1409 lines
38 KiB
XML
1409 lines
38 KiB
XML
<?xml version="1.0"?>
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<!-- Reworked Generic Autopilot -->
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<!-- Copyright (c) 2022 Josh Davidson (Octal450) -->
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<!--
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Configuration
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You can modify the behavior of this system using the properties in /autopilot/config
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When null, the default values are used
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bank-limit
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- Set the maxmimum bank angle in degrees (positive numbers only)
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current-agl-prop
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- Set the property for current agl altitude in feet
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current-alt-prop
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- Set the property for current altitude in feet
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current-kts-prop
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- Set the property for current airspeed in knots
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current-mach-prop
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- Set the property for current mach
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max-alt-vs
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- Set the maximum climb rate for altitude or agl modes in feet per minute
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min-alt-vs
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- Set the minimum descent rate for altitude or agl modes in feet per minute
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pitch-limit-max
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- Set the maximum pitch angle in degrees
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pitch-limit-min
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- Set the minimum pitch angle in degrees
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speed-by-pitch-accel
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- Set the maximum acceleration rate for speed on pitch
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-->
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<PropertyList>
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<filter> <!-- Adjust the system response for different types of aircraft -->
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<name>Weight Gain Scalar</name>
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<type>gain</type>
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<gain>0.0001</gain>
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<!-- If adding support for a new flight model type, just provide gross weight in lbs and it will work -->
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<input>
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<condition>
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<equals>
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<property>/sim/flight-model</property>
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<value>jsb</value>
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</equals>
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</condition>
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<property>/fdm/jsbsim/inertia/weight-lbs</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/sim/flight-model</property>
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<value>yasim</value>
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</equals>
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</condition>
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<property>/fdm/yasim/gross-weight-lbs</property>
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</input>
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<input>50000</input> <!-- Halfway, if you're using some weird FDM! -->
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<output>/autopilot/internal/gain-factor</output>
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<min>1</min>
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<max>10</max>
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</filter>
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<!-- Logic -->
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<logic> <!-- Roll channel active -->
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<input>
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<or>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>wing-leveler</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>true-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>nav1-hold</value>
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</equals>
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</or>
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</input>
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<output>/autopilot/internal/roll-active</output>
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</logic>
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<logic> <!-- Speed on pitch channel active -->
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<input>
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<or>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value>speed-with-pitch-trim</value>
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</equals>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value>mach-with-pitch-trim</value>
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</equals>
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</or>
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</input>
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<output>/autopilot/internal/speed-on-pitch-active</output>
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</logic>
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<logic> <!-- Basic pitch hold active -->
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<input>
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<and>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</equals>
