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fgdata/Aircraft/c172p/Models/Interior/Panel/Instruments/kap140/kap140-autopilot.xml
Stuart Buchanan fbf4be91e3 c172p update from c172p-team version/2020.4 
from https://github.com/c172p-team/c172p/releases/tag/version%2F2020.4
f0e108bca8ebfde42c8496df84dd580716242a0d
2021-09-14 19:34:27 +01:00

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<?xml version="1.0"?>
<!-- KAP 140 Autopilot -->
<PropertyList include="kap140-config.xml">
<!-- Begin Rework 2021 by Josh Davidson (Octal450) -->
<!-- Roll Axis -->
<filter>
<name>Nav Course</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<property>/autopilot/kap140/config/hsi-installed</property>
</condition>
<property>/instrumentation/nav-source/selected-radial-deg</property>
</input>
<input>/autopilot/settings/heading-bug-deg</input>
<output>/autopilot/internal/nav-course</output>
</filter>
<filter>
<name>Nav Course Reciprocal Stage 1</name>
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<input>
<expression>
<sum>
<property>/autopilot/internal/nav-course</property>
<value>180</value>
</sum>
</expression>
</input>
<output>/autopilot/internal/nav-course-reciprocal-cmd</output>
</filter>
<filter>
<name>Nav Course Reciprocal State 2</name>
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<greater-than-equals>
<property>/autopilot/internal/nav-course-reciprocal-cmd</property>
<value>360.5</value>
</greater-than-equals>
</condition>
<expression>
<dif>
<property>/autopilot/internal/nav-course-reciprocal-cmd</property>
<value>360</value>
</dif>
</expression>
</input>
<input>
<condition>
<less-than>
<property>/autopilot/internal/nav-course-reciprocal-cmd</property>
<value>0.5</value>
</less-than>
</condition>
<expression>
<sum>
<property>/autopilot/internal/nav-course-reciprocal-cmd</property>
<value>360</value>
</sum>
</expression>
</input>
<input>/autopilot/internal/nav-course-reciprocal-cmd</input>
<output>/autopilot/internal/nav-course-reciprocal</output>
</filter>
<filter>
<name>Nav Course Error</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<property>/autopilot/internal/logic/rev-active</property>
</condition>
<property>/autopilot/internal/nav-course-reciprocal</property>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>
<condition>
<or>
<property>/autopilot/internal/logic/nav-active</property>
<property>/autopilot/internal/logic/apr-active</property>
</or>
</condition>
<property>/autopilot/internal/nav-course</property>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>0</input>
<output>/autopilot/internal/nav-course-error</output>
<period>
<min>-180</min>
<max>180</max>
</period>
</filter>
<filter>
<name>DG HeadingBug latch actual heading error</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<not><property>/autopilot/kap140/config/hsi-installed</property></not>
<or>
<property>/autopilot/internal/logic/rev-active</property>
<equals>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>5</value>
</equals>
</or>
</condition>
<property>/autopilot/settings/heading-bug-latch</property>
<offset>
<expression>
<sum>
<value>180</value>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
</sum>
</expression>
<scale>-1.0</scale>
</offset>
</input>
<input>
<condition>
<not><property>/autopilot/kap140/config/hsi-installed</property></not>
</condition>
<property>/autopilot/settings/heading-bug-latch</property>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>0</input>
<output>/autopilot/internal/heading-bug-latch-error</output>
<period>
<min>-180</min>
<max>180</max>
</period>
</filter>
<filter>
<name>Target Intercept Angle P</name>
<type>gain</type>
<gain>12.5</gain>
<input>
<expression>
<product>
<property>/instrumentation/nav-source/heading-needle-deflection</property>
<value>0.8</value>
</product>
</expression>
</input>
<output>/autopilot/internal/intercept-angle-p</output>
<min>-45</min>
<max>45</max>
</filter>
<filter>
