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fgdata/Aircraft/c172p/Models/Interior/Panel/Instruments/kap140/kap140-proprules.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" encoding="UTF-8"?>
<!--
This are the filters to control the actual 'mode' of the KAP 140
The actual 'control' (the control loops) are in a different xml file.
This filters control the modes and output them in the prop-tree as:
autopilot/kap140/settings/lateral-mode
autopilot/kap140/settings/lateral-arm
autopilot/kap140/settings/vertical-mode
autopilot/kap140/settings/vertical-arm
The properties with prefix '-mode' reflect what is currently active.
The properties with prefix '-arm' show what will be active if the conditional are meet.
The numbers of the 'lateral-*' properties has the meaning as followed:
0 = off
1 = ROL (only in '-mode')
2 = HDG (only in '-mode')
3 = NAV
4 = APR
5 = REV
6 = GS (special, only possible in '-arm' if 'lateral-mode' is 4)
The numbers of the 'vertical-*' properties has the meaning as followed:
0 = off
1 = VS (only in '-mode')
2 = ALT
3 = GS (special, only possible in '-mode' if 'lateral-mode' is 4)
Special behavior of the GS (Glide Slope):
Case 1:
lateral-mode = 4 (APR)
lateral-arm = 6 (GS ARM)
We have captured the localizer and waiting for the GS.
Case 2:
lateral-mode = 4 (APR)
vertical-mode = 3 (GS)
We have captured the localizer and the GS.
-->
<PropertyList include="kap140-config.xml">
<!-- Servos failure mapping for failure-manager-->
<logic>
<input>
<and>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>2</value>
</greater-than>
<or>
<not><property>autopilot/kap140/servo/roll-servo/serviceable</property></not>
<greater-than>
<property>autopilot/kap140/servo/roll-servo/check-timer</property>
<value>0</value>
</greater-than>
<and>
<greater-than>
<expression>
<abs><property>autopilot/kap140/servo/roll-servo/force</property></abs>
</expression>
<value alias="/params/roll-servo-force-max"/>
</greater-than>
</and>
</or>
</and>
</input>
<output>autopilot/kap140/roll-axis-fail</output>
</logic>
<logic>
<input>
<and>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>2</value>
</greater-than>
<or>
<not><property>autopilot/kap140/servo/pitch-servo/serviceable</property></not>
<not><property>autopilot/kap140/servo/elevator-trim-servo/serviceable</property></not>
<property>autopilot/kap140/sensors/excess-g</property>
<greater-than>
<property>autopilot/kap140/servo/pitch-servo/check-timer</property>
<value>0</value>
</greater-than>
<and>
<greater-than>
<expression>
<abs><property>autopilot/kap140/servo/pitch-servo/force</property></abs>
</expression>
<value alias="/params/pitch-servo-force-max"/>
</greater-than>
</and>
</or>
</and>
</input>
<output>autopilot/kap140/pitch-axis-fail</output>
</logic>
<!-- Detect servo movement -->
<filter>
<type>derivative</type>
<gain>100</gain>
<input>
<condition>
<greater-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>0</value>
</greater-than>
</condition>
<property>controls/flight/aileron</property>
</input>
<input>0</input>
<output>autopilot/kap140/servo/roll-servo/moverate</output>
<filter-time>0.5</filter-time>
</filter>
<filter>
<type>derivative</type>
<gain>100</gain>
<input>
<condition>
<greater-than>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>0</value>
</greater-than>
</condition>
<property>controls/flight/elevator</property>
</input>
<input>0</input>
<output>autopilot/kap140/servo/pitch-servo/moverate</output>
<filter-time>0.5</filter-time>
</filter>
<!-- Detect excess g forces (c182s POH p. S15-6); disconnect AP. -->
<!-- (Note: we want to filter short bursts that can occur during turbolences) -->
<logic>
<input>
<or>
<less-than>
<property>accelerations/pilot-gdamped</property>
<value alias="/params/gforce-min"/>
</less-than>
<greater-than>
<property>accelerations/pilot-gdamped</property>
<value alias="/params/gforce-max"/>
</greater-than>
</or>
</input>
<output>autopilot/kap140/sensors/excess-g-raw</output>
</logic>
<flipflop>
<name>Excess G-forces for too long</name>
<type>monostable</type>
<inverted type="bool">true</inverted>
<S> <not> <property>autopilot/kap140/sensors/excess-g-raw</property> </not> </S>
<time>
<value>1.0</value>
</time>
<output> <property>autopilot/kap140/sensors/excess-g</property> </output>
</flipflop>
<!-- Detect inoperable turn-indicator -->
<logic>
<input>
<and>
<property>instrumentation/turn-indicator/serviceable</property>
<greater-than>
<property>systems/electrical/outputs/turn-coordinator</property>
<value>12</value>
</greater-than>
</and>
</input>
<output>autopilot/kap140/sensors/turn-indicator-operable</output>
</logic>
<!-- servo check -->
<filter>
<name>set roll servo check</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/powered</property>
<equals>
<property>autopilot/kap140/servo/roll-servo/check-timer</property>
<value>0.0</value>
</equals>
</condition>
</enable>
<input>
<expression>
<sum>
<property>autopilot/kap140/panel/pft-1</property>
<value>5.0</value>
<product>
<mod>
<product>
<property>sim/time/elapsed-sec</property>
<value>1.61803398875</value>
</product>
<value>1.0</value>
</mod>
<value>5.0</value>
</product>
</sum>
</expression>
</input>
<output>autopilot/kap140/servo/roll-servo/check-timer</output>
</filter>
<filter>
<name>clear roll servo check</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/powered</property>
<greater-than>
<property>autopilot/kap140/servo/roll-servo/check-timer</property>
<value>1.0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/servo/roll-servo/check-timer</property>
</greater-than>
</condition>
</enable>
<input>-1.0</input>
<output>autopilot/kap140/servo/roll-servo/check-timer</output>
</filter>
<filter>
<name>set pitch servo check</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/powered</property>
<equals>
<property>autopilot/kap140/servo/pitch-servo/check-timer</property>
<value>0.0</value>
</equals>
</condition>
</enable>
<input>
<expression>
<sum>
<property>autopilot/kap140/panel/pft-1</property>
<value>15.0</value>
<product>
<mod>
<product>
<property>sim/time/elapsed-sec</property>
<value>1.61803398875</value>
</product>
<value>1.0</value>
</mod>
<value>15.0</value>
</product>
</sum>
</expression>
</input>
<output>autopilot/kap140/servo/pitch-servo/check-timer</output>
</filter>
<filter>
<name>clear pitch servo check</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/powered</property>
