_max>0.25</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- =============================================================== --> <!-- Pitch Axis Modes --> <!-- =============================================================== --> <!-- Altitude Hold (ALT) Mode --> <pid-controller> <name>Altitude Hold (ALT) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/alt-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/systems/static[0]/pressure-inhg[0]</prop> </input> <reference> <prop>/autopilot/KAP140/settings/target-alt-pressure</prop> </reference> <output> <prop>/autopilot/KAP140/settings/target-pressure-rate</prop> </output> <config> <Kp>0.125</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>12.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-0.007</u_min> <!-- minimum output clamp --> <u_max>0.007</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Glideslope Hold (GS) Mode --> <pid-controller> <name>Glideslope Hold (GS) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/gs-hold</prop> <value type="bool">true</value> </enable> <input> <prop>/instrumentation/nav/gs-needle-deflection-norm</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/KAP140/settings/target-pressure-rate</prop> </output> <config> <Kp>0.025</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>15.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-0.001</u_min> <!-- minimum output clamp --> <u_max>0.017</u_max> <!-- maximum output clamp --> </config> </pid-controller> <filter> <name>pressure-rate-filter</name> <debug>false</debug> <type>double-exponential</type> <input>/autopilot/internal/pressure-rate</input> <output>/autopilot/internal/filtered-pressure-rate</output> <filter-time>0.1</filter-time> </filter> <!-- Vertical Speed (VS) Mode --> <pid-controller> <name>Vertical Speed (VS) Mode</name> <debug>false</debug> <enable> <prop>/autopilot/KAP140/locks/pitch-axis</prop> <value type="bool">true</value> </enable> <input> <prop>/autopilot/internal/filtered-pressure-rate</prop> </input> <reference> <prop>/autopilot/KAP140/settings/target-pressure-rate</prop> </reference> <output> <prop>/controls/flight/elevator</prop> </output> <config> <Kp>5.0</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>4.0</Ti> <!-- integrator time --> <Td>0.0</Td> <!-- derivator time --> <u_min>-0.5</u_min> <!-- minimum output clamp --> <u_max>0.5</u_max> <!-- maximum output clamp --> </config> </pid-controller> </PropertyList>