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fgdata/Nasal/kap140.nas
curt 0dda4feaa0 Roy Vegard Ovesen: 
Here is the KAP140 Two Axis Autopilot.

Aircraft/Instruments/KAP140TwoAxis.xml
Is of course the instrument config file.

Aircraft/Instruments/Textures/KAP140.rgb
The texture.

Nasal/kap140.nas
Most of the work is done here. Without Nasal I don't see how I could implement
the NAV-ARM modes and the flashing annunciators.

Aircraft/c172p/Systems/KAP140.xml
The autopilot PID controllers configuration file. Maybe this file should be in
a more accessible directory and not hidden deep inside c172p!?

I've also attached the changes to the default C172 to include this autopilot
in the 3d-cockpit panel and the 2d vfr panel. Or at least I hope that I've
managed to include all that is needed.
2004-04-16 21:59:51 +00:00

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##
# Bendix/King KAP140 Two Axis Autopilot System
##
Locks = "/autopilot/KAP140/locks";
Settings = "/autopilot/KAP140/settings";
Annunciators = "/autopilot/KAP140/annunciators";
Internal = "/autopilot/internal";
annunciator = "";
annunciator_state = "";
flash_interval = 0.0;
flash_count = 0.0;
flash_timer = -1.0;
flasher = func {
annunciator = arg[0];
flash_interval = arg[1];
flash_count = arg[2] + 1;
annunciator_state = arg[3];
flash_timer = 0.0;
flash_annunciator();
}
flash_annunciator = func {
#print(annunciator);
#print(flash_interval);
#print(flash_count);
##
# If flash_timer is set to -1 then flashing is aborted
if (flash_timer < -0.5)
{
setprop(Annunciators, annunciator, "off");
return;
}
if (flash_timer < flash_count)
{
#flash_timer = flash_timer + 1.0;
if (getprop(Annunciators, annunciator) == "on")
{
setprop(Annunciators, annunciator, "off");
settimer(flash_annunciator, flash_interval / 2.0);
}
else
#elsif (getprop(Annunciators, annunciator) == "off")
{
flash_timer = flash_timer + 1.0;
setprop(Annunciators, annunciator, "on");
settimer(flash_annunciator, flash_interval);
}
}
else
{
flash_timer = -1.0;
setprop(Annunciators, annunciator, annunciator_state);
}
}
ap_button = func {
#print("ap_button");
##
# Engages the autopilot in Wings level mode (ROL) and Vertical speed hold
# mode (VS).
##
if (getprop(Locks, "roll-mode") == "off" and
getprop(Locks, "pitch-mode") == "off")
{
flash_timer = -1.0;
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "off");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "rol");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Annunciators, "rol", "on");
setprop(Annunciators, "vs", "on");
setprop(Annunciators, "fpm", "on");
setprop(Annunciators, "vs-number", "on");
setprop(Settings, "target-turn-rate", 0.0);
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
##
# Disengages all modes.
##
elsif (getprop(Locks, "roll-mode") != "off" and
getprop(Locks, "pitch-mode") != "off")
{
flash_timer = -1.0;
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "off");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "off");
setprop(Locks, "roll-mode", "off");
setprop(Locks, "pitch-axis", "off");
setprop(Locks, "pitch-mode", "off");
setprop(Settings, "target-alt-pressure", 0.0);
setprop(Settings, "target-intercept-angle", 0.0);
setprop(Settings, "target-pressure-rate", 0.0);
setprop(Settings, "target-turn-rate", 0.0);
setprop(Annunciators, "rol", "off");
setprop(Annunciators, "hdg", "off");
setprop(Annunciators, "nav", "off");
setprop(Annunciators, "nav-arm", "off");
setprop(Annunciators, "vs", "off");
setprop(Annunciators, "vs-number", "off");
setprop(Annunciators, "fpm", "off");
setprop(Annunciators, "alt", "off");
setprop(Annunciators, "apr", "off");
setprop(Annunciators, "gs", "off");
flasher("ap", 1.0, 5, "off");
setprop(Internal, "ft", 0.1);
}
}
hdg_button = func {
#print("hdg_button");