<name>Target Intercept Angle I</name> <!-- Integrate to cancel steady state error only if stabilized and captured -->
<type>integrator</type>
<gain>0.05</gain>
<input>
<condition>
<and>
<or>
<property>/autopilot/internal/logic/nav-active</property>
<property>/autopilot/internal/logic/apr-active</property>
<property>/autopilot/internal/logic/rev-active</property>
</or>
<less-than-equals>
<property>/autopilot/internal/nav-course-error</property>
<value>10</value>
</less-than-equals>
<greater-than-equals>
<property>/autopilot/internal/nav-course-error</property>
<value>-10</value>
</greater-than-equals>
<less-than-equals>
<property>/instrumentation/nav-source/heading-needle-deflection</property>
<value>1</value>
</less-than-equals>
<greater-than-equals>
<property>/instrumentation/nav-source/heading-needle-deflection</property>
<value>-1</value>
</greater-than-equals>
</and>
</condition>
<expression>
<product>
<property>/instrumentation/nav-source/heading-needle-deflection</property>
<value>0.8</value>
</product>
</expression>
</input>
<input>
<expression>
<product>
<value>-75.0</value>
<property>/autopilot/internal/intercept-angle-i</property>
</product>
</expression>
</input>
<output>/autopilot/internal/intercept-angle-i</output>
<u_min>-5</u_min>
<u_max>5</u_max>
</filter>
<filter>
<name>Target Intercept Angle D</name>
<type>derivative</type>
<input>
<expression>
<product>
<property>/instrumentation/nav-source/heading-needle-deflection</property>
<value>0.8</value>
</product>
</expression>
</input>
<reference>0</reference>
<output>/autopilot/internal/intercept-angle-d</output>
<filter-time>45</filter-time>
<min>-45</min>
<max>45</max>
</filter>
<filter>
<name>Target Intercept Angle</name> <!-- Sum the above 3 controllers to make a manual PID controller -->
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<input>
<expression>
<sum>
<property>/autopilot/internal/intercept-angle-p</property>
<property>/autopilot/internal/intercept-angle-i</property>
<property>/autopilot/internal/intercept-angle-d</property>
</sum>
</expression>
</input>
<output>/autopilot/internal/intercept-angle</output>
<min>-45</min>
<max>45</max>
</filter>
<filter>
<name>Heading Bug Latch</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<greater-than>
<property>/autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</greater-than>
</condition>
<property>/autopilot/settings/heading-bug-latch</property>
</input>
<input>/autopilot/settings/heading-bug-deg</input>
<output>/autopilot/settings/heading-bug-latch</output>
</filter>
<filter>
<name>Heading/Nav Error Deg</name>
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<property>/autopilot/internal/logic/rev-active</property>
</condition>
<expression>
<sum>
<property>/autopilot/internal/nav-course-reciprocal</property>
<product>
<property>/autopilot/internal/intercept-angle</property>
<value>-1.0</value>
</product>
</sum>
</expression>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>
<condition>
<or>
<property>/autopilot/internal/logic/nav-active</property>
<property>/autopilot/internal/logic/apr-active</property>
</or>
</condition>
<expression>
<sum>
<property>/autopilot/internal/nav-course</property>
<property>/autopilot/internal/intercept-angle</property>
</sum>
</expression>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>
<condition>
<property>/autopilot/internal/logic/hdg-active</property>
</condition>
<property>/autopilot/settings/heading-bug-latch</property>
<offset>
<property>/instrumentation/heading-indicator/indicated-heading-deg</property>
<scale>-1.0</scale>
</offset>
</input>
<input>0</input>
<output>/autopilot/internal/heading-error-deg</output>
<period>
<min>-180</min>
<max>180</max>
</period>
</filter>
<filter>
<name>IT-CONTROLLER: Target Turn Rate</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<or>
<property>/autopilot/internal/logic/hdg-active</property>
<property>/autopilot/internal/logic/nav-active</property>