<greater-than>
<property>autopilot/kap140/servo/pitch-servo/check-timer</property>
<value>1.0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/servo/pitch-servo/check-timer</property>
</greater-than>
</condition>
</enable>
<input>-1.0</input>
<output>autopilot/kap140/servo/pitch-servo/check-timer</output>
</filter>
<!-- reset all if the AP has no power -->
<filter>
<name>unpowered</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/powered</property>
<less-than>
<property alias="/params/power-supplied"/>
<expression>
<product>
<value alias="/params/power-nominal"/>
<value>0.7</value>
</product>
</expression>
</less-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/powered</output>
</filter>
<filter>
<name>cold state</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<or>
<not><property>autopilot/kap140/powered</property></not>
<not><property>autopilot/kap140/serviceable</property></not>
</or>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/bad-condition</output>
<output>autopilot/kap140/panel/state</output>
<output>autopilot/kap140/panel/state-old</output>
<output>autopilot/kap140/sensors/pitch-up</output>
<output>autopilot/kap140/sensors/pitch-down</output>
<output>autopilot/kap140/panel/pft-1</output>
<output>autopilot/kap140/panel/pft-2</output>
<output>autopilot/kap140/panel/pft-3</output>
<output>autopilot/kap140/panel/digit</output>
<output>autopilot/kap140/panel/digit-mode</output>
<output>autopilot/kap140/panel/digit-timer</output>
<output>autopilot/kap140/panel/baro-mode</output>
<output>autopilot/kap140/panel/baro-timer</output>
<output>autopilot/kap140/panel/nav-timer</output>
<output>autopilot/kap140/panel/gs-timer</output>
<output>autopilot/kap140/settings/cws</output>
<output>autopilot/kap140/settings/ap-disc</output>
<output>autopilot/kap140/servo/roll-servo/check-timer</output>
<output>autopilot/kap140/servo/pitch-servo/check-timer</output>
</filter>
<!-- reset default altitude if the AP has no power -->
<filter>
<name>default-altitude</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<not><property>autopilot/kap140/panel/state</property></not>
</condition>
</enable>
<input alias="/params/default-altitude"/>
<output>autopilot/internal/target-altitude</output>
</filter>
<!-- reset default baro setting if the AP has no power and is not tied -->
<filter>
<name>default-inhg</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<not><property>autopilot/kap140/panel/state</property></not>
<not><property alias="/params/baro-tied"/></not>
</condition>
</enable>
<input>29.92</input>
<output alias="/params/baro-inhg"/>
</filter>
<!-- start the Pre-Flight-Test if the AP receive enough powered -->
<filter>
<name>powered</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<not><property>autopilot/kap140/powered</property></not>
<greater-than>
<property alias="/params/power-supplied"/>
<expression>
<product>
<value alias="/params/power-nominal"/>
<value>0.7</value>
</product>
</expression>
</greater-than>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/powered</output>
</filter>
<!-- control conditions for every PFT stage -->
<filter>
<name>bad-condition</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>-1</value>
</greater-than>
<less-than>
<property>autopilot/kap140/panel/state</property>
<value>3</value>
</less-than>
<not><property>autopilot/kap140/bad-condition</property></not>
</condition>
</enable>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>0</value>
</equals>
<not><property>autopilot/kap140/serviceable</property></not>
</condition>
<value>1</value>
</input>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>1</value>
</equals>
<not><property>autopilot/kap140/programmed</property></not>
</condition>
<value>1</value>
</input>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>2</value>
</equals>
<or>
<property>autopilot/kap140/roll-axis-fail</property>
<property>autopilot/kap140/pitch-axis-fail</property>
<not><property>autopilot/kap140/sensors/turn-indicator-operable</property></not>
</or>
</condition>
<value>1</value>
</input>
<output>autopilot/kap140/bad-condition</output>
</filter>
<!-- PFT stage 1 -->
<filter>
<name>state1-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>0</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<less-than>
<property>autopilot/kap140/panel/pft-1</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>
<condition>
<property>autopilot/kap140/bad-condition</property>
</condition>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>0.2</value>
</sum>
</expression>
</input>
<input>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>4</value>
</sum>
</expression>
</input>
<output>autopilot/kap140/panel/pft-1</output>
</filter>
<filter>
<name>state1</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>0</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/pft-1</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/panel/state</output>
</filter>
<!-- PFT stage 2 -->
<filter>
<name>state2-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>1</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/pft-1</property>
</greater-than>
<less-than>
<property>autopilot/kap140/panel/pft-2</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>
<condition>
<property>autopilot/kap140/bad-condition</property>
</condition>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>0.2</value>
</sum>
</expression>
</input>
<input>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>4</value>
</sum>
</expression>
</input>
<output>autopilot/kap140/panel/pft-2</output>
</filter>
<filter>
<name>state2</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>1</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/pft-2</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>2</input>
<output>autopilot/kap140/panel/state</output>
</filter>
<!-- PFT stage 3 -->
<filter>
<name>state3-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>2</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/pft-2</property>
</greater-than>
<less-than>
<property>autopilot/kap140/panel/pft-3</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>
<condition>
<property>autopilot/kap140/bad-condition</property>
</condition>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>0.2</value>
</sum>
</expression>
</input>
