789560ea22
I've finished the emigration of the radiostack, and I've also removed it completely. It turned out that the comm radio is completely implemented in the ATC subsystem. I've changed the affected ATC files to point to /instrumentation/com, but I guess that the maintainer of the ATC code should decide wether to make it configureable, and how. I also had to change some files in Network and Main. The changes in network should be obvious, but the changes in Main were a bit suspect. The files included radiostack.hxx, but they weren't directly depending on radiostack-hxx. They were depending on other files that were included by radiostack.hxx. I got it to compile, but I'm not sure if I included the correct directly depending file. For the data directory I changed every occurrence of /radios/ with /instrumentation/ with this simple one-liner that I found on the net: find -name '*.xml' -type f | xargs perl -pi -e 's/\/radios\//\/instrumentation\//g' Instead of me sending all the files that got changed by this I suggest that you execute the one-liner yourself. Of course I can not guarantee that this will work perfectly, but I considered hand editing to be not an option (I'm lazy). I don't want to test every aircraft to see if everything still works, I think it's better to wait and see if anyone complaints about broken nav radios/instruments.
274 lines
No EOL
9.3 KiB
XML
274 lines
No EOL
9.3 KiB
XML
<?xml version="1.0"?>
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<!-- KAP 140 Autopilot Configuration -->
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<!-- Each component is evaluated in the order specified. You can make up -->
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<!-- property names to pass the result of one component on to a subsequent -->
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<!-- component. -->
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<PropertyList>
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<!-- =============================================================== -->
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<!-- Roll Axis Modes -->
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<!-- =============================================================== -->
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<!-- Nav hold (NAV) Mode-->
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<pid-controller>
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<name>Nav hold (NAV) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/nav-hold</prop>
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<value>nav</value>
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</enable>
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<input>
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<prop>/instrumentation/nav/heading-needle-deflection</prop>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Approach hold (APR) Mode-->
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<pid-controller>
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<name>Approach hold (APR) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/apr-hold</prop>
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<value>apr</value>
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</enable>
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<input>
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<prop>/instrumentation/nav/heading-needle-deflection</prop>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.001</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Backcourse hold (REV) Mode-->
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<pid-controller>
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<name>Backcourse hold (REV) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/rev-hold</prop>
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<value>rev</value>
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</enable>
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<input>
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<prop>/instrumentation/nav/heading-needle-deflection</prop>
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<scale>-1.0</scale>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</output>
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<config>
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<Kp>2.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-45.0</u_min> <!-- minimum output clamp -->
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<u_max>45.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Heading Select (HDG) Mode -->
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<pid-controller>
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<name>Heading Select (HDG) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/hdg-hold</prop>
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<value>hdg</value>
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</enable>
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<input>
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<prop>/autopilot/internal/heading-bug-error-deg</prop> -->
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<!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
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</input>
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<reference>
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<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
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</output>
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<config>
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<Kp>-0.05</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Wing leveler (ROL) Mode -->
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<pid-controller>
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<name>Wing Leveler (ROL) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/roll-axis</prop>
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<value>trn</value>
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</enable>
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<input>
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<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
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</input>
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<reference>
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<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.15</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-0.25</u_min> <!-- minimum output clamp -->
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<u_max>0.25</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- =============================================================== -->
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<!-- Pitch Axis Modes -->
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<!-- =============================================================== -->
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<!-- Altitude Hold (ALT) Mode -->
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<pid-controller>
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<name>Altitude Hold (ALT) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/alt-hold</prop>
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<value>alt</value>
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</enable>
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<input>
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<prop>/systems/static[0]/pressure-inhg[0]</prop>
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</input>
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<reference>
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<prop>/autopilot/KAP140/settings/target-alt-pressure</prop>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
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</output>
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<config>
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<Kp>0.125</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>12.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-0.007</u_min> <!-- minimum output clamp -->
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<u_max>0.007</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Glideslope Hold (GS) Mode -->
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<pid-controller>
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<name>Glideslope Hold (GS) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/gs-hold</prop>
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<value>gs</value>
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</enable>
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<input>
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<prop>/instrumentation/nav/gs-needle-deflection</prop>
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</input>
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<reference>
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<value>0.0</value>
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</reference>
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<output>
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<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
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</output>
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<config>
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<Kp>0.025</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>15.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-0.001</u_min> <!-- minimum output clamp -->
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<u_max>0.017</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<filter>
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<name>pressure-rate-filter</name>
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<debug>false</debug>
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<type>double-exponential</type>
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<input>/autopilot/internal/pressure-rate</input>
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<output>/autopilot/internal/filtered-pressure-rate</output>
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<filter-time>0.1</filter-time>
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</filter>
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<!-- Vertical Speed (VS) Mode -->
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<pid-controller>
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<name>Vertical Speed (VS) Mode</name>
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<debug>false</debug>
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<enable>
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<prop>/autopilot/KAP140/locks/pitch-axis</prop>
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<value>vs</value>
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</enable>
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<input>
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<prop>/autopilot/internal/filtered-pressure-rate</prop>
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</input>
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<reference>
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<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator</prop>
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</output>
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<config>
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<Kp>5.0</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>4.0</Ti> <!-- integrator time -->
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<Td>0.0</Td> <!-- derivator time -->
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<u_min>-0.5</u_min> <!-- minimum output clamp -->
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<u_max>0.5</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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</PropertyList> |