##
# Engages the heading mode (HDG) and vertical speed hold mode (VS). The
# commanded vertical speed is set to the vertical speed present at button
# press.
##
if (getprop(Locks, "roll-mode") == "off" and
getprop(Locks, "pitch-mode") == "off")
{
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "hdg");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Annunciators, "hdg", "on");
setprop(Annunciators, "alt", "off");
setprop(Annunciators, "apr", "off");
setprop(Annunciators, "gs", "off");
setprop(Annunciators, "nav", "off");
setprop(Annunciators, "vs", "on");
setprop(Annunciators, "vs-number", "on");
setprop(Annunciators, "fpm", "on");
setprop(Settings, "target-intercept-angle", 0.0);
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
##
# Switch to HDG mode, but don't change pitch mode.
##
elsif (getprop(Locks, "roll-mode") == "rol" or
getprop(Locks, "roll-mode") == "nav" or
getprop(Locks, "roll-mode") == "nav-arm" or
getprop(Locks, "roll-mode") == "rev")
{
#setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "hdg");
#setprop(Locks, "pitch-axis", "off");
#setprop(Locks, "pitch-mode", "off");
setprop(Annunciators, "apr", "off");
setprop(Annunciators, "gs", "off");
setprop(Annunciators, "hdg", "on");
setprop(Annunciators, "nav", "off");
setprop(Annunciators, "rol", "off");
setprop(Settings, "target-intercept-angle", 0.0);
}
##
# If we already are in HDG mode switch to ROL mode. Again don't touch pitch
# mode.
##
elsif (getprop(Locks, "roll-mode") == "hdg")
{
#setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "off");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "rol");
#setprop(Locks, "pitch-axis", "off");
#setprop(Locks, "pitch-mode", "off");
setprop(Annunciators, "apr", "off");
setprop(Annunciators, "gs", "off");
setprop(Annunciators, "hdg", "off");
setprop(Annunciators, "nav", "off");
setprop(Annunciators, "rol", "on");
setprop(Settings, "target-turn-rate", 0.0);
}
##
# If we are in APR mode we also have to change pitch mode.
# TODO: Should we switch to VS or ALT mode? (currently VS)
##
elsif (getprop(Locks, "roll-mode") == "apr" and
getprop(Locks, "pitch-mode") == "gs")
{
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "hdg");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Annunciators, "alt", "off");
setprop(Annunciators, "apr", "off");
setprop(Annunciators, "gs", "off");
setprop(Annunciators, "hdg", "on");
setprop(Annunciators, "nav", "off");
setprop(Annunciators, "vs", "on");
setprop(Annunciators, "vs-number", "on");
setprop(Annunciators, "fpm", "on");
setprop(Settings, "target-intercept-angle", 0.0);
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
}
nav_button = func {
#print("nav_button");
if (getprop(Locks, "roll-mode") == "hdg")
{
flasher("hdg", 0.5, 8, "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "nav-arm");
nav_arm_from_hdg();
}
elsif (getprop(Locks, "roll-mode") == "rol")
{
flasher("hdg", 0.5, 8, "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "off");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "nav-arm");
nav_arm_from_rol();
}
elsif (getprop(Locks, "roll-mode") == "apr" and
getprop(Locks, "pitch-mode") == "gs")
{
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "nav");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "nav");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
}
nav_arm_from_hdg = func
{
if (getprop(Locks, "roll-mode") != "nav-arm")
{
setprop(Annunciators, "nav-arm", "off");
return;
}
setprop(Annunciators, "nav-arm", "on");
if (flash_timer > -0.5)
{
print("flashing...");
settimer(nav_arm_from_hdg, 2.5);
return;
}
setprop(Locks, "nav-hold", "nav");
deviation = getprop("/radios/nav/heading-needle-deflection");
if (abs(deviation) > 3.0)
{
print("deviation");
settimer(nav_arm_from_hdg, 5);
return;
}
elsif (abs(deviation) < 3.1)
{
print("capture");
setprop(Annunciators, "nav-arm", "off");
setprop(Annunciators, "nav", "on");
}
}
nav_arm_from_rol = func