<input>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>2</value>
</sum>
</expression>
</input>
<output>autopilot/kap140/panel/pft-3</output>
</filter>
<filter>
<name>state3</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>2</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/pft-3</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>3</input>
<output>autopilot/kap140/panel/state</output>
</filter>
<!-- PFT finish ; decide if the AP is usable and need baro settings (untied) or not (tied) -->
<filter>
<name>state4-5</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>3</value>
</equals>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/pft-3</property>
</greater-than>
</condition>
</enable>
<input>
<condition>
<property>autopilot/kap140/bad-condition</property>
</condition>
<value>-1</value>
</input>
<input>
<condition>
<equals>
<value alias="/params/model"/>
<value>3</value>
</equals>
<not><property alias="/params/baro-tied"/></not>
</condition>
<value>4</value>
</input>
<input>5</input>
<output>autopilot/kap140/panel/state</output>
</filter>
<!-- PFT finish ; decide if the AP is usable and need baro settings (untied) or not (tied) -->
<filter>
<name>state5</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</equals>
<equals>
<property>autopilot/kap140/powered</property>
<value>1</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-baro</property>
<value>0</value>
</greater-than>
</condition>
</enable>
<input>5</input>
<output>autopilot/kap140/panel/state</output>
</filter>
<!-- set FPM timer while approaching preselected altitude -->
<filter>
<name>display FPM while closing to preselected altitude</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>2</value>
</equals>
<or>
<greater-than>
<property>autopilot/internal/target-climb-rate</property>
<value>100</value>
</greater-than>
<less-than>
<property>autopilot/internal/target-climb-rate</property>
<value>-100</value>
</less-than>
</or>
<greater-than>
<expression>
<abs>
<property>autopilot/internal/target-climb-rate</property>
</abs>
</expression>
<expression>
<product>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
<value alias="/params/vs-ratio"/>
</product>
</expression>
</greater-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<!-- reset FPM timer if we captured the altitude -->
<filter>
<name>display FPM while closing to preselected altitude</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<!-- decide what the digit will show up -->
<filter>
<name>digit-mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>3</value>
</greater-than>
</condition>
</enable>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<or>
<and>
<equals>
<value alias="/params/model"/>
<value>3</value>
</equals>
<less-than>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</less-than>
<greater-than>
<expression>
<sum>
<property>autopilot/kap140/panel/fpm-timer</property>
<value>3</value>
</sum>
</expression>
<property>sim/time/elapsed-sec</property>
</greater-than>
</and>
<and>
<equals>
<value alias="/params/model"/>
<value>2</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
</and>
</or>
</condition>
<value>2</value>
</input>
<input>
<condition>
<equals>
<value alias="/params/model"/>
<value>3</value>
</equals>
<or>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</equals>
<and>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<greater-than>
<expression>
<sum>
<property>autopilot/kap140/panel/baro-timer</property>
<value>3</value>
</sum>
</expression>
<property>sim/time/elapsed-sec</property>
</greater-than>
</and>
</or>
</condition>
<value>3</value>
</input>
<input>
<condition>
<equals>
<value alias="/params/model"/>
<value>3</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
</condition>
<value>1</value>
</input>
<input>0</input>
<output>autopilot/kap140/panel/digit-mode</output>
</filter>
<!-- control the digit timer -->
<filter>
<name>set digit-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</equals>
<less-than>
<property>autopilot/kap140/panel/digit-timer</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/digit-timer</output>
</filter>
<filter>
<name>stop digit-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>5</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/digit-timer</property>
<value>0</value>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/digit-timer</output>
</filter>
<!-- control the digit display on Pre-Flight-Test -->
<filter>
<name>pft digit</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>0</value>
</greater-than>
<less-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</less-than>
</condition>
</enable>
<input>
<expression>
<product>
<property>autopilot/kap140/panel/state</property>
<value>10000</value>
</product>
</expression>
</input>
<output>autopilot/kap140/panel/digit</output>
</filter>
<!-- what should the digit display show -->
<filter>
<name>normal digit</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>3</value>
</greater-than>
</condition>
</enable>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/digit-mode</property>
<value>1</value>
</equals>
</condition>
<expression>
<abs><property>autopilot/internal/target-altitude</property></abs>
</expression>
</input>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/digit-mode</property>
<value>2</value>
</equals>
</condition>
<expression>
<abs><property>autopilot/internal/target-climb-rate</property></abs>
</expression>
</input>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/digit-mode</property>
<value>3</value>
</equals>
<equals>
<property>autopilot/kap140/panel/baro-mode</property>
<value>0</value>
</equals>
</condition>
<expression>
<sum>
<product>
<property alias="/params/baro-inhg"/>
<value>1000</value>
</product>
<value>5</value>
</sum>
</expression>
</input>
<input>
<condition>
<equals>
<property>autopilot/kap140/panel/digit-mode</property>
<value>3</value>
</equals>
<equals>
<property>autopilot/kap140/panel/baro-mode</property>
<value>1</value>
</equals>
</condition>
<property alias="/params/baro-hpa"/>
</input>
<output>autopilot/kap140/panel/digit</output>
</filter>
<!-- switch AP between ON/STBY -->
<filter>
<name>AP on</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>5</value>
</equals>
<not><property>autopilot/kap140/pitch-axis-fail</property></not>
<not><property>autopilot/kap140/roll-axis-fail</property></not>