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<not><property>/autopilot/internal/speed-on-pitch-active</property></not>
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</and>
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</input>
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<output>/autopilot/internal/pitch-hold-active</output>
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</logic>
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<logic> <!-- Pitch channel active -->
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<input>
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<or>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>vertical-speed-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>fpa-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>agl-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>gs1-hold</value>
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</equals>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</or>
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</input>
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<output>/autopilot/internal/pitch-active</output>
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</logic>
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<logic> <!-- Fpm channel active -->
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<input>
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<or>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>vertical-speed-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>fpa-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>agl-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>gs1-hold</value>
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</equals>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</or>
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</input>
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<output>/autopilot/internal/vs-active</output>
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</logic>
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<logic> <!-- Throttle channel active -->
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<input>
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<or>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value>speed-with-throttle</value>
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</equals>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value>mach-with-throttle</value>
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</equals>
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</or>
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</input>
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<output>/autopilot/internal/throttle-active</output>
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</logic>
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<logic> <!-- Manage passive lock (used by controls.nas) -->
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<input>
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<not>
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<or>
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<property>/autopilot/internal/pitch-active</property>
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<property>/autopilot/internal/roll-active</property>
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<property>/autopilot/internal/throttle-active</property>
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</or>
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</not>
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</input>
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<output>/autopilot/locks/passive-mode</output>
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</logic>
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<filter> <!-- Bank limit computer -->
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<name>Bank Angle Max</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<greater-than>
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<property>/autopilot/config/bank-limit</property>
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<value>0</value>
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</greater-than>
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</condition>
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<expression>
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<min>
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<property>/autopilot/config/bank-limit</property>
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<table>
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<property>/velocities/airspeed-kt</property>
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<entry><ind> 80</ind><dep>15</dep></entry>
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<entry><ind>200</ind><dep>25</dep></entry>
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<entry><ind>250</ind><dep>30</dep></entry>
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</table>
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</min>
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</expression>
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</input>
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<input>
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<expression>
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<table>
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<property>/velocities/airspeed-kt</property>
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<entry><ind> 80</ind><dep>15</dep></entry>
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<entry><ind>200</ind><dep>25</dep></entry>
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<entry><ind>250</ind><dep>30</dep></entry>
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</table>
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</expression>
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</input>
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<output>/autopilot/internal/max-bank</output>
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</filter>
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<filter> <!-- Additive inverse of max bank -->
