374 lines
11 KiB
XML
374 lines
11 KiB
XML
<PropertyList>
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<!-- GFC 700 Autopilot Finite State Machine for vertical mode. Also handles AP and FD toggling -->
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<branch>/autopilot/GFC700/FSM/vertical</branch>
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<state>
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<name>OFF</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/passive-mode</property>
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<value>1</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>PIT</name>
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<!-- Pitch hold mode. We assign a filtered value, which limits to to [-15.0, 20.0] -->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-pitch-deg</property>
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<property n="1">/autopilot/internal/filtered-pitch-deg</property>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>PIT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>GA</name>
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<!-- GA mode - 7 degree pitch up-->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-pitch-deg</property>
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<value>7.0</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>GA</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>VS</name>
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<!-- VS mode -->
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<enter>
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<command>nasal</command>
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<script>
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<!-- Calculate the fpm value to the nearest 100fpm. -->
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setprop("/autopilot/settings/vertical-speed-fpm",
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math.round(getprop("/autopilot/internal/vert-speed-fpm"),100)
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);
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%+ifpm", getprop("/autopilot/settings/vertical-speed-fpm"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>vertical-speed-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>VS</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>ALTS-ARM</name>
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<!-- Arm Altitude Capture Mode - ALTS -->
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value>ALTS</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<name>ALTS Capture</name>
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<!-- Altitude Capture Mode enabled when we get within 500ft of the selected altitude -->
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<source>ALTS-ARM</source>
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<target>ALTS</target>
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<condition>
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<less-than>
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<property>/autopilot/internal/target-altitude-delta-ft</property>
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<value>500</value>
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</less-than>
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<greater-than>
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<property>/autopilot/internal/target-altitude-delta-ft</property>
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<value>-500</value>
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</greater-than>
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</condition>
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</transition>
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<state>
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<name>ALTS</name>
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<enter>
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<command>nasal</command>
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<script>
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<!-- Set up the 2nd target, so that it is independent of the Selected Altitude,
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then annunciator to the reference value current target value, then enable
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the altitude capture function -->
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setprop("/autopilot/settings/target-altitude-ft-2", getprop("/autopilot/settings/target-altitude-ft"));
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>ALTS</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value>ALT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<!-- ALTS (Selected Altitude Capture) automatically armed from PIT, TO/GA, VS, VPTH, FLC modes -->
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<name>ALTS-ARM</name>
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<source>PIT</source>
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<source>GA</source>
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<source>VS</source>
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<target>ALTS-ARM</target>
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<!-- Transitions must have a condition element. So set it to True -->
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<condition>
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<not>
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<property>/sim/time/elapsed-sec</property>
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<value>0</value>
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</not>
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</condition>
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</transition>
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<transition>
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<!-- Altitude Hold Mode enabled when we get within 50ft of the selected altitude -->
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<name>ALTS-ALT</name>
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<source>ALTS</source>
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<target>ALT</target>
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<condition>
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<less-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>50</value>
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</less-than>
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<greater-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>-50</value>
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</greater-than>
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</condition>
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</transition>
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<state>
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<name>ALT</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>ALT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>nasal</command>
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<script>
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, HDG changes to PIT mode -->
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<transition>
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<name>OFF-PIT</name>
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<source>OFF</source>
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<target>PIT</target>
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<exclude-target>true</exclude-target>
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<condition>
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<or>
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<equals><property>/autopilot/vertical-mode-button</property><value>AP</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>CWS</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>NAV</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>BC</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>APR</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>HDG</value></equals>
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</or>
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</condition>
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</transition>
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<!-- From most vertical modes, pressing the mode key again returns to PIT mode -->
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<transition>
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<name>VS-PIT</name>
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<source>VS</source>
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<target>PIT</target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
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</condition>
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</transition>
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<transition>
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<name>GA-PIT</name>
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<source>GA</source>
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<target>PIT</target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
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</condition>
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</transition>
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<!-- AP/FD logic is somewhat complex:
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1) Pressing AP toggles the autopilot on/off
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Handled by a separate FSM. We could use a series of transitions
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to the same states below, but that would result in entry bindings being repeated, which would be bad
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2) When the AP is enabled, the FD button is disabled. (Easy - no transition!)
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3) Pressing the FD button when the FD is enabled switches off the FD : Switch-off transition below
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-->
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<!-- From any state pressing FD when FD is ON switches off the FD -->
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<transition>
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<name>FD-Switch-off</name>
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<target>OFF</target>
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<exclude-target>true</exclude-target>
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<condition>
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<not><equals><property>/autopilot/annunciator/autopilot-enabled</property><value>1</value></equals></not>
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<equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
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</condition>
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</transition>
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<!-- From any state pressing VS changes to VS mode -->
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<transition>
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<name>VS</name>
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<target>VS</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
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</condition>
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</transition>
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<!-- From any state, pressing GA goes to GA mode -->
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<transition>
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<name>GA</name>
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<target>GA</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
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</condition>
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</transition>
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<!-- From any state, pressing ALT goes to ALT mode -->
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<transition>
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<name>ALT</name>
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<target>ALT</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>ALT</value></equals>
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</condition>
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<binding>
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<command>nasal</command>
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<script>
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<!-- Set up the 2nd target to the current altitude within 10ft-->
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setprop("/autopilot/settings/target-altitude-ft-2",
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math.round(getprop("/instrumentation/altimeter/indicated-altitude-ft"),10));
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</script>
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</binding>
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</transition>
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</PropertyList>
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