451 lines
12 KiB
XML
451 lines
12 KiB
XML
<?xml version="1.0"?>
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<!-- UFO Autopilot -->
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<!-- Copyright (c) 2022 Josh Davidson (Octal450) -->
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<PropertyList>
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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> <!-- Basic pitch hold active -->
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<input>
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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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</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>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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</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>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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</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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<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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</input>
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<output>/autopilot/internal/throttle-active</output>
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</logic>
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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> <!-- 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>-10000</min>
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<max>0</max>
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</filter>
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<!-- Roll Axis -->
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<filter> <!-- Copy target roll angle, 0 by default for wingn leveller -->
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<name>IT-CONTROLLER: Roll Deg/Wings Level</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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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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</condition>
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</enable>
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<input>/autopilot/settings/target-roll-deg</input>
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<output>/autopilot/internal/target-roll-deg</output>
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</filter>
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<filter> <!-- Compute target roll angle from heading error -->
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<name>IT-CONTROLLER: Heading</name>
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<type>gain</type>
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<gain>0.5</gain>
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<enable>
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<condition>
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<or>
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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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</condition>
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</enable>
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<input>/autopilot/internal/heading-error-deg</input>
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<reference>0</reference>
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<output>/autopilot/internal/target-roll-deg</output>
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<min>-90</min>
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<max>90</max>
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</filter>
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<filter> <!-- Smooth engagement by syncing when disabled -->
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<name>System Command: Roll Target Inactive Sync</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<not><property>/autopilot/internal/roll-active</property></not>
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</condition>
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</enable>
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<input>/orientation/roll-deg</input>
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<output>/autopilot/internal/target-roll-deg</output>
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<min>-90</min>
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<max>90</max>
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</filter>
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<filter> <!-- Aileron elevator controller -->
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<name>System Command: Aileron</name>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
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<condition>
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<property>/autopilot/internal/roll-active</property>
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</condition>
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</enable>
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<input>
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<expression>
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<div>
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<property>/autopilot/internal/target-roll-deg</property>
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<value>90</value>
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</div>
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</expression>
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</input>
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<output>/controls/flight/aileron</output>
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<max-rate-of-change>1.2</max-rate-of-change>
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</filter>
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<!-- Pitch Axis -->
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<filter> <!-- Compute target fpm from altitude error -->
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<name>IT-CONTROLLER: Altitude Capture/Hold</name>
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<type>gain</type>
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<gain>-20</gain>
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<input>/position/altitude-ft</input>
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<reference>/autopilot/settings/target-altitude-ft</reference>
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<output>/autopilot/internal/target-fpm-alt</output>
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</filter>
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<filter> <!-- Compute target fpm from agl error -->
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<name>IT-CONTROLLER: AGL Capture/Hold</name>
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<type>gain</type>
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<gain>-20</gain>
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<input>/position/altitude-agl-ft</input>
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<reference>/autopilot/settings/target-agl-ft</reference>
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<output>/autopilot/internal/target-fpm-agl</output>
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</filter>
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<filter> <!-- Copy target pitch angle -->
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<name>IT-CONTROLLER: Pitch Deg</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<property>/autopilot/internal/pitch-hold-active</property>
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</condition>
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</enable>
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<input>/autopilot/settings/target-pitch-deg</input>
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<output>/autopilot/internal/target-pitch-deg</output>
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</filter>
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<filter> <!-- Select target vertical speed -->
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<name>IT-CONTROLLER: Pitch 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/altitude</property>
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<value>altitude-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-alt</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>/autopilot/locks/altitude</property>
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<value>agl-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-agl</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>/autopilot/locks/altitude</property>
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<value>gs1-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
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</input>
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<input>/autopilot/settings/vertical-speed-fpm</input>
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<output>/autopilot/internal/target-fpm</output>
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</filter>
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<filter> <!-- Main fpm controller -->
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<name>IT-CONTROLLER: FPM Hold</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<property>/autopilot/internal/vs-active</property>
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</condition>
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</enable>
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<input> <!-- Reversed from UFO.cxx -->
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<expression>
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<rad2deg>
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<asin>
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<div>
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<div>
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<div>
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<property>/autopilot/internal/target-fpm</property>
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<value>60</value> <!-- Fps to fpm -->
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</div>
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<value>3.28084</value> <!-- Meters to feet -->
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</div>
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<max>
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<product>
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<property>/velocities/airspeed-kt</property>
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<value>0.514444</value> <!-- Knots to meters/sec -->
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</product>
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<value>0.0000001</value> <!-- Prevent divide by 0 -->
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</max>
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</div>
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</asin>
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</rad2deg>
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</expression>
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</input>
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<output>/autopilot/internal/target-pitch-deg</output>
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</filter>
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<filter> <!-- Copy target pitch angle -->
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<name>IT-CONTROLLER: Pitch Deg</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<property>/autopilot/internal/pitch-hold-active</property>
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</condition>
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</enable>
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<input>/autopilot/settings/target-pitch-deg</input>
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<output>/autopilot/internal/target-pitch-deg</output>
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</filter>
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<filter> <!-- Smooth engagement by syncing when disabled -->
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<name>System Command: Pitch Target Inactive Sync</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<not><property>/autopilot/internal/pitch-active</property></not>
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</condition>
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</enable>
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<input>/orientation/pitch-deg</input>
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<output>/autopilot/internal/target-pitch-deg</output>
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<min>-90</min>
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<max>90</max>
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</filter>
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<filter> <!-- Main elevator controller -->
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<name>System Command: Elevator</name>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
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<condition>
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<property>/autopilot/internal/pitch-active</property>
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</condition>
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</enable>
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<input>
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<expression>
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<div>
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<property>/autopilot/internal/target-pitch-deg</property>
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<value>-90</value>
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</div>
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</expression>
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</input>
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<output>/controls/flight/elevator</output>
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<max-rate-of-change>1.2</max-rate-of-change>
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</filter>
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<!-- Throttle Axis -->
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<filter> <!-- Main throttle controller -->
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<name>System Command: Throttle</name>
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<type>noise-spike</type>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
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<condition>
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<property>/autopilot/internal/throttle-active</property>
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</condition>
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</enable>
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<input>
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<expression>
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<div>
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<product>
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<property>/autopilot/settings/target-speed-kt</property>
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<value>0.514444</value> <!-- Knots to meters/sec -->
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</product>
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<max>
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<property>/engines/engine[0]/speed-max-mps</property>
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<value>0.0000001</value> <!-- Prevent divide by 0 -->
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</max>
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</div>
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</expression>
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</input>
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<output>/controls/engines/engine[0]/throttle</output>
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<max-rate-of-change>0.3</max-rate-of-change>
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</filter>
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<!-- Trim Axis -->
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<filter> <!-- Centers all the trims otherwise the system can't work -->
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<name>System Command: Trim</name>
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<type>gain</type>
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<gain>0.0</gain>
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<enable>
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<condition>
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<property>/autopilot/internal/pitch-active</property>
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</condition>
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</enable>
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<input>0</input>
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<output>
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<property>/controls/flight/aileron-trim</property>
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<property>/controls/flight/elevator-trim</property>
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<property>/controls/flight/rudder-trim</property>
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</output>
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<min>-1.0</min>
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<max>1.0</max>
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</filter>
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</PropertyList>
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