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<name>Bank Angle Min</name>
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<type>gain</type>
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<gain>-1.0</gain>
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<input>/autopilot/internal/max-bank</input>
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<output>/autopilot/internal/min-bank</output>
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</filter>
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<filter> <!-- Heading error computer -->
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<name>Heading/Nav Error Deg</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>nav1-hold</value>
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</equals>
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</condition>
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<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>true-heading-hold</value>
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</equals>
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</condition>
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<property>/autopilot/settings/true-heading-deg</property>
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<offset>
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<property>/orientation/heading-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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</condition>
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<property>/autopilot/settings/heading-bug-deg</property>
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<offset>
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<property>/orientation/heading-magnetic-deg</property>
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<scale>-1.0</scale>
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</offset>
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</input>
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<input>0</input>
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<output>/autopilot/internal/heading-error-deg</output>
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<period>
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<min>-180</min>
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<max>180</max>
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</period>
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</filter>
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<filter> <!-- Hard pitch minimum -->
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<name>Pitch Angle Min</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<greater-than>
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<property>/autopilot/config/pitch-limit-min</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/autopilot/config/pitch-limit-min</property>
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<scale>-1</scale>
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</input>
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<input>-15</input>
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<output>/autopilot/internal/min-pitch</output>
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</filter>
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<filter> <!-- Hard pitch maximum -->
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<name>Pitch Angle Max</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<greater-than>
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<property>/autopilot/config/pitch-limit-max</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/autopilot/config/pitch-limit-max</property>
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</input>
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<input>30</input>
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<output>/autopilot/internal/max-pitch</output>
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</filter>
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<filter> <!-- Compute vertical speed in fpm -->
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<name>Internal Vertical Speed</name>
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<type>gain</type>
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<gain>60.0</gain>
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<input>/velocities/vertical-speed-fps</input>
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<output>/autopilot/internal/vertical-speed-fpm</output>
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</filter>
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<filter> <!-- Clamp glideslope target fpm -->
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<name>G/S FPM Calc</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>/instrumentation/nav[0]/gs-rate-of-climb-fpm</input>
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<output>/autopilot/internal/nav1-rate-of-climb-fpm</output>
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<min>-1500</min>
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<max>0</max>
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</filter>
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<filter> <!-- Estimate true airspeed, used because we want it to work whether we have airspeed instrument or not -->
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<name>Estimated True Speed Knots</name>
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<type>gain</type>
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<gain>1.0085</gain> <!-- Calibrate to instrumentation true -->
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<input>
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<expression>
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<product>
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<property>/velocities/mach</property>
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<table>
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<property>/position/altitude-ft</property>
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<entry><ind> 0</ind><dep>661</dep></entry>
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<entry><ind> 5000</ind><dep>650</dep></entry>