<property>/autopilot/internal/logic/apr-active</property>
<property>/autopilot/internal/logic/rev-active</property>
</or>
</condition>
<expression>
<table>
<property>/autopilot/internal/heading-error-deg</property>
<entry><ind>-30</ind><dep>-1.0</dep></entry>
<entry><ind> -5</ind><dep>-0.2</dep></entry>
<entry><ind> 5</ind><dep> 0.2</dep></entry>
<entry><ind> 30</ind><dep> 1.0</dep></entry>
</table>
</expression>
</input>
<input>0</input>
<output>/autopilot/internal/target-turn-rate</output>
<!-- Make dynamic later -->
<min>-0.9</min>
<max>0.9</max>
</filter>
<predict-simple>
<name>Turn Rate Predictor</name>
<debug>false</debug>
<input>/instrumentation/turn-indicator/indicated-turn-rate</input>
<output>/autopilot/internal/predicted-turn-rate</output>
<seconds>2.0</seconds>
<filter-gain>0.0</filter-gain>
</predict-simple>
<filter>
<name>System Command: Target Turn Rate Filter</name>
<debug>false</debug>
<type>noise-spike</type>
<input>
<condition>
<property>/autopilot/internal/logic/roll-active</property>
</condition>
<property>/autopilot/internal/target-turn-rate</property>
</input>
<input>/autopilot/internal/predicted-turn-rate</input>
<output>/autopilot/internal/turn-rate-cmd</output>
<max-rate-of-change>
<condition>
<property>/autopilot/internal/logic/roll-active</property>
</condition>
<value>0.2</value>
</max-rate-of-change>
<max-rate-of-change>10</max-rate-of-change>
</filter>
<pid-controller>
<name>System Command: Roll PI</name>
<debug>false</debug>
<enable>
<condition>
<property>/autopilot/internal/logic/roll-active</property>
</condition>
</enable>
<input>/autopilot/internal/turn-rate-cmd</input>
<reference>/autopilot/internal/predicted-turn-rate</reference>
<output>/autopilot/internal/aileron-pid</output>
<config>
<Kp>-0.08</Kp>
<Ti>3.5</Ti>
<Td>0.15</Td>
<u_min>-0.25</u_min>
<u_max>0.25</u_max>
</config>
</pid-controller>
<filter>
<name>System Command: Roll Output</name>
<debug>false</debug>
<type>noise-spike</type>
<initialize-to>output</initialize-to>
<enable>
<condition>
<property>/autopilot/internal/logic/roll-active</property>
</condition>
</enable>
<input>
<expression>
<product>
<property>/autopilot/internal/aileron-pid</property>
<value alias="/params/gain-roll"/>
</product>
</expression>
</input>
<output>/controls/flight/aileron</output>
<max-rate-of-change>0.085</max-rate-of-change>
</filter>
<filter>
<name>System Command: Aileron Inactive Sync</name>
<type>gain</type>
<gain>1.0</gain>
<enable>
<condition>
<not><property>/autopilot/internal/logic/roll-active</property></not>
</condition>
</enable>
<input>
<expression>
<div>
<property>/controls/flight/aileron</property>
<value alias="/params/gain-roll"/>
</div>
</expression>
</input>
<output>/autopilot/internal/aileron-pid</output>
<min>-0.25</min>
<max>0.25</max>
</filter>
<!-- Pitch Axis -->
<filter>
<name>Pressure Rate Computer</name>
<debug>false</debug>
<type>derivative</type>
<input><property alias="/params/pressure-source"/></input>
<output>/autopilot/internal/pressure-rate-raw</output>
<filter-time>1.0</filter-time>
</filter>
<filter>
<name>Pressure Rate Lag</name>
<debug>false</debug>
<type>double-exponential</type>
<input>/autopilot/internal/pressure-rate-raw</input>
<output>/autopilot/internal/pressure-rate</output>
<filter-time>0.08</filter-time>
</filter>
<predict-simple>
<name>Vertical Speed Predictor</name>
<debug>false</debug>
<input>
<expression> <!-- Pressure Rate to Vertical Speed FPM -->
<product>
<property>/autopilot/internal/pressure-rate</property>
<value>-58000</value>
</product>
</expression>
</input>
<output>/autopilot/internal/predicted-vertical-speed</output>
<seconds>2.0</seconds>
<filter-gain>0.1</filter-gain>
</predict-simple>
<filter>
<name>IT-CONTROLLER: Altitude Capture/Hold</name>
<debug>false</debug>
<type>gain</type>
<gain>3625</gain>
<input><property alias="/params/pressure-source"/></input>
<reference>/autopilot/internal/target-pressure</reference>