<equals>
<property>autopilot/kap140/panel/state</property>
<property>autopilot/kap140/panel/state-old</property>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-ap</property>
<value>0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/button-ap</property>
<value>0.25</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>6</input>
<output>autopilot/kap140/panel/state</output>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<filter>
<name>FPM timer after AP on</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/fpm-timer</property>
<value>6</value>
</equals>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<filter>
<name>AP standby</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<or>
<property>autopilot/kap140/pitch-axis-fail</property>
<property>autopilot/kap140/roll-axis-fail</property>
<not><property>autopilot/kap140/sensors/turn-indicator-operable</property></not>
<and>
<not><property>autopilot/kap140/settings/cws</property></not>
<property>autopilot/kap140/sensors/excess-g</property>
</and>
<and>
<equals>
<property>autopilot/kap140/panel/state</property>
<property>autopilot/kap140/panel/state-old</property>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-ap</property>
<value>0</value>
</greater-than>
</and>
</or>
</condition>
</enable>
<input>5</input>
<output>autopilot/kap140/panel/state</output>
<output>autopilot/kap140/panel/ap-timer</output>
</filter>
<filter>
<name>set disengage</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/ap-timer</property>
<value>5</value>
</equals>
</condition>
</enable>
<input>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>5</value>
</sum>
</expression>
</input>
<output>autopilot/kap140/panel/ap-timer</output>
</filter>
<filter>
<name>clear disengage</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/ap-timer</property>
<value>5</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/ap-timer</property>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/ap-timer</output>
<output>autopilot/kap140/panel/fpm-timer</output>
<output>autopilot/kap140/panel/hdg-timer</output>
<output>autopilot/kap140/panel/nav-timer</output>
<output>autopilot/kap140/panel/gs-timer</output>
<output>autopilot/kap140/panel/baro-timer</output>
<output>autopilot/kap140/panel/digit-timer</output>
<output>autopilot/kap140/panel/button-ap</output>
<output>autopilot/kap140/settings/cws</output>
<output>autopilot/kap140/settings/ap-disc</output>
<output>autopilot/kap140/sensors/pitch-up</output>
<output>autopilot/kap140/sensors/pitch-down</output>
</filter>
<!-- disengage via ap-disc -->
<filter>
<name>clear ap-disc</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/settings/ap-disc</property>
<less-than>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</less-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/ap-disc</output>
</filter>
<filter>
<name>ap-disc set state-old</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/settings/ap-disc</property>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/panel/state-old</property>
<value>5</value>
</equals>
</condition>
</enable>
<input>6</input>
<output>autopilot/kap140/panel/state-old</output>
</filter>
<filter>
<name>ap-disc set state</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>autopilot/kap140/settings/ap-disc</property>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/panel/state-old</property>
<value>6</value>
</equals>
</condition>
</enable>
<input>5</input>
<output>autopilot/kap140/panel/state</output>
<output>autopilot/kap140/panel/ap-timer</output>
</filter>
<!-- set default lateral mode at AP activation -->
<filter>
<name>lateral mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>0</value>
</equals>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/settings/lateral-mode</output>
</filter>
<!-- take over FPM at AP activation -->
<filter>
<name>set FPM</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<not-equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</not-equals>
<greater-than>
<value alias="/params/model"/>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>autopilot/internal/vert-speed-fpm</input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<!-- set default vertical mode at AP activation -->
<filter>
<name>vertical mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>0</value>
</equals>
<greater-than>
<value alias="/params/model"/>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/settings/vertical-mode</output>
</filter>
<!-- reset modes if AP is STBY -->
<filter>
<name>init</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<less-than>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</less-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/lateral-mode</output>
<output>autopilot/kap140/settings/lateral-arm</output>
<output>autopilot/kap140/settings/vertical-mode</output>
<output>autopilot/kap140/settings/vertical-arm</output>
<output>autopilot/internal/target-climb-rate</output>
<output>autopilot/internal/target-intercept-angle</output>
<output>autopilot/internal/target-roll-deg</output>
<output>autopilot/internal/target-pressure</output>
</filter>
<!-- reset targets in ROLL mode -->
<filter>
<name>init</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<less-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/internal/target-intercept-angle</output>
<output>autopilot/internal/target-roll-deg</output>
</filter>
<!-- set the FPM timer -->
<filter>
<name>FPM display</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<or>
<greater-than>
<property>autopilot/kap140/panel/button-up</property>
<value>0</value>
</greater-than>
<greater-than>
<property>autopilot/kap140/panel/button-down</property>
<value>0</value>
</greater-than>
</or>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<!--- clear the FPM timer -->
<filter>
<name>stop fpm-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<greater-than>
<property>autopilot/kap140/panel/fpm-timer</property>
<value>1</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/fpm-timer</property>
<value>3</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/fpm-timer</output>
</filter>
<!-- FPM setting -->
<filter>
<name>FPM up</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-up</property>
<value>0</value>
</greater-than>
</condition>
</enable>
<input>
<expression>
<sum>
