532 lines
14 KiB
Text
532 lines
14 KiB
Text
##
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# Century IIB Autopilot System
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# Models behavior of the Century IIB autopilot
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# one axis.
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#
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# One would also need the autopilot configuration file
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# CENTURYIIB.xml (in pa24-250/Systems) and the animation and panel
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# and .ac files in pa24-250/Models/Century-IIB.
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#
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#
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# Written by Dave Perry to match functionality described in
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#
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# CENTURY IIB
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# AUTOPILOT FLIGHT SYSTEM
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# PILOT'S OPERATING HANDBOOK
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# MARCH 1981 68S75
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#
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# Draws heavily from the kap140 system written by Vegard Ovesen
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##
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# Properties
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var locks = "/autopilot/CENTURYIIB/locks";
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var settings = "/autopilot/CENTURYIIB/settings";
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var internal = "/autopilot/internal";
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var flightControls = "/controls/flight";
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var autopilotControls = "/autopilot/CENTURYIIB/controls";
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# locks
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var propLocks = props.globals.getNode(locks, 1);
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var lockAprHold = propLocks.getNode("apr-hold", 1);
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var lockHdgHold = propLocks.getNode("hdg-hold", 1);
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var lockNavHold = propLocks.getNode("nav-hold", 1);
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var lockOmniHold = propLocks.getNode("omni-hold", 1);
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var lockRevHold = propLocks.getNode("rev-hold", 1);
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var lockRollAxis = propLocks.getNode("roll-axis", 1);
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var lockRollMode = propLocks.getNode("roll-mode", 1);
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var lockRollArm = propLocks.getNode("roll-arm", 1);
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var rollModes = { "OFF" : 0, "ROL" : 1, "HDG" : 2, "OMNI" : 3, "NAV" : 4, "REV" : 5, "APR" : 6 };
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var rollArmModes = { "OFF" : 0, "NAV" : 1, "OMNI" : 2, "APR" : 3, "REV" : 4 };
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# settings
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var propSettings = props.globals.getNode(settings, 1);
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var settingTargetInterceptAngle = propSettings.getNode("target-intercept-angle", 1);
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var settingTargetRollDeg = propSettings.getNode("target-roll-deg", 1);
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var settingRollKnobDeg = propSettings.getNode("roll-knob-deg", 1);
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#Flight controls
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var propFlightControls = props.globals.getNode(flightControls, 1);
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var elevatorControl = propFlightControls.getNode("elevator", 1);
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var elevatorTrimControl = propFlightControls.getNode("elevator-trim", 1);
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#Autopilot controls
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var propAutopilotControls = props.globals.getNode(autopilotControls, 1);
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var rollControl = propAutopilotControls.getNode("roll", 1);
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# values 0 (A/P switch off) and 1 (A/P switch on)
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var hdgControl = propAutopilotControls.getNode("hdg", 1);
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# values 0 (hdg switch off) and 1 (hdg switch on)
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var modeControl = propAutopilotControls.getNode("mode", 1);
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# values 0 NAV, 1 OMNI, 2 HDG, 3 LOC, 4 LOC REV
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var headingNeedleDeflection = "/instrumentation/nav/heading-needle-deflection";
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var power="/systems/electrical/outputs/autopilot";
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var filteredHeadingNeedleDeflection = "/autopilot/internal/filtered-heading-needle-deflection";
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# Initialize Variables
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var valueTest = 0;
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var lastValue = 0;
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var newValue = 0;
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var minVoltageLimit = 8.0;
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var newMode = 2;
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var oldMode = 2;
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var deviation = 0;
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rollControl.setDoubleValue(0.0);
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hdgControl.setDoubleValue(0.0);
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modeControl.setDoubleValue(2.0);
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var apInit = func {
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##print("ap init");
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##
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# Initialises the autopilot.
