765 lines
24 KiB
XML
765 lines
24 KiB
XML
<?xml version="1.0"?>
|
|
|
|
<!-- GFC 700 Autopilot Configuration -->
|
|
<!-- Each component is evaluated in the order specified. You can make up -->
|
|
<!-- property names to pass the result of one component on to a subsequent -->
|
|
<!-- component. -->
|
|
|
|
<PropertyList>
|
|
|
|
<state-machine include="GFC700-vertical-FSM.xml"/>
|
|
<state-machine include="GFC700-lateral-FSM.xml"/>
|
|
<state-machine include="GFC700-AP-off-FSM.xml"/>
|
|
|
|
<filter>
|
|
<name>heading bug error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/autopilot/settings/heading-bug-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-magnetic-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/heading-bug-error-deg</output>
|
|
<output>/autopilot/internal/fdm-heading-bug-error-deg</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>true heading error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/autopilot/settings/true-heading-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/true-heading-error-deg</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>nav1 heading error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/nav1-heading-error-deg</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>nav1 selected course error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/nav[0]/radials/selected-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-magnetic-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/nav1-course-error</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>nav2 heading error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/nav[1]/radials/target-auto-hdg-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/nav2-heading-error-deg</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>nav2 selected course error computer/normalizer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/nav[1]/radials/selected-deg</property>
|
|
<offset>
|
|
<property>/orientation/heading-magnetic-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/nav2-course-error</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>vertical speed fpm computer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>/velocities/vertical-speed-fps</input>
|
|
<output>/autopilot/internal/vert-speed-fpm</output>
|
|
<gain>60.0</gain>
|
|
</filter>
|
|
|
|
<predict-simple>
|
|
<name>speed in 5 seconds predictor</name>
|
|
<debug>false</debug>
|
|
<input>/velocities/airspeed-kt</input>
|
|
<output>/autopilot/internal/lookahead-5-sec-airspeed-kt</output>
|
|
<seconds>5.0</seconds>
|
|
<filter-gain>0.0</filter-gain>
|
|
</predict-simple>
|
|
|
|
<predict-simple>
|
|
<name>speed in 10 seconds predictor</name>
|
|
<debug>false</debug>
|
|
<input>/velocities/airspeed-kt</input>
|
|
<output>/autopilot/internal/lookahead-10-sec-airspeed-kt</output>
|
|
<seconds>10.0</seconds>
|
|
<filter-gain>0.0</filter-gain>
|
|
</predict-simple>
|
|
|
|
<filter>
|
|
<name>static port pressure rate computer</name>
|
|
<debug>false</debug>
|
|
<type>derivative</type>
|
|
<input>/systems/static[0]/pressure-inhg</input>
|
|
<output>/autopilot/internal/pressure-rate</output>
|
|
<filter-time>1.0</filter-time>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>nav1 track error computer</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
|
|
<offset>
|
|
<property>orientation/track-deg</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<output>/autopilot/internal/nav1-track-error-deg</output>
|
|
<period>
|
|
<min>-180</min>
|
|
<max>180</max>
|
|
</period>
|
|
<gain>1.0</gain>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>limited-pitch</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/attitude-indicator/indicated-pitch-deg</property>
|
|
</input>
|
|
<gain>1.0</gain>
|
|
<output>/autopilot/internal/filtered-pitch-deg</output>
|
|
<min>-15.0</min>
|
|
<max>20.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>limited-roll</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/attitude-indicator/indicated-roll-deg</property>
|
|
</input>
|
|
<gain>1.0</gain>
|
|
<output>/autopilot/internal/filtered-roll-deg</output>
|
|
<min>-22.0</min>
|
|
<max>22.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>limited-airspeed</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
|
|
</input>
|
|
<gain>1.0</gain>
|
|
<output>/autopilot/internal/filtered-airspeed</output>
|
|
<min>80.0</min>
|
|
<max>140.0</max>
|
|
</filter>
|
|
|
|
<filter>
|
|
<name>ALTS-delta</name>
|
|
<debug>false</debug>
|
|
<type>gain</type>
|
|
<input>
|
|
<property>/autopilot/settings/target-alt-ft</property>
|
|
<offset>
|
|
<property>/instrumentation/altimeter/indicated-altitude-ft</property>
|
|
<scale>-1.0</scale>
|
|
</offset>
|
|
</input>
|
|
<gain>1.0</gain>
|
|
<output>/autopilot/internal/ALTS-target-altitude-delta-ft</output>
|
|
</filter>
|
|
|
|
<!-- Logic filters to show autopilot and Flight Director status -->
|
|
<logic>
|
|
<input>
|
|
<and>
|
|
<equals><property>/autopilot/locks/passive-mode</property><value>0</value></equals>
|
|
<or>
|
|
<not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
|
|
<not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
|
|
</or>
|
|
</and>
|
|
</input>
|
|
<output>/autopilot/annunciator/autopilot-enabled</output>
|
|
</logic>
|
|
|
|
<logic>
|
|
<input>
|
|
<and>
|
|
<equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
|
|
<or>
|
|
<not><equals><property>/autopilot/locks/heading</property><value></value></equals></not>
|
|
<not><equals><property>/autopilot/locks/altitude</property><value></value></equals></not>
|
|
</or>
|
|
</and>
|
|
</input>
|
|
<output>/autopilot/annunciator/flight-director-enabled</output>
|
|
</logic>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Roll Axis Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
|
|
<!-- Aileron control, used by all lateral modes ROL/NAV/HDG -->
|
|
<pid-controller>
|
|
<name>Roll Hold</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<or>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>roll-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>dg-heading-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>nav-hold</value>
|
|
</equals>
|
|
</or>
|
|
<equals>
|
|
<property>/autopilot/locks/passive-mode</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<not>
|
|
<equals>
|
|
<property>/autopilot/locks/control-wheel-steering</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</not>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/orientation/roll-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/target-roll-deg</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/controls/flight/aileron</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.1</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Heading Bug Hold. 2 stage cascade controller. -->
|
|
|
|
<!-- Stage #1 sets target roll based on diff between current heading -->
|
|
<!-- and heading bug. -->
|
|