<product>
<floor>
<product>
<dif>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/button-up</property>
</dif>
<value>3</value>
</product>
</floor>
<value>100</value>
</product>
<property>autopilot/kap140/panel/fpm-old</property>
</sum>
</expression>
</input>
<output>autopilot/internal/target-climb-rate</output>
<min>-2000</min>
<max>2000</max>
</filter>
<filter>
<name>FPM down</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-down</property>
<value>0</value>
</greater-than>
</condition>
</enable>
<input>
<expression>
<sum>
<product>
<floor>
<product>
<dif>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/button-down</property>
</dif>
<value>3</value>
</product>
</floor>
<value>-100</value>
</product>
<property>autopilot/kap140/panel/fpm-old</property>
</sum>
</expression>
</input>
<output>autopilot/internal/target-climb-rate</output>
<min>-2000</min>
<max>2000</max>
</filter>
<!-- Altitude Capture (ALT ARM) -->
<filter>
<name>slow down FPM while approaching ALT</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>2</value>
</equals>
<greater-than>
<expression>
<abs>
<property>autopilot/internal/target-climb-rate</property>
</abs>
</expression>
<expression>
<product>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
<value alias="/params/vs-ratio"/>
</product>
</expression>
</greater-than>
</condition>
</enable>
<input>
<condition>
<less-than>
<property alias="/params/indicated-altitude-ft"/>
<property>autopilot/internal/target-altitude</property>
</less-than>
</condition>
<expression>
<product>
<ceil>
<product>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
<value alias="/params/vs-ratio"/>
<value>0.01</value>
</product>
</ceil>
<value>100</value>
</product>
</expression>
</input>
<input>
<expression>
<product>
<floor>
<product>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
<value alias="/params/vs-ratio"/>
<value>0.01</value>
</product>
</floor>
<value>100</value>
</product>
</expression>
</input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<!-- reference altitude -->
<filter>
<name>reference altitude up</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-up</property>
<value>0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/button-up</property>
<value>1</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>500</input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<filter>
<name>reference altitude down</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-down</property>
<value>0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/button-down</property>
<value>1</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>-500</input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<!-- take over actual climb rare if we are in VS and CWS is active -->
<filter>
<name>CWS target-climb-rate</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
<property>autopilot/kap140/settings/cws</property>
</condition>
</enable>
<input>autopilot/internal/vert-speed-fpm</input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<!-- reset target climb rate if UP/DN buttons are not pressed and we are in ALT-HOLD mode
<filter>
<name>ALT reset climb rate</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
<equals>
<property>autopilot/kap140/panel/button-up</property>
<value>0</value>
</equals>
<equals>
<property>autopilot/kap140/panel/button-down</property>
<value>0</value>
</equals>
</condition>
</enable>
<input><value>0</value></input>
<output>autopilot/internal/target-climb-rate</output>
</filter>
-->
<!-- set rounded FPM to next 100 ft -->
<filter>
<name>round target-climb-rate</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
<not><property>autopilot/kap140/settings/cws</property></not>
<not-equals>
<expression>
<mod>
<property>autopilot/internal/target-climb-rate</property>
<value>100</value>
</mod>
</expression>
<value>0</value>
</not-equals>
</condition>
</enable>
<input>
<expression>
<product>
<floor>
<div>
<sum>
<property>autopilot/internal/target-climb-rate</property>
<value>50</value>
</sum>
<value>100</value>
</div>
</floor>
<value>100</value>
</product>
</expression>
</input>
<min>-2000</min>
<max>2000</max>
<output>autopilot/internal/target-climb-rate</output>
</filter>
<!-- take over actual pressure if we are in ALT and CWS is active -->
<filter>
<name>CWS target-pressure</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
<property>autopilot/kap140/settings/cws</property>
</condition>
</enable>
<input>
<property alias="/params/pressure-source"/>
</input>
<output>autopilot/internal/target-pressure</output>
</filter>
<!-- control the BARO timer -->
<filter>
<name>set baro-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<or>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</equals>
<and>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<greater-than>
<property>autopilot/kap140/panel/button-baro</property>
<value>0</value>
</greater-than>
</and>
</or>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/baro-timer</output>
</filter>
<!-- switch BARO between InHg/hPa -->
<filter>
<name>BARO mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>3</value>
</greater-than>
<equals>
<property>autopilot/kap140/panel/baro-mode</property>
<property>autopilot/kap140/panel/baro-mode-old</property>
</equals>
<greater-than>
<property>autopilot/kap140/panel/button-baro</property>
<value>0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/button-baro</property>
<value>2.0</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>
<condition>
<property>autopilot/kap140/panel/baro-mode</property>
</condition>
<value>0</value>
</input>
<input>1</input>
<output>autopilot/kap140/panel/baro-mode</output>
</filter>
<filter>
<name>reset hdg-timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/hdg-timer</property>
<value>0</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/hdg-timer</property>
<value>5</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/hdg-timer</output>
</filter>
<!-- trigger NAV/APR/REV -->
<filter>
<name>nav-beam capture</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>2</value>
</greater-than>
<less-than>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>6</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
<or>
<!-- with DG+ROL mode: capture once the calculated intercept course is smaller than the commanded ROL course difference -->