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<entry><ind>10000</ind><dep>638</dep></entry>
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<entry><ind>15000</ind><dep>626</dep></entry>
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<entry><ind>20000</ind><dep>614</dep></entry>
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<entry><ind>25000</ind><dep>602</dep></entry>
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<entry><ind>30000</ind><dep>589</dep></entry>
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<entry><ind>35000</ind><dep>574</dep></entry>
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<entry><ind>40000</ind><dep>573</dep></entry>
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</table>
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</product>
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</expression>
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</input>
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<output>/autopilot/internal/estimated-true-kt</output>
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</filter>
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<filter> <!-- Not used in control loop, tuning reference only -->
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<name>Internal FPA Computer</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<expression>
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<difference>
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<property>/orientation/pitch-deg</property>
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<property>/orientation/alpha-deg</property>
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</difference>
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</expression>
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</input>
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<output>/autopilot/internal/fpa</output>
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</filter>
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<filter> <!-- Airspeed reference input -->
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<name>Current Knots</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<property-path>/autopilot/config/current-kts-prop</property-path>
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</input>
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<input>/velocities/airspeed-kt</input>
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<output>/autopilot/internal/airspeed-kt</output>
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</filter>
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<filter> <!-- Mach reference input -->
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<name>Current Mach</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<property-path>/autopilot/config/current-mach-prop</property-path>
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</input>
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<input>/velocities/mach</input>
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<output>/autopilot/internal/mach</output>
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</filter>
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<filter> <!-- Filter knots -->
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<name>Knots Lag</name>
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<type>exponential</type>
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<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop -->
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<output>/autopilot/internal/kts-input-lag</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Average knots -->
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<name>Knots Average</name>
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<type>moving-average</type>
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<input>/autopilot/internal/kts-input-lag</input>
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<output>/autopilot/internal/kts-input-avg</output>
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<samples>60</samples>
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</filter>
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<filter> <!-- Compute knots rate -->
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<name>Knots Rate</name>
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<type>derivative</type>
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<input>/autopilot/internal/kts-input-avg</input>
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<output>/autopilot/internal/kts-rate-raw</output>
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<filter-time>1.0</filter-time>
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</filter>
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<filter> <!-- Filter knots rate -->
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<name>Knots Rate Lag</name>
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<type>exponential</type>
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<input>/autopilot/internal/kts-rate-raw</input>
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<output>/autopilot/internal/kts-rate</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Filter mach -->
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<name>Mach Lag</name>
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<type>exponential</type>
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<input>/velocities/mach</input> <!-- This should NOT change no matter what, do not use the current mach prop -->
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<output>/autopilot/internal/mach-input-lag</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Average mach -->
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<name>Mach Average</name>
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<type>moving-average</type>
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<input>/autopilot/internal/mach-input-lag</input>
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<output>/autopilot/internal/mach-input-avg</output>
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<samples>60</samples>
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</filter>
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<filter> <!-- Compute mach rate -->