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##
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lockAprHold.setBoolValue(0);
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lockHdgHold.setBoolValue(0);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockRollAxis.setBoolValue(0);
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lockRollMode.setIntValue(rollModes["OFF"]);
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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# Reset the memory for power down or power up
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settingTargetInterceptAngle.setDoubleValue(0.0);
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settingTargetRollDeg.setDoubleValue(0.0);
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settingRollKnobDeg.setDoubleValue(0.0);
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}
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var apPower = func {
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## Monitor autopilot power
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## Call apInit if the power is too low
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if (getprop(power) < minVoltageLimit) {
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newValue = 0;
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} else {
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newValue = 1;
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}
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valueTest = newValue - lastValue;
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# print("v_test = ", v_test);
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if (valueTest > 0.5) {
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# autopilot just powered up
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print("power up");
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apInit();
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} elsif (valueTest < -0.5) {
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# autopilot just lost power
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print("power lost");
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apInit();
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# note: all button and knobs disabled in functions below
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}
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lastValue = newValue;
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var inrange0 = getprop("/instrumentation/nav[0]/in-range");
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# Shut off autopilot if HDG switch on and mode != 2 when NAV flag is on
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if ( !inrange0 ) {
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if ( hdgControl.getValue() and (modeControl.getValue() != 2)) {
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rollControl.setDoubleValue(0.0);
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apRollControl();
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}
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}
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settimer(apPower, 0.5);
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}
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var apRollControl = func {
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if (rollControl.getValue() ) {
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if (hdgControl.getValue() ) {
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##
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# hdg switch already on so check which roll mode is set
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##
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apModeControlsSet();
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} else {
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##
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# roll switch on and hdg switch off
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##
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rollButton(1);
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}
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} else {
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# A/P on/off switch was turned off, so turn off other AP switches
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hdgControl.setDoubleValue(0.0); #hdgButton(0);
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# rollButton(0);
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apInit();
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}
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}
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var apHdgControl = func {
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if (hdgControl.getValue() ) {
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##
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# hdg switch is on so if roll switch is also on, check which roll mode is set
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##
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if (rollControl.getValue() ) {
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apModeControlsSet();
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}
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} else {
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# hdg switch turned off
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hdgControl.setDoubleValue(0.0); hdgButton(0);
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}
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}
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var rollKnobUpdate = func {
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if ( rollControl.getValue() and !hdgControl.getValue() ) {
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settingTargetRollDeg.setDoubleValue( settingRollKnobDeg.getValue() );
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}
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}
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var apModeControlsChange = func {
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##
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# Delay mode change to allow time for multi-mode rotation
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##
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settimer(apModeControlsSet, 2);
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}
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var apModeControlsSet = func {
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newMode = modeControl.getValue();
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oldMode = newMode;
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#All modes entered from hdg mode
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if ( hdgControl.getValue() ) {
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hdgButton(1);
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if (newMode == 0 ){
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navButton();
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} elsif (newMode == 1 ) {
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omniButton();
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} elsif (newMode == 3 ) {
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aprButton();
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} elsif(newMode == 4 ) {
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revButton();
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}
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} else {
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return;
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}
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}
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var rollButton = func(switch_on) {
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##print("rollButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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if ( switch_on ) {
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##
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# Engage the autopilot in Wings level mode (ROL) and set the turn rate
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# from the "ROLL Knob".
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##
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lockAprHold.setBoolValue(0);
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lockHdgHold.setBoolValue(0);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollMode.setIntValue(rollModes["ROL"]);
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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} else {
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lockAprHold.setBoolValue(0);
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lockHdgHold.setBoolValue(0);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockRollAxis.setBoolValue(0);
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lockRollMode.setIntValue(rollModes["OFF"]);
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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}
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}
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var hdgButton = func(switch_on) {
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##print("hdgButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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if (switch_on) {
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##
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# Engage the heading mode (HDG).
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##
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lockAprHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollMode.setIntValue(rollModes["HDG"]);
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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settingTargetInterceptAngle.setDoubleValue(0.0);
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} else {
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lockHdgHold.setBoolValue(0);
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rollKnobUpdate();
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if ( rollControl.getValue() ) {
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lockRollMode.setIntValue(rollModes["ROL"]);
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} else {
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lockRollMode.setIntValue(rollModes["OFF"]);
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}
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}
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}
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var navButton = func {
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##print("navButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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##
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# The Mode Selector and DG Course Selector should be set before switching the HDG
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# rocker switch to "on". The DG Course Selector should be set to the OBS "to" or
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# "from" bearing.
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# Set up NAV mode and switch to the 45 degree angle intercept NAV mode
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##
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lockAprHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollArm.setIntValue(rollArmModes["NAV"]);
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lockRollMode.setIntValue(rollModes["NAV"]);
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navArmFromHdg();
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}
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var navArmFromHdg = func
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{
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##
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# Abort the NAV-ARM mode if something has changed the arm mode to something
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# else than NAV-ARM.
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##
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if (lockRollArm.getValue() != rollArmModes["NAV"])
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{
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return;
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}
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##
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# Activate the nav-hold controller and check the needle deviation.
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##
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lockNavHold.setBoolValue(1);
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deviation = getprop(headingNeedleDeflection);
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##
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# If the deflection is more than 9.95 degrees wait 5 seconds and check again.
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##
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if (abs(deviation) > 9.95)
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{
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#print("deviation");
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settimer(navArmFromHdg, 5);
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return;
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}
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##
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# If the deviation is less than 10 degrees turn off the NAV-ARM. End of NAV-ARM sequence.
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##
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elsif (abs(deviation) < 10.0)
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{
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#print("capture");
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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}
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}
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var omniButton = func {
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##print("navButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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##
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# The Mode Selector and DG Course Selector should be set before switching the HDG
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# rocker switch to "on". The DG Course Selector should be set to the OBS "to" or
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# "from" bearing.
