634 lines
19 KiB
XML
634 lines
19 KiB
XML
<?xml version="1.0" ?>
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<PropertyList>
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<!-- GFC 700 Autopilot Finite State Machine for vertical mode. Also handles AP and FD toggling -->
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<branch>/autopilot/GFC700/FSM/vertical</branch>
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<state>
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<name>OFF</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/passive-mode</property>
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<value>1</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>PIT</name>
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<!-- Pitch hold mode. We assign a filtered value, which limits to to [-15.0, 20.0] -->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-pitch-deg</property>
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<property n="1">/autopilot/internal/filtered-pitch-deg</property>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>PIT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>GA</name>
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<!-- GA mode - 7 degree pitch up-->
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<enter>
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<command>property-assign</command>
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<property n="0">/autopilot/settings/target-pitch-deg</property>
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<value>7.0</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>pitch-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>GA</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>VS</name>
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<!-- VS mode -->
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<enter>
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<command>nasal</command>
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<script>
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<!-- Calculate the fpm value to the nearest 100fpm. -->
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setprop("/autopilot/settings/vertical-speed-fpm",
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math.round(getprop("/autopilot/internal/vert-speed-fpm"),100)
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);
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%+ifpm", getprop("/autopilot/settings/vertical-speed-fpm"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>vertical-speed-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>VS</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>ALTS-ARM</name>
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<!-- Arm Altitude Capture Mode - ALTS -->
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value>ALTS</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<name>ALTS Capture</name>
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<!-- Altitude Capture Mode enabled when we get within 200ft of the selected altitude -->
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<source>ALTS-ARM</source>
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<target>ALTS</target>
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<condition>
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<less-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>200</value>
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</less-than>
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<greater-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>-200</value>
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</greater-than>
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</condition>
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</transition>
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<state>
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<name>ALTS</name>
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<enter>
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<command>nasal</command>
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<script>
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<!-- Set up the 2nd target, so that it is independent of the Selected Altitude,
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then annunciator to the reference value current target value, then enable
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the altitude capture function -->
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setprop("/autopilot/settings/target-altitude-ft-2", getprop("/autopilot/settings/target-alt-ft"));
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>ALTS</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value>ALT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<!-- ALTS (Selected Altitude Capture) automatically armed from PIT, TO/GA, VS, VPTH, FLC modes -->
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<name>ALTS-ARM</name>
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<source>PIT</source>
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<source>GA</source>
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<source>VS</source>
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<source>FLC</source>
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<target>ALTS-ARM</target>
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<!-- Transitions must have a condition element. So set it to True -->
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<condition>
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<greater-than>
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<property>/sim/time/elapsed-sec</property>
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<value>0</value>
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</greater-than>
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</condition>
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</transition>
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<transition>
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<!-- Altitude Hold Mode enabled when we get within 50ft of the selected altitude -->
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<name>ALTS-ALT</name>
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<source>ALTS</source>
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<target>ALT</target>
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<condition>
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<less-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>50</value>
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</less-than>
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<greater-than>
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<property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
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<value>-50</value>
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</greater-than>
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</condition>
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</transition>
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<state>
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<name>ALT</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>ALT</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>nasal</command>
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<script>
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>VNV</name>
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</state>
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<state>
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<name>GS-ARM</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value>GS</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<transition>
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<name>GS Enabled</name>
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<source>GS-ARM</source>
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<target>GS</target>
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<condition>
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<or>
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<and>
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<not-equals>
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<property>/autopilot/settings/nav-mode-source</property>
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<value>NAV2</value>
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</not-equals>
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<equals>
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<property>/instrumentation/nav[0]/gs-in-range</property>
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<value>true</value>
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</equals>
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<less-than>
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<!-- Must intercept the glideslope from below -->
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<property>/instrumentation/nav[0]/gs-needle-deflection-norm</property>
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<value>0.2</value>
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</less-than>
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<greater-than>
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<!-- Must intercept the glideslope from below -->
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<property>/instrumentation/nav[0]/gs-needle-deflection-norm</property>
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<value>0.0</value>
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</greater-than>
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</and>
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<and>
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<equals>
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<property>/autopilot/settings/nav-mode-source</property>
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<value>NAV2</value>
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</equals>
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<equals>
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<property>/instrumentation/nav[1]/gs-in-range</property>
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<value>true</value>
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</equals>
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<less-than>
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<!-- Must intercept the glideslope from below -->
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<property>/instrumentation/nav[1]/gs-needle-deflection-norm</property>
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<value>0.2</value>
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</less-than>
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<greater-than>
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<!-- Must intercept the glideslope from below -->
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<property>/instrumentation/nav[1]/gs-needle-deflection-norm</property>
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<value>0.0</value>
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</greater-than>
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</and>
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</or>
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</condition>
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</transition>
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<state>
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<name>GS</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>GS</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-target</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value>gs-hold</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</enter>
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</state>
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<state>
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<name>BC</name>
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</state>
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<state>
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<name>FLC</name>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode</property>
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<value>FLC</value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/annunciator/vertical-mode-armed</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/settings/target-speed-kt</property>
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<property n="1">/autopilot/internal/filtered-airspeed</property>
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</enter>
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<enter>
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<command>nasal</command>
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<script>
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setprop("/autopilot/annunciator/vertical-mode-target",
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sprintf("%i kt", getprop("/autopilot/settings/target-speed-kt"))
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);
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</script>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/altitude</property>
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<value></value>
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</enter>
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<enter>
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<command>property-assign</command>
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<property>/autopilot/locks/speed</property>
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<value>speed-with-pitch-trim</value>
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</enter>
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<enter>
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<!-- Reset button to avoid triggering next transition immediately -->
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<command>property-assign</command>
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<property>/autopilot/vertical-mode-button</property>
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<value></value>
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</enter>
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</state>
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<!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, HDG changes to PIT mode -->
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<transition>
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<name>OFF-PIT</name>
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<source>OFF</source>
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<target>PIT</target>
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<exclude-target>true</exclude-target>
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<condition>
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<or>
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<equals><property>/autopilot/vertical-mode-button</property><value>AP</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>CWS</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>NAV</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>BC</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>APR</value></equals>
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<equals><property>/autopilot/vertical-mode-button</property><value>HDG</value></equals>
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</or>
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</condition>
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</transition>
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<!-- AP/FD logic is somewhat complex:
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1) Pressing AP toggles the autopilot on/off
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Handled by a separate FSM. We could use a series of transitions
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to the same states below, but that would result in entry bindings being repeated, which would be bad
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2) When the AP is enabled, the FD button is disabled. (Easy - no transition!)