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<name>Mach Rate</name>
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<type>derivative</type>
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<input>/autopilot/internal/mach-input-avg</input>
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<output>/autopilot/internal/mach-rate-raw</output>
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<filter-time>1.0</filter-time>
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</filter>
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<filter> <!-- Multiply mach rate -->
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<name>Mach Rate Gain</name>
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<type>gain</type>
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<gain>650</gain>
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<input>/autopilot/internal/mach-rate-raw</input>
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<output>/autopilot/internal/mach-rate-gain</output>
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</filter>
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<filter> <!-- Filter mach rate -->
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<name>Mach Rate Lag</name>
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<type>exponential</type>
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<input>/autopilot/internal/mach-rate-raw</input>
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<output>/autopilot/internal/mach-rate</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Acceleration limit for speed on pitch -->
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<name>Flch Acceleration Limit</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<greater-than>
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<property>/autopilot/config/speed-by-pitch-accel</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/autopilot/config/speed-by-pitch-accel</property>
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</input>
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<input>1.5</input>
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<output>/autopilot/internal/flch-accel</output>
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</filter>
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<filter> <!-- Knots rate computer for speed on pitch -->
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<name>Flch Knots Rate Command</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>mach-with-pitch-trim</value>
|
|
</equals>
|
|
</condition>
|
|
<expression>
|
|
<product>
|
|
<difference>
|
|
<property>/autopilot/settings/target-speed-mach</property>
|
|
<property>/autopilot/internal/mach</property>
|
|
</difference>
|
|
<value>100</value>
|
|
</product>
|
|
</expression>
|
|
</input>
|
|
<input>
|
|
<expression>
|
|
<product>
|
|
<difference>
|
|
<property>/autopilot/settings/target-speed-kt</property>
|
|
<property>/autopilot/internal/airspeed-kt</property>
|
|
</difference>
|
|
<value>0.1</value>
|
|
</product>
|
|
</expression>
|
|
</input>
|
|
<output>/autopilot/internal/flch-kts-error-cmd</output>
|
|
<min>
|
|
<property>/autopilot/internal/flch-accel</property>
|
|
<scale>-1</scale>
|
|
</min>
|
|
<max>/autopilot/internal/flch-accel</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Knots rate command filter -->
|
|
<name>Flch Knots Rate Filter</name>
|
|
<type>noise-spike</type>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<input>/autopilot/internal/flch-kts-error-cmd</input>
|
|
<output>/autopilot/internal/flch-kts-error</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<and>
|
|
<property>/autopilot/internal/speed-on-pitch-active</property>
|
|
<not-equals> <!-- Fails true, which is we want -->
|
|
<property>/gear/gear[0]/wow</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<value>1.5</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>100</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Roll Axis -->
|
|
<filter> <!-- Copy target roll angle, 0 by default for wingn leveller -->
|
|
<name>IT-CONTROLLER: Roll Deg/Wings Level</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>wing-leveler</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/settings/target-roll-deg</input>
|
|
<output>/autopilot/internal/target-roll-deg</output>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute target roll angle from heading error -->
|
|
<name>IT-CONTROLLER: Heading</name>
|
|
<type>gain</type>
|
|
<gain>
|
|
<expression>
|
|
<table>
|
|
<property>/velocities/airspeed-kt</property>
|
|
<entry><ind> 80</ind><dep>0.9</dep></entry>
|
|
<entry><ind>600</ind><dep>5.4</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</gain>
|
|
<enable>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>dg-heading-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>true-heading-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>nav1-hold</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/heading-error-deg</input>
|
|
<reference>0</reference>
|
|
<output>/autopilot/internal/target-roll-deg</output>
|
|
<min>/autopilot/internal/min-bank</min>
|
|
<max>/autopilot/internal/max-bank</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Smooth engagement by syncing when disabled -->
|
|
<name>System Command: Roll Target Inactive Sync</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<enable>
|
|
<condition>
|
|
<not><property>/autopilot/internal/roll-active</property></not>
|
|
</condition>
|
|
</enable>
|
|
<input>/orientation/roll-deg</input>
|
|
<output>/autopilot/internal/target-roll-deg</output>
|
|
<min>/autopilot/internal/min-bank</min>
|
|
<max>/autopilot/internal/max-bank</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter target roll angle -->
|
|
<name>System Command: Target Roll Filter</name>
|
|
<type>noise-spike</type>
|
|
<input>/autopilot/internal/target-roll-deg</input>
|
|
<output>/autopilot/internal/target-roll</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<property>/autopilot/internal/roll-active</property>
|
|
</condition>
|
|
<value>6</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>1000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute target roll rate -->
|
|
<name>System Command: Roll Rate Target</name>