{
if (getprop(Locks, "roll-mode") != "nav-arm")
{
setprop(Annunciators, "nav-arm", "off");
return;
}
setprop(Annunciators, "nav-arm", "on");
if (flash_timer > -0.5)
{
print("flashing...");
setprop(Annunciators, "rol", "off");
settimer(nav_arm_from_rol, 2.5);
return;
}
setprop(Annunciators, "rol", "on");
setprop(Locks, "roll-axis", "trn");
setprop(Settings, "target-turn-rate", 0.0);
deviation = getprop("/radios/nav/heading-needle-deflection");
if (abs(deviation) > 3.0)
{
print("deviation");
settimer(nav_arm_from_rol, 5);
return;
}
elsif (abs(deviation) < 3.1)
{
print("capture");
setprop(Annunciators, "rol", "off");
setprop(Annunciators, "nav-arm", "off");
setprop(Annunciators, "nav", "on");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "nav");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "nav");
}
}
apr_button = func {
#print("apr_button");
if (getprop(Locks, "roll-mode") == "hdg" or
getprop(Locks, "roll-mode") == "rol" or
getprop(Locks, "roll-mode") == "rev" or
#getprop(Locks, "roll-mode") == "apr" or
getprop(Locks, "pitch-mode") == "nav")
{
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "apr");
setprop(Locks, "gs-hold", "gs");
setprop(Locks, "hdg-hold", "off");
setprop(Locks, "nav-hold", "off");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "apr");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "gs");
}
elsif (getprop(Locks, "roll-mode") == "apr" and
getprop(Locks, "pitch-mode") == "gs")
{
setprop(Locks, "alt-hold", "off");
setprop(Locks, "apr-hold", "off");
setprop(Locks, "gs-hold", "off");
setprop(Locks, "hdg-hold", "hdg");
setprop(Locks, "nav-hold", "nav");
setprop(Locks, "roll-axis", "trn");
setprop(Locks, "roll-mode", "nav");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
}
alt_button = func {
#print("alt_button");
if (getprop(Locks, "pitch-mode") == "alt")
{
setprop(Locks, "alt-hold", "off");
#setprop(Locks, "apr-hold", "apr");
#setprop(Locks, "gs-hold", "gs");
#setprop(Locks, "hdg-hold", "off");
#setprop(Locks, "nav-hold", "off");
#setprop(Locks, "roll-axis", "trn");
#setprop(Locks, "roll-mode", "apr");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "vs");
setprop(Annunciators, "alt", "off");
setprop(Annunciators, "vs", "on");
setprop(Annunciators, "vs-number", "on");
setprop(Annunciators, "fpm", "on");
setprop(Settings, "target-pressure-rate", getprop(Internal,
"pressure-rate"));
}
elsif (getprop(Locks, "pitch-mode") == "vs")
{
setprop(Locks, "alt-hold", "alt");
#setprop(Locks, "apr-hold", "off");
#setprop(Locks, "gs-hold", "off");
#setprop(Locks, "hdg-hold", "hdg");
#setprop(Locks, "nav-hold", "nav");
#setprop(Locks, "roll-axis", "trn");
#setprop(Locks, "roll-mode", "nav");
setprop(Locks, "pitch-axis", "vs");
setprop(Locks, "pitch-mode", "alt");
setprop(Annunciators, "alt", "on");
setprop(Annunciators, "vs", "off");
setprop(Annunciators, "vs-number", "off");
setprop(Annunciators, "fpm", "off");
setprop(Settings, "target-alt-pressure",
getprop("/systems/static/pressure-inhg"));
}
}
dn_button = func {
#print("dn_button");
if (getprop(Locks, "pitch-mode") == "vs")
{
Target_VS = getprop(Settings, "target-pressure-rate");
setprop(Settings, "target-pressure-rate", Target_VS +
0.0017241379310345);
}
elsif (getprop(Locks, "pitch-mode") == "alt")
{
Target_Pressure = getprop(Settings, "target-alt-pressure");
setprop(Settings, "target-alt-pressure", Target_Pressure + 0.0206);
}
}
up_button = func {
#print("up_button");
if (getprop(Locks, "pitch-mode") == "vs")
{
Target_VS = getprop(Settings, "target-pressure-rate");
setprop(Settings, "target-pressure-rate", Target_VS -
0.0017241379310345);
}
elsif (getprop(Locks, "pitch-mode") == "alt")
{
Target_Pressure = getprop(Settings, "target-alt-pressure");
setprop(Settings, "target-alt-pressure", Target_Pressure - 0.0206);
}
}
ap_button();
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