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# Set up OMNI mode and switch to the 45 degree angle intercept OMNI mode
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##
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lockAprHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollArm.setIntValue(rollArmModes["OMNI"]);
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lockRollMode.setIntValue(rollModes["OMNI"]);
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omniArmFromHdg();
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}
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var omniArmFromHdg = func
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{
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##
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# Abort the OMNI-ARM mode if something has changed the arm mode to something
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# else than OMNI-ARM.
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##
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if (lockRollArm.getValue() != rollArmModes["OMNI"])
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{
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return;
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}
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##
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# Activate the omni-hold controller and check the needle deviation.
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##
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lockOmniHold.setBoolValue(1);
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deviation = getprop(filteredHeadingNeedleDeflection);
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##
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# If the deflection is more than 9.95 degrees wait 5 seconds and check again.
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##
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if (abs(deviation) > 9.95)
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{
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#print("deviation");
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settimer(omniArmFromHdg, 5);
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return;
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}
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##
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# If the deviation is less than 10 degrees turn off the OMNI-ARM. End of OMNI-ARM sequence.
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##
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elsif (abs(deviation) < 10.0)
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{
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#print("capture");
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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}
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}
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var aprButton = func {
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##print("aprButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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##
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# The Mode Selector and DG Course Selector should be set before switching the HDG
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# rocker switch to "on". Set the DG Course Selector to the LOC inbound heading.
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# Set up APR mode and switch to the 45 degree angle intercept APR mode
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##
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lockAprHold.setBoolValue(1);
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lockRevHold.setBoolValue(0);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollArm.setIntValue(rollArmModes["APR"]);
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lockRollMode.setIntValue(rollModes["APR"]);
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aprArmFromHdg();
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}
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var aprArmFromHdg = func
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{
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##
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# Abort the APR-ARM mode if something has changed the arm mode to something
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# else than APR-ARM.
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##
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if (lockRollArm.getValue() != rollArmModes["APR"])
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{
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return;
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}
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##
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# Activate the apr-hold controller and check the needle deviation.
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##
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lockAprHold.setBoolValue(1);
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deviation = getprop(headingNeedleDeflection);
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##
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# If the deflection is more than 2.5 degrees wait 5 seconds and check again.
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##
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if (abs(deviation) > 2.495)
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{
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#print("deviation");
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settimer(aprArmFromHdg, 5);
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return;
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}
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}
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var revButton = func {
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##print("revButton");
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# Disable button if too little power
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if (getprop(power) < minVoltageLimit) { return; }
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##
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# The Mode Selector and DG Course Selector should be set before switching the HDG
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# rocker switch to "on". Set the DG Course Selector to the LOC outbound
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# (or reverse) heading.
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# Set up REV mode and switch to the 45 degree angle intercept REV mode
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##
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lockAprHold.setBoolValue(0);
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lockRevHold.setBoolValue(0);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollArm.setIntValue(rollArmModes["REV"]);
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revArmFromHdg();
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}
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var revArmFromHdg = func
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{
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##
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# Abort the REV-ARM mode if something has changed the arm mode to something
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# else than REV-ARM.
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##
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if (lockRollArm.getValue() != rollArmModes["REV"])
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{
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return;
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}
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##
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# Activate the rev-hold controller and check the needle deviation.
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##
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lockRevHold.setBoolValue(1);
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deviation = getprop(headingNeedleDeflection);
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##
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# If the deflection is more than 2.5 degrees wait 5 seconds and check again.
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##
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if (abs(deviation) > 2.495)
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{
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#print("deviation");
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settimer(revArmFromHdg, 5);
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return;
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}
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##
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# If the deviation is less than 2.5 - End of REV-ARM sequence.
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##
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elsif (abs(deviation) < 2.5)
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{
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#print("capture");
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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lockAprHold.setBoolValue(0);
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lockRevHold.setBoolValue(1);
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lockHdgHold.setBoolValue(1);
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lockNavHold.setBoolValue(0);
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lockOmniHold.setBoolValue(0);
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lockRollAxis.setBoolValue(1);
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lockRollMode.setIntValue(rollModes["REV"]);
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lockRollArm.setIntValue(rollArmModes["OFF"]);
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}
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}
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var touchPower = func{
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setprop(power,apVolts);
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}
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var apVolts = getprop(power);
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if ( apVolts == nil or apVolts < minVoltageLimit ) {
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# Wait for autopilot to be powered up
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var L = setlistener(power, func {
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apPower();
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removelistener(L);
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});
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} else {
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# Skip the setlistener since autopilot is already powered up
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settimer(touchPower ,10);
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apPower();
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}
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