10efd065c4
"This patch allows all the AC using the kap140 to use one kap140.nas which includes Roy's move to "bool" values as well as the check for power used by the pa24-250." (dp)
270 lines
No EOL
9.4 KiB
XML
270 lines
No EOL
9.4 KiB
XML
<?xml version="1.0"?>
|
|
<!-- KAP 140 Autopilot Configuration -->
|
|
<!-- Each component is evaluated in the order specified. You can make up -->
|
|
<!-- property names to pass the result of one component on to a subsequent -->
|
|
<!-- component. -->
|
|
<PropertyList>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Roll Axis Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<!-- Nav hold (NAV) Mode-->
|
|
|
|
<pid-controller>
|
|
<name>Nav hold (NAV) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/nav-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/nav/heading-needle-deflection</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>2.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-45.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>45.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Approach hold (APR) Mode-->
|
|
<pid-controller>
|
|
<name>Approach hold (APR) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/apr-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/nav/heading-needle-deflection</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>2.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.001</Td> <!-- derivator time -->
|
|
<u_min>-45.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>45.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Backcourse hold (REV) Mode-->
|
|
<pid-controller>
|
|
<name>Backcourse hold (REV) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/rev-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/nav/heading-needle-deflection</prop>
|
|
<scale>-1.0</scale>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>2.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-45.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>45.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Heading Select (HDG) Mode -->
|
|
|
|
<pid-controller>
|
|
<name>Heading Select (HDG) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/hdg-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/heading-bug-error-deg</prop> -->
|
|
<!-- <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>-0.05</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
|
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Wing leveler (ROL) Mode -->
|
|
|
|
<pid-controller>
|
|
<name>Wing Leveler (ROL) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/roll-axis</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/controls/flight/aileron</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.15</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-0.25</u_min> <!-- minimum output clamp -->
|
|
<u_max>0.25</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- =============================================================== -->
|
|
<!-- Pitch Axis Modes -->
|
|
<!-- =============================================================== -->
|
|
|
|
<!-- Altitude Hold (ALT) Mode -->
|
|
<pid-controller>
|
|
<name>Altitude Hold (ALT) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/alt-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/systems/static[0]/pressure-inhg[0]</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/KAP140/settings/target-alt-pressure</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.125</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>12.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-0.007</u_min> <!-- minimum output clamp -->
|
|
<u_max>0.007</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<!-- Glideslope Hold (GS) Mode -->
|
|
<pid-controller>
|
|
<name>Glideslope Hold (GS) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/gs-hold</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/instrumentation/nav/gs-needle-deflection</prop>
|
|
</input>
|
|
<reference>
|
|
<value>0.0</value>
|
|
</reference>
|
|
<output>
|
|
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>0.025</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>15.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-0.001</u_min> <!-- minimum output clamp -->
|
|
<u_max>0.017</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
<filter>
|
|
<name>pressure-rate-filter</name>
|
|
<debug>false</debug>
|
|
<type>double-exponential</type>
|
|
<input>/autopilot/internal/pressure-rate</input>
|
|
<output>/autopilot/internal/filtered-pressure-rate</output>
|
|
<filter-time>0.1</filter-time>
|
|
</filter>
|
|
|
|
<!-- Vertical Speed (VS) Mode -->
|
|
<pid-controller>
|
|
<name>Vertical Speed (VS) Mode</name>
|
|
<debug>false</debug>
|
|
<enable>
|
|
<prop>/autopilot/KAP140/locks/pitch-axis</prop>
|
|
<value type="bool">true</value>
|
|
</enable>
|
|
<input>
|
|
<prop>/autopilot/internal/filtered-pressure-rate</prop>
|
|
</input>
|
|
<reference>
|
|
<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
|
|
</reference>
|
|
<output>
|
|
<prop>/controls/flight/elevator</prop>
|
|
</output>
|
|
<config>
|
|
<Kp>5.0</Kp> <!-- proportional gain -->
|
|
<beta>1.0</beta> <!-- input value weighing factor -->
|
|
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
|
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
|
<!-- unfiltered derivative error -->
|
|
<Ti>4.0</Ti> <!-- integrator time -->
|
|
<Td>0.0</Td> <!-- derivator time -->
|
|
<u_min>-0.5</u_min> <!-- minimum output clamp -->
|
|
<u_max>0.5</u_max> <!-- maximum output clamp -->
|
|
</config>
|
|
</pid-controller>
|
|
|
|
</PropertyList> |