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3) Pressing the FD button when the FD is enabled switches off the FD : Switch-off transition below
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-->
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<!-- From any state pressing FD when FD is ON switches off the FD -->
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<transition>
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<name>FD-Switch-off</name>
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<target>OFF</target>
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<exclude-target>true</exclude-target>
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<condition>
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<not><equals><property>/autopilot/annunciator/autopilot-enabled</property><value>1</value></equals></not>
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<equals><property>/autopilot/vertical-mode-button</property><value>FD</value></equals>
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<equals><property>/autopilot/locks/passive-mode</property><value>1</value></equals>
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</condition>
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</transition>
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<!-- From any state pressing VS changes to VS mode -->
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<transition>
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<name>VS-ON</name>
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<target>VS</target>
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<exclude-target>true</exclude-target>
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<condition>
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<and>
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<equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
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<not><equals><property>/autopilot/locks/altitude</property><value>vertical-speed-hold</value></equals></not>
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</and>
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</condition>
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</transition>
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<!-- From any state, pressing GA goes to GA mode -->
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<transition>
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<name>GA</name>
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<target>GA</target>
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<exclude-target>true</exclude-target>
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<condition>
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<equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
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</condition>
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</transition>
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<!-- From any state, pressing ALT goes to ALT mode -->
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<transition>
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<name>ALT</name>
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<target>ALT</target>
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<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>ALT</value></equals>
|
|
</condition>
|
|
<binding>
|
|
<command>nasal</command>
|
|
<script>
|
|
<!-- Set up the 2nd target to the current altitude within 10ft-->
|
|
setprop("/autopilot/settings/target-altitude-ft-2",
|
|
math.round(getprop("/instrumentation/altimeter/indicated-altitude-ft"),10));
|
|
</script>
|
|
</binding>
|
|
</transition>
|
|
|
|
<!-- From any state pressing FLC changes to FLC mode, if not already enabled -->
|
|
<transition>
|
|
<name>FLC-ON</name>
|
|
<target>FLC</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<and>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>FLC</value></equals>
|
|
<not><equals><property>/autopilot/locks/speed</property><value>speed-with-pitch-trim</value></equals></not>
|
|
</and>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From any state pressing APR changes to GS mode, if not already enabled -->
|
|
<transition>
|
|
<name>GS-ON</name>
|
|
<target>GS-ARM</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<and>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>APR</value></equals>
|
|
<not><equals><property>/autopilot/locks/altitude</property><value>gs-hold</value></equals></not>
|
|
</and>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- Transitions to switch off various AP modes, which return to PIT mode. This is complicated as in many cases they may be in ALTS-ARM -->
|
|
|
|
|
|
<!-- From VS state pressing VS changes back to to PIT mode -->
|
|
<transition>
|
|
<name>VS-OFF</name>
|
|
<source>VS</source>
|
|
<source>ALTS-ARM</source>
|
|
<target>PIT</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<and>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
|
|
<equals><property>/autopilot/locks/altitude</property><value>vertical-speed-hold</value></equals>
|
|
</and>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From ALT state pressing ALT changes back to to PIT mode -->
|
|
<transition>
|
|
<name>ALT-OFF</name>
|
|
<source>ALT</source>
|
|
<target>PIT</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>ALT</value></equals>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From VNV state pressing VNV changes back to to PIT mode -->
|
|
<transition>
|
|
<name>VNV-OFF</name>
|
|
<source>VNV</source>
|
|
<target>PIT</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>VNV</value></equals>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From BC state pressing BC changes back to to PIT mode -->
|
|
<transition>
|
|
<name>BC-OFF</name>
|
|
<source>BC</source>
|
|
<target>PIT</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>BC</value></equals>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From FLC state pressing FLC changes back to to PIT mode. Note that we could be in ALTS-ARM mode as well, so check the AP setting -->
|
|
<transition>
|
|
<name>FLC-OFF</name>
|
|
<source>FLC</source>
|
|
<source>ALTS-ARM</source>
|
|
<target>PIT</target>
|
|
<exclude-target>true</exclude-target>
|
|
<condition>
|
|
<and>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>FLC</value></equals>
|
|
<equals><property>/autopilot/locks/speed</property><value>speed-with-pitch-trim</value></equals>
|
|
</and>
|
|
</condition>
|
|
</transition>
|
|
|
|
<!-- From GA state, pressing GA returns to PIT mode -->
|
|
<transition>
|
|
<name>GA-OFF</name>
|
|
<source>GA</source>
|
|
<target>PIT</target>
|
|
<condition>
|
|
<equals><property>/autopilot/vertical-mode-button</property><value>GA</value></equals>
|
|
</condition>
|
|
</transition>
|
|
|
|
|
|
</PropertyList>
|