<output>/autopilot/internal/alt-vs</output>
<min>-400</min>
<max>400</max>
</filter>
<filter>
<name>Vertical Speed G/S Sync</name>
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<enable>
<condition>
<not><property>/autopilot/internal/logic/gs-active</property></not>
</condition>
</enable>
<input>
<expression>
<product>
<property>/autopilot/internal/pressure-rate</property>
<value>-58000</value>
</product>
</expression>
</input>
<output>/autopilot/internal/gs-vs</output>
<min>-1200</min>
<max>50</max>
</filter>
<predict-simple>
<name>G/S Needle Predictor</name>
<debug>false</debug>
<input>/instrumentation/nav-source/gs-needle-deflection</input>
<output>/autopilot/internal/predicted-gs-needle</output>
<seconds>1.0</seconds>
<filter-gain>0.1</filter-gain>
</predict-simple>
<pid-controller>
<name>IT-CONTROLLER: G/S</name>
<debug>false</debug>
<enable>
<condition>
<property>/autopilot/internal/logic/gs-active</property>
</condition>
</enable>
<input>/autopilot/internal/predicted-gs-needle</input>
<reference>0</reference>
<output>/autopilot/internal/gs-vs</output>
<config>
<Kp>-400</Kp>
<Ti>20.0</Ti>
<Td>0.001</Td>
<u_min>-1200</u_min>
<u_max>50</u_max>
</config>
</pid-controller>
<filter>
<name>IT-CONTROLLER: Vertical Speed Switch</name>
<debug>false</debug>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<property>/autopilot/internal/logic/gs-active</property>
</condition>
<property>/autopilot/internal/gs-vs</property>
</input>
<input>
<condition>
<property>/autopilot/internal/logic/alt-active</property>
</condition>
<property>/autopilot/internal/alt-vs</property>
</input>
<input>/autopilot/internal/target-climb-rate</input>
<output>/autopilot/internal/vs</output>
</filter>
<filter>
<name>IT-CONTROLLER: Vertical Speed Filter</name>
<debug>false</debug>
<type>noise-spike</type>
<input>/autopilot/internal/vs</input>
<output>/autopilot/internal/vs-slow</output>
<max-rate-of-change>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
<value>200</value>
</max-rate-of-change>
<max-rate-of-change>2000</max-rate-of-change>
</filter>
<pi-simple-controller>
<name>IT-CONTROLLER: Acceleration PI</name>
<debug>false</debug>
<enable>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
</enable>
<input>/autopilot/internal/vs-slow</input>
<reference>/autopilot/internal/predicted-vertical-speed</reference>
<output>/autopilot/internal/target-accel</output>
<config>
<Kp>-0.00015</Kp>
<Ki>-0.000011</Ki>
<min>-0.1</min>
<max>0.1</max>
</config>
</pi-simple-controller>
<filter>
<name>System Command: Internal G Acceleration</name>
<type>double-exponential</type>
<input>
<expression>
<difference>
<property>/accelerations/pilot-g</property>
<product>
<abs><property>/instrumentation/turn-indicator/indicated-turn-rate</property></abs>
<value>0.05</value>
</product>
</difference>
</expression>
</input>
<output>/autopilot/internal/g-damped</output>
<filter-time>0.02</filter-time>
</filter>
<filter>
<name>System Command: Target Acceleration</name>
<type>gain</type>
<gain>1.0</gain>
<input>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
<expression>
<sum>
<property>/autopilot/internal/target-accel</property>
<value>1</value>
</sum>
</expression>
</input>
<input>/autopilot/internal/g-damped</input>
<output>/autopilot/internal/accel-cmd</output>
</filter>
<pid-controller>
<name>System Command: Elevator PI</name>
<debug>false</debug>
<enable>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
</enable>
<input>/autopilot/internal/accel-cmd</input>
<reference>/autopilot/internal/g-damped</reference>
<output>/autopilot/internal/elevator-pi</output>
<config>
<Kp>0.16</Kp>
<Ti>0.5</Ti>
<Td>0.0</Td> <!-- No -->
<u_min>-0.25</u_min>
<u_max>0.25</u_max>
</config>
</pid-controller>
<filter>
<name>System Command: Pitch Output</name>
<debug>false</debug>
<type>noise-spike</type>
<initialize-to>output</initialize-to>
<enable>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