<and>
<not><property alias="/params/hsi-installed" /></not>
<equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>1</value>
</equals>
<greater-than-equals>
<expression>
<difference>
<abs><property>/autopilot/internal/heading-bug-latch-error</property></abs>
<abs><property>/autopilot/internal/intercept-angle</property></abs>
</difference>
</expression>
<value>0</value>
</greater-than-equals>
</and>
<!-- with HSI or DG+HDG: capture just using the radial course error -->
<property alias="/params/hsi-installed" />
<and>
<not-equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>1</value>
</not-equals>
</and>
</or>
<less-than>
<expression>
<abs><property>instrumentation/nav-source/heading-needle-deflection-norm</property></abs>
</expression>
<value>0.6</value>
</less-than>
<not-equals>
<property>instrumentation/nav-source/heading-needle-deflection-norm</property>
<value>0.0</value>
</not-equals>
</condition>
</enable>
<input>
<expression>
<product>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>-1</value>
</product>
</expression>
</input>
<output>autopilot/kap140/settings/lateral-arm</output>
</filter>
<filter>
<name>signal lost</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</greater-than>
<less-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>6</value>
</less-than>
<less-than>
<property>autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<not><property>instrumentation/nav-source/signal-valid</property></not>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/nav-timer</output>
</filter>
<filter>
<name>cancel nav-timer in ROL or HDG mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<less-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>3</value>
</less-than>
<greater-than>
<property>autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/nav-timer</output>
</filter>
<filter>
<name>ROL mode after 30sec signal lost</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</greater-than>
<less-than>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>6</value>
</less-than>
<greater-than>
<property>autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</greater-than>
<greater-than>
<property>sim/time/elapsed-sec</property>
<expression>
<sum>
<property>autopilot/kap140/panel/nav-timer</property>
<value>30</value>
</sum>
</expression>
</greater-than>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/settings/lateral-mode</output>
</filter>
<!-- set NAV/APR/REV -->
<filter>
<name>set lateral mode</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<less-than>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>0</value>
</less-than>
<less-than>
<property>autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>
<expression>
<product>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>-1</value>
</product>
</expression>
</input>
<output>autopilot/kap140/settings/lateral-mode</output>
</filter>
<!-- arm GS -->
<filter>
<name>set GS-arm</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<value alias="/params/model"/>
<value>1</value>
</greater-than>
<equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>4</value>
</equals>
<not-equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</not-equals>
<less-than>
<property>autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/has-gs</property>
</condition>
</enable>
<input>6</input>
<output>autopilot/kap140/settings/lateral-arm</output>
</filter>
<!-- disarm GS -->
<filter>
<name>clear GS-arm</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<greater-than>
<value alias="/params/model"/>
<value>1</value>
</greater-than>
<equals>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>6</value>
</equals>
<or>
<and>
<equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>4</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</greater-than>
</and>
<not-equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>4</value>
</not-equals>
</or>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/lateral-arm</output>
</filter>
<!-- clear lateral arm -->
<filter>
<name>clear lateral arm</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<less-than>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>0</value>
</less-than>
<equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<expression>
<abs><property>autopilot/kap140/settings/lateral-arm</property></abs>
</expression>
</equals>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/lateral-arm</output>
<output>autopilot/internal/target-intercept-angle</output>
<output>autopilot/internal/target-roll-deg</output>
</filter>
<!-- capture GS -->
<filter>
<name>capture GS</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>instrumentation/nav-source/signal-valid</property>
<property>instrumentation/nav-source/gs-in-range</property>
<less-than>
<property>instrumentation/nav-source/gs-needle-deflection</property>
<value>0.2</value>
</less-than>
<greater-than>
<property>instrumentation/nav-source/gs-needle-deflection</property>
<value>-0.4</value>
</greater-than>
<or>
<equals>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>6</value>
</equals>
<greater-than>
<property>autopilot/kap140/panel/gs-timer</property>
<value>1</value>
</greater-than>
</or>
</condition>
</enable>
<input>3</input>
<output>autopilot/kap140/settings/vertical-mode</output>
</filter>
<filter>
<name>clear GS timer</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<property>instrumentation/nav-source/signal-valid</property>
<property>instrumentation/nav-source/gs-in-range</property>
<greater-than>
<property>autopilot/kap140/panel/gs-timer</property>
<value>1</value>
</greater-than>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/gs-timer</output>
</filter>
<filter>
<name>lost GS</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
<not><property>instrumentation/nav-source/gs-in-range</property></not>
<less-than>
<property>autopilot/kap140/panel/gs-timer</property>
<value>1</value>
</less-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/gs-timer</output>
</filter>
<filter>
<name>fall back to VS</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
<not><property>instrumentation/nav-source/gs-in-range</property></not>
<greater-than>
<property>autopilot/kap140/panel/gs-timer</property>
<value>1</value>
</greater-than>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/settings/vertical-mode</output>