|
|
<type>gain</type>
|
|
<gain>-0.8</gain>
|
|
<input>/orientation/roll-deg</input>
|
|
<reference>/autopilot/internal/target-roll</reference>
|
|
<output>/autopilot/internal/target-roll-rate</output>
|
|
<min>-5</min>
|
|
<max>5</max>
|
|
</filter>
|
|
|
|
<pid-controller> <!-- Main aileron controller -->
|
|
<name>System Command: Aileron</name>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/roll-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/orientation/roll-rate-degps</input>
|
|
<reference>/autopilot/internal/target-roll-rate</reference>
|
|
<output>/autopilot/internal/aileron-cmd</output>
|
|
<config>
|
|
<Kp>
|
|
<expression>
|
|
<product>
|
|
<table>
|
|
<property>/velocities/airspeed-kt</property>
|
|
<entry><ind> 80</ind><dep>0.016</dep></entry>
|
|
<entry><ind>360</ind><dep>0.007</dep></entry>
|
|
<entry><ind>600</ind><dep>0.003</dep></entry>
|
|
</table>
|
|
<property>/autopilot/internal/gain-factor</property>
|
|
</product>
|
|
</expression>
|
|
</Kp>
|
|
<Ti>
|
|
<expression>
|
|
<sum>
|
|
<value>0.6</value>
|
|
<product>
|
|
<table>
|
|
<property>/autopilot/internal/gain-factor</property>
|
|
<entry><ind>1</ind><dep>0</dep></entry>
|
|
<entry><ind>5</ind><dep>1</dep></entry>
|
|
</table>
|
|
<value>0.4</value>
|
|
</product>
|
|
</sum>
|
|
</expression>
|
|
</Ti>
|
|
<Td>0.0001</Td>
|
|
<u_min>-1.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter> <!-- Aileron servo driver -->
|
|
<name>System Command: Aileron Filter</name>
|
|
<type>noise-spike</type>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/roll-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/aileron-cmd</input>
|
|
<output>/controls/flight/aileron</output>
|
|
<max-rate-of-change>1.2</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Pitch Axis -->
|
|
<filter> <!-- Compute target fpm from altitude error -->
|
|
<name>IT-CONTROLLER: Altitude Capture/Hold</name>
|
|
<type>gain</type>
|
|
<gain>-5</gain>
|
|
<input>
|
|
<property-path>/autopilot/config/current-alt-prop</property-path>
|
|
</input>
|
|
<input>/position/altitude-ft</input>
|
|
<reference>/autopilot/settings/target-altitude-ft</reference>
|
|
<output>/autopilot/internal/target-fpm-alt</output>
|
|
<min>
|
|
<property-path>/autopilot/config/min-alt-vs</property-path>
|
|
</min>
|
|
<min>-1000</min>
|
|
<max>
|
|
<property-path>/autopilot/config/max-alt-vs</property-path>
|
|
</max>
|
|
<max>1000</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute target fpm from agl error -->
|
|
<name>IT-CONTROLLER: AGL Capture/Hold</name>
|
|
<type>gain</type>
|
|
<gain>-5</gain>
|
|
<input>
|
|
<property-path>/autopilot/config/current-agl-prop</property-path>
|
|
</input>
|
|
<input>/position/altitude-agl-ft</input>
|
|
<reference>/autopilot/settings/target-agl-ft</reference>
|
|
<output>/autopilot/internal/target-fpm-agl</output>
|
|
<min>
|
|
<property-path>/autopilot/config/min-alt-vs</property-path>
|
|
</min>
|
|
<min>-1000</min>
|
|
<max>
|
|
<property-path>/autopilot/config/max-alt-vs</property-path>
|
|
</max>
|
|
<max>1000</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter vertical speed target fpm -->
|
|
<name>Vertical Speed Filter</name>
|
|
<type>noise-spike</type>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>vertical-speed-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/settings/vertical-speed-fpm</property>
|
|
</input>
|
|
<input>/autopilot/internal/vertical-speed-fpm</input>
|
|
<output>/autopilot/internal/target-fpm-vs</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>vertical-speed-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<value>300</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>10000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute target fpm from target fpa -->
|
|
<name>IT-CONTROLLER: FPA</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>fpa-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<expression>
|
|
<product>
|
|
<sin>
|
|
<deg2rad>
|
|
<property>/autopilot/settings/target-fpa-deg</property>
|
|
</deg2rad>
|
|
</sin>
|
|
<property>/autopilot/internal/estimated-true-kt</property>
|
|
<value>101.26859142607174</value> <!-- FPM to Knot -->
|
|
</product>
|
|
</expression>
|
|
</input>
|
|
<input>/autopilot/internal/vertical-speed-fpm</input>
|
|
<output>/autopilot/internal/target-fpm-fpa-raw</output>
|
|
<min>
|
|
<expression>
|
|
<difference>
|
|
<property>/autopilot/internal/vert-speed-fpm</property>
|
|
<value>2000</value>
|
|
</difference>
|
|
</expression>
|
|
</min>
|
|
<max>
|
|
<expression>
|
|
<sum>
|
|
<property>/autopilot/internal/vert-speed-fpm</property>
|
|
<value>2000</value>
|
|
</sum>
|
|
</expression>
|
|
</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter fpa target fpm -->
|
|
<name>FPA FPM Filter</name>
|
|
<type>noise-spike</type>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>fpa-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/target-fpm-fpa-raw</property>
|
|
</input>
|
|
<input>/autopilot/internal/vert-speed-fpm</input>
|
|
<output>/autopilot/internal/target-fpm-fpa</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>fpa-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<value>300</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>10000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Speed on pitch target fpm delta controller -->
|
|
<name>IT-CONTROLLER: Speed By Pitch Delta</name>
|
|
<type>gain</type>
|
|
<gain>
|
|
<expression>
|
|
<table>
|
|
<property>/velocities/airspeed-kt</property>
|
|
<entry><ind>140</ind><dep> 700</dep></entry>
|
|
<entry><ind>360</ind><dep>1400</dep></entry>
|
|
<entry><ind>600</ind><dep>2100</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</gain>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>mach-with-pitch-trim</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/mach-rate</property>
|
|
</input>
|
|
<input>/autopilot/internal/kts-rate</input>
|
|
<reference>/autopilot/internal/flch-kts-error</reference>
|
|
<output>/autopilot/internal/flch-raw</output>
|
|
<min>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0</value>
|
|
</min>
|
|
<min>-2000</min>
|
|
<max>2000</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter speed on pitch target fpm delta -->
|
|
<name>Speed By Pitch Filter</name>
|
|
<type>noise-spike</type>
|
|
<input>/autopilot/internal/flch-raw</input>