<pid-controller>
|
|
<name>Heading Bug Hold (DG based) Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/locks/heading</prop>
|
|
<value>dg-heading-hold</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/heading-bug-error-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-roll-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- True Heading hold. 2 stage cascade controller. -->
|
|
|
|
<!-- Stage #1 sets target roll based on diff between current heading -->
|
|
<!-- and target heading. -->
|
|
<pid-controller>
|
|
<name>True Heading Hold (DG based) Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/locks/heading</prop>
|
|
<value>true-heading-hold</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/true-heading-error-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-roll-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Nav1 hold. 2 stage cascade controller. -->
|
|
|
|
<!-- Stage #1 sets target roll based on diff between current heading -->
|
|
<!-- and target heading. -->
|
|
<pid-controller>
|
|
<name>Nav1/GPS Hold Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>nav-hold</value>
|
|
</equals>
|
|
<or>
|
|
<equals>
|
|
<property>/autopilot/settings/nav-mode-source</property>
|
|
<value>NAV1</value>
|
|
</equals>
|
|
<equals>
|
|
<!-- GPS is also slaved to NAV1 -->
|
|
<property>/autopilot/settings/nav-mode-source</property>
|
|
<value>GPS</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/nav1-heading-error-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-roll-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<pid-controller>
|
|
<name>Nav2 Hold Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/autopilot/locks/heading</property>
|
|
<value>nav-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/settings/nav-mode-source</property>
|
|
<value>NAV2</value>
|
|
</equals>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/nav2-heading-error-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-roll-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Pitch Axis Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<!-- Simple pitch hold for PIT and FLC modes. -->
|
|
<pid-controller>
|
|
<name>Pitch hold</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<equals>
|
|
<property>/autopilot/locks/passive-mode</property>
|
|
<value>0</value>
|
|
</equals>
|
|
<not>
|
|
<equals>
|
|
<property>/autopilot/locks/control-wheel-steering</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</not>
|
|
<or>
|
|
<not>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value></value>
|
|
</equals>
|
|
</not>
|
|
<not>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value></value>
|
|
</equals>
|
|
</not>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/orientation/pitch-deg</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/controls/flight/elevator-trim</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.05</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>1.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Common vertical speed controller for ALT/APR/VNV modes mode -->
|
|
<pid-controller>
|
|
<name>Altitude Hold (Altimeter based) Stage 2</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<and>
|
|
<not>
|
|
<equals>
|
|
<property>/autopilot/locks/control-wheel-steering</property>
|
|
<value>1</value>
|
|
</equals>
|
|
</not>
|
|
<or>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>altitude-hold</value>
|
|
</equals>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>altitude-hold2</value>
|
|
</equals>
|
|
</or>
|
|
</and>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.1</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>1.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
|
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
|
|
<!-- Altitude hold. 2 stage cascade controller. -->
|
|
|
|
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
|
|
<!-- and target altitude. -->
|
|
<pi-simple-controller>
|
|
<name>Altitude Hold (Altimeter based) Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>altitude-hold</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/target-altitude-ft</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.3</Kp> <!-- proportional gain -->
|
|
<Ki>0.0</Ki> <!-- integral gain -->
|
|
<u_min>-16.67</u_min> <!-- minimum output clamp -->
|
|
<u_max>8.33</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pi-simple-controller>
|
|
|
|
<!-- Altitude hold2. 2 stage cascade controller. -->
|
|
|
|
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
|
|
<!-- and target altitude. -->
|
|
<pi-simple-controller>
|
|
<name>Altitude Hold (Altimeter based) Stage 1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>altitude-hold2</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/target-altitude-ft-2</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.3</Kp> <!-- proportional gain -->
|
|
<Ki>0.0</Ki> <!-- integral gain -->
|
|
<u_min>-16.67</u_min> <!-- minimum output clamp -->
|
|
<u_max>8.33</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pi-simple-controller>
|
|
|
|
<!-- Glideslope hold. -->
|
|
|
|
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
|
|
<pid-controller>
|
|
<name>Glideslope Hold</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>gs1-hold</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.01</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>10.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- vertical speed hold VS mode -->
|
|
<pid-controller>
|
|
<name>Vertical Speed Hold</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/altitude</property>
|
|
<value>vertical-speed-hold</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/velocities/vertical-speed-fps</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/vertical-speed-fpm</prop>
|
|
<scale>0.01667</scale>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.1</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>1.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
|
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Velocity Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<!-- FLC mode - Hold speed by varying pitch trim (Two stage cascading controller) -->
|
|
<pid-controller>
|
|
<name>Speed hold (vary pitch trim) Stage #1</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<condition>
|
|
<equals>
|
|
<property>/autopilot/locks/speed</property>
|
|
<value>speed-with-pitch-trim</value>
|
|
</equals>
|
|
</condition>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/settings/target-speed-kt</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/settings/target-pitch-deg</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-1.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>1.0</Ti> <!-- integrator time -->
|
|
<Td>0.00001</Td> <!-- derivator time -->
|
|
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
|
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
</PropertyList>
|