</filter>
<!-- clear GS-arm and target pressure -->
<filter>
<name>clear GS-arm</name>
<type>gain</type>
<debug>false</debug>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/lateral-arm</property>
<value>6</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/lateral-arm</output>
<output>autopilot/internal/target-pressure</output>
</filter>
<!-- set target-pressure -->
<filter>
<name>set target-pressure</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>2</value>
</equals>
<less-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>1</value>
</less-than>
</condition>
</enable>
<input>
<property alias="/params/pressure-source"/>
</input>
<output>autopilot/internal/target-pressure</output>
</filter>
<!-- signal ALT capture -->
<filter>
<name>capture ALT</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>1</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>2</value>
</equals>
<greater-than>
<property>autopilot/internal/target-pressure</property>
<value>0</value>
</greater-than>
</condition>
</enable>
<input>-1</input>
<output>autopilot/kap140/settings/vertical-arm</output>
</filter>
<!-- set ALT -->
<filter>
<name>set ALT</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>-1</value>
</equals>
</condition>
</enable>
<input>2</input>
<output>autopilot/kap140/settings/vertical-mode</output>
</filter>
<!-- clear ALT-arm -->
<filter>
<name>clear ALT-arm</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-arm</property>
<value>-1</value>
</equals>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/settings/vertical-arm</output>
</filter>
<!-- fallback to VS -->
<filter>
<name>fallback to VS</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
<not-equals>
<property>autopilot/kap140/settings/lateral-mode</property>
<value>4</value>
</not-equals>
</condition>
</enable>
<input>1</input>
<output>autopilot/kap140/settings/vertical-mode</output>
</filter>
<!-- altitude alerter -->
<filter>
<name>approaching 1000ft from preselected altitude</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<equals>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</equals>
<less-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>1000</value>
</less-than>
<greater-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>200</value>
</greater-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/alt-alert</output>
<output>autopilot/kap140/panel/alt-alert-sound</output>
</filter>
<filter>
<name>altitude reaching save band</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<not-equals>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</not-equals>
<less-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>200</value>
</less-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/alt-alert</output>
</filter>
<filter>
<name>altitude reached</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<equals>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</equals>
<equals>
<property>autopilot/kap140/panel/alt-alert-arm</property>
<value>0</value>
</equals>
<less-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>5</value>
</less-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/alt-alert-arm</output>
</filter>
<filter>
<name>altitude leaving save band</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<property>autopilot/kap140/panel/alt-alert-arm</property>
<equals>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</equals>
<greater-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>200</value>
</greater-than>
</condition>
</enable>
<input>sim/time/elapsed-sec</input>
<output>autopilot/kap140/panel/alt-alert</output>
<output>autopilot/kap140/panel/alt-alert-sound</output>
</filter>
<filter>
<name>altitude more than 1000ft away</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<not-equals>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</not-equals>
<greater-than>
<expression>
<abs>
<dif>
<property>autopilot/internal/target-altitude</property>
<property alias="/params/indicated-altitude-ft"/>
</dif>
</abs>
</expression>
<value>1000</value>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/alt-alert</output>
<output>autopilot/kap140/panel/alt-alert-arm</output>
</filter>
<filter>
<name>stop sound</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<not-equals>
<property>autopilot/kap140/panel/alt-alert-sound</property>
<value>0</value>
</not-equals>
<greater-than>
<property>autopilot/kap140/panel/alt-alert</property>
<value>0</value>
</greater-than>
<greater-than>
<expression>
<dif>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/panel/alt-alert</property>
</dif>
</expression>
<value>2</value>
</greater-than>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/panel/alt-alert-sound</output>
</filter>
<!-- Pitch Trim (PT) -->
<filter>
<name>set pitch up</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<less-than>
<property>autopilot/kap140/sensors/elevator-trim-transit</property>
<value>0.0</value>
</less-than>
<less-than>
<property>autopilot/kap140/sensors/pitch-up</property>
<value>2.0</value>
</less-than>
</condition>
</enable>
<input>
<condition>
<not><property>autopilot/kap140/sensors/elevator-trim-demand-high</property></not>
</condition>
<value>1.0</value>
</input>
<input>
<condition>
<property>autopilot/kap140/sensors/elevator-trim-demand-high</property>
</condition>
<property>sim/time/elapsed-sec</property>
</input>
<input>autopilot/kap140/sensors/pitch-up</input>
<output>autopilot/kap140/sensors/pitch-up</output>
</filter>
<filter>
<name>set pitch down</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<equals>
<property>autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<greater-than>
<property>autopilot/kap140/sensors/elevator-trim-transit</property>
<value>0.0</value>
</greater-than>
<less-than>
<property>autopilot/kap140/sensors/pitch-down</property>
<value>2.0</value>
</less-than>
</condition>
</enable>
<input>
<condition>
<not><property>autopilot/kap140/sensors/elevator-trim-demand-high</property></not>
</condition>
<value>1.0</value>
</input>
<input>
<condition>
<property>autopilot/kap140/sensors/elevator-trim-demand-high</property>
</condition>
<property>sim/time/elapsed-sec</property>
</input>
<output>autopilot/kap140/sensors/pitch-down</output>
</filter>
<filter>
<name>reset pitch up</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than-equals>