|
|
<output>/autopilot/internal/flch-filtered</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<property>/autopilot/internal/speed-on-pitch-active</property>
|
|
</condition>
|
|
<value>1500</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>10000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute speed on pitch target fpm -->
|
|
<name>Speed By Pitch Final</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>
|
|
<expression>
|
|
<sum>
|
|
<property>/autopilot/internal/vert-speed-fpm</property>
|
|
<property>/autopilot/internal/flch-filtered</property>
|
|
</sum>
|
|
</expression>
|
|
</input>
|
|
<output>/autopilot/internal/target-fpm-flch</output>
|
|
<min>
|
|
<condition>
|
|
<or>
|
|
<equals>
|
|
<property>/gear/gear[1]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/gear/gear[2]/wow</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</or>
|
|
</condition>
|
|
<value>0</value>
|
|
</min>
|
|
<min>-100000</min>
|
|
<max>100000</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter target fpm -->
|
|
<name>Target FPM Filter</name>
|
|
<type>noise-spike</type>
|
|
<input> <!-- Must be on top of the others -->
|
|
<condition>
|
|
<property>/autopilot/internal/speed-on-pitch-active</property>
|
|
</condition>
|
|
<property>/autopilot/internal/target-fpm-flch</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>altitude-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/target-fpm-alt</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>agl-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/target-fpm-agl</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>fpa-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/target-fpm-fpa</property>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>gs1-hold</value>
|
|
</equals>
|
|
</condition>
|
|
<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
|
|
</input>
|
|
<input>/autopilot/internal/target-fpm-vs</input>
|
|
<output>/autopilot/internal/target-fpm</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<property>/autopilot/internal/vs-active</property>
|
|
</condition>
|
|
<value>700</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>10000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller> <!-- Main fpm controller -->
|
|
<name>IT-CONTROLLER: FPM Hold</name>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/vs-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/vertical-speed-fpm</input>
|
|
<reference>/autopilot/internal/target-fpm</reference>
|
|
<output>/autopilot/internal/target-pitch-deg</output>
|
|
<config>
|
|
<Kp>
|
|
<expression>
|
|
<table>
|
|
<property>/velocities/airspeed-kt</property>
|
|
<entry><ind> 80</ind><dep>0.0035</dep></entry>
|
|
<entry><ind>360</ind><dep>0.0009</dep></entry>
|
|
<entry><ind>600</ind><dep>0.0004</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</Kp>
|
|
<Ti>2.5</Ti>
|
|
<Td>0.0001</Td>
|
|
<u_min>
|
|
<expression>
|
|
<max>
|
|
<dif>
|
|
<property>/orientation/pitch-deg</property>
|
|
<value>5</value>
|
|
</dif>
|
|
<property>/autopilot/internal/min-pitch</property>
|
|
</max>
|
|
</expression>
|
|
</u_min>
|
|
<u_max>
|
|
<expression>
|
|
<min>
|
|
<sum>
|
|
<property>/orientation/pitch-deg</property>
|
|
<value>5</value>
|
|
</sum>
|
|
<property>/autopilot/internal/max-pitch</property>
|
|
</min>
|
|
</expression>
|
|
</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter> <!-- Copy target pitch angle -->
|
|
<name>IT-CONTROLLER: Pitch Deg</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/pitch-hold-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/settings/target-pitch-deg</input>
|
|
<output>/autopilot/internal/target-pitch-deg</output>
|
|
</filter>
|
|
|
|
<filter> <!-- Smooth engagement by syncing when disabled -->
|
|
<name>System Command: Pitch Target Inactive Sync</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<enable>
|
|
<condition>
|
|
<not><property>/autopilot/internal/pitch-active</property></not>
|
|
</condition>
|
|
</enable>
|
|
<input>/orientation/pitch-deg</input>
|
|
<output>/autopilot/internal/target-pitch-deg</output>
|
|
<min>/autopilot/internal/min-pitch</min>
|
|
<max>/autopilot/internal/max-pitch</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter target pitch angle -->
|
|
<name>System Command: Target Pitch Filter</name>
|
|
<type>noise-spike</type>
|
|
<input>/autopilot/internal/target-pitch-deg</input>
|
|
<output>/autopilot/internal/target-pitch</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<and>
|
|
<property>/autopilot/internal/pitch-active</property>
|
|
<not><property>/autopilot/internal/vs-active</property></not>
|
|
</and>
|
|
</condition>
|
|
<value>4</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>1000</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Compute targe pitch rate -->
|
|
<name>System Command: Pitch Rate Target</name>
|
|
<type>gain</type>
|
|
<gain>-0.55</gain>
|
|
<input>/orientation/pitch-deg</input>
|
|
<reference>/autopilot/internal/target-pitch</reference>
|
|
<output>/autopilot/internal/target-pitch-rate</output>
|
|
<min>-1.5</min>
|
|
<max>1.5</max>
|
|
</filter>
|
|
|
|
<pid-controller> <!-- Main elevator controller -->
|
|
<name>System Command: Elevator</name>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/pitch-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/orientation/pitch-rate-degps</input>
|
|
<reference>/autopilot/internal/target-pitch-rate</reference>
|
|
<output>/autopilot/internal/elevator-cmd</output>
|
|
<config>
|
|
<Kp>
|
|
<expression>
|
|
<product>
|
|
<table>
|
|
<property>/velocities/airspeed-kt</property>
|
|
<entry><ind> 80</ind><dep>-0.019</dep></entry>
|
|
<entry><ind>360</ind><dep>-0.009</dep></entry>
|
|
<entry><ind>600</ind><dep>-0.004</dep></entry>
|
|
</table>
|
|
<property>/autopilot/internal/gain-factor</property>
|
|
</product>
|
|
</expression>
|
|
</Kp>
|
|
<Ti>
|
|
<expression>
|
|
<sum>
|
|
<value>0.3</value>
|
|
<product>
|
|
<table>
|
|
<property>/autopilot/internal/gain-factor</property>
|
|
<entry><ind>1</ind><dep>0</dep></entry>
|
|
<entry><ind>5</ind><dep>1</dep></entry>
|
|
</table>
|
|
<value>0.2</value>
|
|
</product>
|
|
</sum>
|
|
</expression>
|
|
</Ti>
|
|
<Td>0.001</Td>
|
|
<u_min>-1.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter> <!-- Elevator servo driver -->
|
|