</enable>
<input>
<expression>
<product>
<property>/autopilot/internal/elevator-pi</property>
<value alias="/params/gain-pitch"/>
</product>
</expression>
</input>
<output>/controls/flight/elevator</output>
<max-rate-of-change>0.0769</max-rate-of-change>
</filter>
<filter>
<name>System Command: Elevator Inactive Sync</name>
<type>gain</type>
<gain>1.0</gain>
<enable>
<condition>
<not><property>/autopilot/internal/logic/pitch-active</property></not>
</condition>
</enable>
<input>
<expression>
<div>
<property>/controls/flight/elevator</property>
<value alias="/params/gain-pitch"/>
</div>
</expression>
</input>
<output>/autopilot/internal/elevator-pi</output>
<min>-0.25</min>
<max>0.25</max>
</filter>
<!-- End Rework 2021 by Josh Davidson (Octal450) -->
<filter>
<name>vertical speed fpm</name>
<debug>false</debug>
<type>gain</type>
<gain>-58000</gain>
<input>/autopilot/internal/pressure-rate</input>
<output>/autopilot/internal/vert-speed-fpm</output>
</filter>
<!-- Elevator-trim servo -->
<!-- The pitch trimming aims to center the yoke, as to release pressure from it (autotrim) -->
<filter>
<name>elevator-trim demand value</name>
<debug>false</debug>
<enable>
<condition>
<property>/autopilot/internal/logic/pitch-active</property>
</condition>
</enable>
<type>gain</type>
<input>
<condition>
<greater-than>
<property>controls/flight/elevator</property>
<value>0.025</value>
</greater-than>
</condition>
<value>1</value>
</input>
<input>
<condition>
<less-than>
<property>controls/flight/elevator</property>
<value>-0.025</value>
</less-than>
</condition>
<value>-1</value>
</input>
<input>0</input> <!-- default: no trim demand -->
<output>autopilot/kap140/sensors/elevator-trim-demand</output>
</filter>
<logic>
<name>Elevator-trim low demand</name>
<input>
<or>
<greater-than>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
<value>0.1</value>
</greater-than>
<less-than>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
<value>-0.1</value>
</less-than>
</or>
</input>
<output>
<property>autopilot/kap140/sensors/elevator-trim-demand-low</property>
</output>
</logic>
<flipflop>
<!-- signify high demand after 10 secs (POH p. S15-11) -->
<name>Elevator-trim high demand</name>
<type>monostable</type>
<inverted type="bool">true</inverted>
<S>
<not>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
</not>
</S>
<time>
<value>10.0</value>
</time>
<output>
<property>autopilot/kap140/sensors/elevator-trim-demand-high</property>
</output>
</flipflop>
<logic>
<name>Elevator-trim clutch engaged</name>
<input>
<and>
<value alias="/params/autotrim-pitch"/>
<property>/autopilot/internal/logic/pitch-active</property>
<or>
<greater-than>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
<value>0.1</value>
</greater-than>
<less-than>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
<value>-0.1</value>
</less-than>
</or>
</and>
</input>
<output>autopilot/kap140/servo/elevator-trim-servo/clutch-engaged</output>
</logic>
<filter>
<name>Elevator-trim servo</name>
<debug>false</debug>
<type>noise-spike</type>
<feedback-if-disabled>true</feedback-if-disabled>
<initialize-to>output</initialize-to>
<enable>
<condition>
<property>autopilot/kap140/servo/elevator-trim-servo/clutch-engaged</property>
</condition>
</enable>
<input>autopilot/kap140/sensors/elevator-trim-demand</input>
<output>controls/flight/elevator-trim</output>
<output>autopilot/kap140/servo/elevator-trim</output>
<min>-1</min>
<max>1</max>
<max-rate-of-change>
<expression>
<table>
<abs><property>/controls/flight/elevator</property></abs>
<entry><ind>0.025</ind><dep>0.005</dep></entry>
<entry><ind>0.100</ind><dep>0.050</dep></entry>
</table>
</expression>
</max-rate-of-change> <!-- ~20s for 0-1; ie 40s for -1->0->1; https://assets.publishing.service.gov.uk/media/5422ec04e5274a13170000d5/dft_avsafety_pdf_501522.pdf -->
</filter>
</PropertyList>
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