<property>autopilot/kap140/sensors/elevator-trim-transit</property>
<value>0.0</value>
</greater-than-equals>
</condition>
</enable>
<input>0.0</input>
<output>autopilot/kap140/sensors/pitch-up</output>
</filter>
<filter>
<name>reset pitch down</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<less-than-equals>
<property>autopilot/kap140/sensors/elevator-trim-transit</property>
<value>0.0</value>
</less-than-equals>
</condition>
</enable>
<input>0.0</input>
<output>autopilot/kap140/sensors/pitch-down</output>
</filter>
<filter>
<name>pitch trim change</name>
<debug>false</debug>
<type>gain</type>
<input>
<expression>
<dif>
<property>autopilot/kap140/sensors/elevator-trim-demand</property>
<property>autopilot/kap140/sensors/elevator-trim</property>
</dif>
</expression>
</input>
<output>autopilot/kap140/sensors/elevator-trim-transit</output>
</filter>
<filter>
<name>store pitch trim</name>
<debug>false</debug>
<type>noise-spike</type>
<max-rate-of-change>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
<not><property>autopilot/kap140/sensors/manual-trim</property></not>
</condition>
<value>0.020</value>
</max-rate-of-change>
<max-rate-of-change>10.0</max-rate-of-change>
<input>controls/flight/elevator-trim</input>
<output>autopilot/kap140/sensors/elevator-trim</output>
</filter>
<!-- pitch trim run-away -->
<filter>
<name>check pitch trim run-away</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<greater-than>
<property>autopilot/kap140/panel/state</property>
<value>4</value>
</greater-than>
</condition>
</enable>
<input>
<condition>
<less-than>
<property>autopilot/kap140/sensors/pitch-trim-run</property>
<value>1.0</value>
</less-than>
<not-equals>
<property>controls/flight/elevator-trim</property>
<property>autopilot/kap140/sensors/elevator-trim</property>
</not-equals>
</condition>
<expression>
<sum>
<property>sim/time/elapsed-sec</property>
<value>5.0</value>
</sum>
</expression>
</input>
<input>
<condition>
<greater-than>
<property>autopilot/kap140/sensors/pitch-trim-run</property>
<value>1.0</value>
</greater-than>
<equals>
<property>controls/flight/elevator-trim</property>
<property>autopilot/kap140/sensors/elevator-trim</property>
</equals>
</condition>
<value>0.0</value>
</input>
<input>autopilot/kap140/sensors/pitch-trim-run</input>
<output>autopilot/kap140/sensors/pitch-trim-run</output>
</filter>
<filter>
<name>check pitch trim run-away</name>
<debug>false</debug>
<type>gain</type>
<input>
<condition>
<property>autopilot/kap140/sensors/elevator-trim-transit</property>
<property>autopilot/kap140/sensors/pitch-trim-run</property>
<greater-than>
<property>sim/time/elapsed-sec</property>
<property>autopilot/kap140/sensors/pitch-trim-run</property>
</greater-than>
</condition>
<value>1</value>
</input>
<input>0</input>
<output>autopilot/kap140/sensors/pitch-trim</output>
</filter>
<filter>
<name>reset manual trim flag</name>
<debug>false</debug>
<type>gain</type>
<enable>
<condition>
<property>autopilot/kap140/sensors/manual-trim</property>
</condition>
</enable>
<input>0</input>
<output>autopilot/kap140/sensors/manual-trim</output>
</filter>
<!-- Logic by Josh Davidson (Octal450) 2021 -->
<!-- Makes the conditions way simpler in the control system, easier to understand -->
<logic>
<input>
<equals>
<property>/autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<not><property>/autopilot/kap140/roll-axis-fail</property></not>
<not><property>/autopilot/kap140/settings/cws</property></not>
</input>
<output>/autopilot/internal/logic/roll-active</output>
</logic>
<logic>
<input>
<and>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</less-than>
<not><property>/autopilot/kap140/settings/from-hdg</property></not>
</and>
</input>
<output>/autopilot/internal/logic/hdg-active</output>
</logic>
<logic>
<input>
<or>
<and>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>3</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
<and>
<not><property alias="/params/hsi-installed" /></not>
<equals>
<property>/autopilot/kap140/settings/lateral-arm</property>
<value>3</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
</or>
</input>
<output>/autopilot/internal/logic/nav-active</output>
</logic>
<logic>
<input>
<or>
<and>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>4</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
<and>
<not><property alias="/params/hsi-installed" /></not>
<equals>
<property>/autopilot/kap140/settings/lateral-arm</property>
<value>4</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
</or>
</input>
<output>/autopilot/internal/logic/apr-active</output>
</logic>
<logic>
<input>
<or>
<and>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>5</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
<and>
<not><property alias="/params/hsi-installed" /></not>
<equals>
<property>/autopilot/kap140/settings/lateral-arm</property>
<value>5</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/nav-timer</property>
<value>1</value>
</less-than>
<equals>
<property>/autopilot/kap140/settings/lateral-mode</property>
<value>2</value>
</equals>
<less-than>
<property>/autopilot/kap140/panel/hdg-timer</property>
<value>1</value>
</less-than>
<property>instrumentation/nav-source/signal-valid</property>
</and>
</or>
</input>
<output>/autopilot/internal/logic/rev-active</output>
</logic>
<logic>
<input>
<greater-than>
<value alias="/params/model" />
<value>1</value>
</greater-than>
<equals>
<property>/autopilot/kap140/panel/state</property>
<value>6</value>
</equals>
<not><property>/autopilot/kap140/pitch-axis-fail</property></not>
<not><property>/autopilot/kap140/settings/cws</property></not>
</input>
<output>/autopilot/internal/logic/pitch-active</output>
</logic>
<logic>
<input>
<and>
<equals>
<property>/autopilot/kap140/settings/vertical-mode</property>
<value>2</value>
</equals>
<equals>
<property>/autopilot/kap140/panel/button-up</property>
<value>0</value>
</equals>
<equals>
<property>/autopilot/kap140/panel/button-down</property>
<value>0</value>
</equals>
</and>
</input>
<output>/autopilot/internal/logic/alt-active</output>
</logic>
<logic>
<input>
<equals>
<property>/autopilot/kap140/settings/vertical-mode</property>
<value>3</value>
</equals>
</input>
<output>/autopilot/internal/logic/gs-active</output>
</logic>
</PropertyList>
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