<name>System Command: Elevator Filter</name>
|
|
<type>noise-spike</type>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/pitch-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/elevator-cmd</input>
|
|
<output>/controls/flight/elevator</output>
|
|
<max-rate-of-change>1.2</max-rate-of-change>
|
|
</filter>
|
|
|
|
<filter> <!-- Main elevator trim controller + servo driver -->
|
|
<name>System Command: Elevator Trim</name>
|
|
<type>noise-spike</type>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<not-equals> <!-- Fails true, which is we want -->
|
|
<property>/gear/gear[0]/wow</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
<property>/autopilot/internal/pitch-active</property>
|
|
<or>
|
|
<greater-than>
|
|
<property>/autopilot/internal/elevator-cmd</property>
|
|
<value>0.01</value>
|
|
</greater-than>
|
|
<less-than>
|
|
<property>/autopilot/internal/elevator-cmd</property>
|
|
<value>-0.01</value>
|
|
</less-than>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<condition>
|
|
<greater-than>
|
|
<property>/autopilot/internal/elevator-cmd</property>
|
|
<value>0.01</value>
|
|
</greater-than>
|
|
</condition>
|
|
<value>1</value>
|
|
</input>
|
|
<input>
|
|
<condition>
|
|
<less-than>
|
|
<property>/autopilot/internal/elevator-cmd</property>
|
|
<value>-0.01</value>
|
|
</less-than>
|
|
</condition>
|
|
<value>-1</value>
|
|
</input>
|
|
<output>/controls/flight/elevator-trim</output>
|
|
<min>-1.0</min>
|
|
<max>1.0</max>
|
|
<max-rate-of-change>
|
|
<expression>
|
|
<table>
|
|
<abs><property>/autopilot/internal/elevator-cmd</property></abs>
|
|
<entry><ind>0.01</ind><dep>0.001</dep></entry>
|
|
<entry><ind>0.10</ind><dep>0.010</dep></entry>
|
|
</table>
|
|
</expression>
|
|
</max-rate-of-change>
|
|
</filter>
|
|
|
|
<!-- Throttle Axis -->
|
|
<filter> <!-- Clamp target knots -->
|
|
<name>A/THR Knots Input Gain</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>/autopilot/settings/target-speed-kt</input>
|
|
<output>/autopilot/internal/athr-kts-cmd</output>
|
|
<min>
|
|
<expression>
|
|
<difference>
|
|
<property>/autopilot/internal/airspeed-kt</property>
|
|
<value>25</value>
|
|
</difference>
|
|
</expression>
|
|
</min>
|
|
<max>
|
|
<expression>
|
|
<sum>
|
|
<property>/autopilot/internal/airspeed-kt</property>
|
|
<value>25</value>
|
|
</sum>
|
|
</expression>
|
|
</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter target knots -->
|
|
<name>A/THR Knots Input Filter</name>
|
|
<type>noise-spike</type>
|
|
<initialize-to>output</initialize-to>
|
|
<input>/autopilot/internal/athr-kts-cmd</input>
|
|
<output>/autopilot/internal/athr-kts</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>speed-with-throttle</value>
|
|
</equals>
|
|
<not-equals> <!-- Fails true, which is we want -->
|
|
<property>/gear/gear[0]/wow</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<value>10</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>200</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller> <!-- Knots throttle controller -->
|
|
<name>IT-CONTROLLER: Knots</name>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>speed-with-throttle</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/airspeed-kt</input>
|
|
<reference>/autopilot/internal/athr-kts</reference>
|
|
<output>/autopilot/internal/throttle-cmd-pid</output>
|
|
<config>
|
|
<Kp>0.055</Kp>
|
|
<Ti>9.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>0.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter> <!-- Clamp target mach -->
|
|
<name>A/THR Mach Input Gain</name>
|
|
<type>gain</type>
|
|
<gain>1.0</gain>
|
|
<input>/autopilot/settings/target-speed-mach</input>
|
|
<output>/autopilot/internal/athr-mach-cmd</output>
|
|
<min>
|
|
<expression>
|
|
<difference>
|
|
<property>/autopilot/internal/mach</property>
|
|
<value>0.045</value>
|
|
</difference>
|
|
</expression>
|
|
</min>
|
|
<max>
|
|
<expression>
|
|
<sum>
|
|
<property>/autopilot/internal/mach</property>
|
|
<value>0.045</value>
|
|
</sum>
|
|
</expression>
|
|
</max>
|
|
</filter>
|
|
|
|
<filter> <!-- Filter target mach -->
|
|
<name>A/THR Mach Input Filter</name>
|
|
<type>noise-spike</type>
|
|
<initialize-to>output</initialize-to>
|
|
<input>/autopilot/internal/athr-mach-cmd</input>
|
|
<output>/autopilot/internal/athr-mach</output>
|
|
<max-rate-of-change>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>mach-with-throttle</value>
|
|
</equals>
|
|
<not-equals> <!-- Fails true, which is we want -->
|
|
<property>/gear/gear[0]/wow</property>
|
|
<value>1</value>
|
|
</not-equals>
|
|
</and>
|
|
</condition>
|
|
<value>0.08</value>
|
|
</max-rate-of-change>
|
|
<max-rate-of-change>2</max-rate-of-change>
|
|
</filter>
|
|
|
|
<pid-controller> <!-- Mach throttle controller -->
|
|
<name>IT-CONTROLLER: Mach</name>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>mach-with-throttle</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<property>/autopilot/internal/mach</property>
|
|
<scale>1000</scale>
|
|
</input>
|
|
<reference>
|
|
<property>/autopilot/internal/athr-mach</property>
|
|
<scale>1000</scale>
|
|
</reference>
|
|
<output>/autopilot/internal/throttle-cmd-pid</output>
|
|
<config>
|
|
<Kp>0.055</Kp>
|
|
<Ti>9.0</Ti>
|
|
<Td>0.00001</Td>
|
|
<u_min>0.0</u_min>
|
|
<u_max>1.0</u_max>
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter> <!-- Throttle servo driver -->
|
|
<name>System Command: Throttle</name>
|
|
<type>noise-spike</type>
|
|
<feedback-if-disabled>true</feedback-if-disabled>
|
|
<initialize-to>output</initialize-to>
|
|
<enable>
|
|
<condition>
|
|
<property>/autopilot/internal/throttle-active</property>
|
|
</condition>
|
|
</enable>
|
|
<input>/autopilot/internal/throttle-cmd-pid</input>
|
|
<output>
|
|
<property>/controls/engines/engine[0]/throttle</property>
|
|
<property>/controls/engines/engine[1]/throttle</property>
|
|
<property>/controls/engines/engine[2]/throttle</property>
|
|
<property>/controls/engines/engine[3]/throttle</property>
|
|
<property>/controls/engines/engine[4]/throttle</property>
|
|
<property>/controls/engines/engine[5]/throttle</property>
|
|
<property>/controls/engines/engine[6]/throttle</property>
|
|
<property>/controls/engines/engine[7]/throttle</property>
|
|
</output>
|
|
<max-rate-of-change>0.3</max-rate-of-change>
|
|
</filter>
|
|
|
|
</PropertyList>
|