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commit initial
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<?xml version="1.0"?> |
| 2 |
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<!-- From Generic Autopilot Configuration --> |
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| 4 | ||
| 5 |
<PropertyList> |
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| 6 | ||
| 7 |
<!-- =============================================================== --> |
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| 8 |
<!-- Roll Axis Modes --> |
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| 9 |
<!-- =============================================================== --> |
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| 10 | ||
| 11 |
<pid-controller> |
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| 12 |
<name>Wing Leveler (Turn Coordinator based)</name> |
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| 13 |
<debug>false</debug> |
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| 14 |
<enable> |
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| 15 |
<condition> |
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| 16 |
<and> |
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| 17 |
<equals> |
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| 18 |
<property>/autopilot/locks/roll</property> |
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| 19 |
<value>wing-leveler</value> |
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| 20 |
</equals> |
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| 21 |
<not> |
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| 22 |
<property>/autopilot/locks/passive-mode</property> |
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| 23 |
</not> |
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| 24 |
</and> |
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| 25 |
</condition> |
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| 26 |
</enable> |
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| 27 |
<input> |
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| 28 |
<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop> |
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| 29 |
</input> |
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| 30 |
<reference> |
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| 31 |
<value>0.0</value> |
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| 32 |
</reference> |
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| 33 |
<output> |
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| 34 |
<prop>/controls/flight/aileron</prop> |
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| 35 |
</output> |
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| 36 |
<config> |
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| 37 |
<Kp>0.5</Kp> |
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| 38 |
<beta>1.0</beta> |
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| 39 |
<alpha>0.1</alpha> |
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| 40 |
<gamma>0.0</gamma> |
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| 41 |
<Ti>10.0</Ti> |
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| 42 |
<Td>0.00001</Td> |
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| 43 |
<u_min>-1.0</u_min> |
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| 44 |
<u_max>1.0</u_max> |
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| 45 |
</config> |
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| 46 |
</pid-controller> |
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| 47 | ||
| 48 |
<pid-controller> |
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| 49 |
<name>Heading Bug Hold (DG based) Stage 1</name> |
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| 50 |
<debug>false</debug> |
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| 51 |
<enable> |
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| 52 |
<prop>/autopilot/locks/roll</prop> |
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| 53 |
<value>dg-heading-hold</value> |
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| 54 |
</enable> |
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| 55 |
<input> |
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| 56 |
<prop>/autopilot/internal/heading-bug-error-deg</prop> |
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| 57 |
</input> |
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| 58 |
<reference> |
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| 59 |
<value>0.0</value> |
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| 60 |
</reference> |
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| 61 |
<output> |
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| 62 |
<prop>/autopilot/internal/target-roll-deg</prop> |
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| 63 |
</output> |
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| 64 |
<config> |
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| 65 |
<Kp>-1.0</Kp> |
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| 66 |
<beta>1.0</beta> |
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| 67 |
<alpha>0.1</alpha> |
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| 68 |
<gamma>0.0</gamma> |
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| 69 |
<Ti>10.0</Ti> |
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| 70 |
<Td>0.00001</Td> |
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| 71 |
<u_min>-22.0</u_min> |
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| 72 |
<u_max>22.0</u_max> |
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| 73 |
</config> |
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| 74 |
</pid-controller> |
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| 75 | ||
| 76 |
<pid-controller> |
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<name>NAV Hold Stage 1</name> |
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| 78 |
<debug>false</debug> |
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| 79 |
<enable> |
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| 80 |
<prop>/autopilot/locks/roll</prop> |
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| 81 |
<value>nav1-hold</value> |
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| 82 |
</enable> |
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| 83 |
<input> |
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| 84 |
<prop>/instrumentation/zkv1000/cdi/course-deflection</prop> |
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| 85 |
</input> |
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| 86 |
<reference> |
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| 87 |
<value>0.0</value> |
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| 88 |
</reference> |
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| 89 |
<output> |
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| 90 |
<prop>/autopilot/internal/target-roll-deg</prop> |
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| 91 |
</output> |
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| 92 |
<config> |
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| 93 |
<Kp>-1.0</Kp> |
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| 94 |
<beta>1.0</beta> |
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| 95 |
<alpha>0.1</alpha> |
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| 96 |
<gamma>0.0</gamma> |
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| 97 |
<Ti>10.0</Ti> |
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| 98 |
<Td>0.00001</Td> |
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| 99 |
<u_min>-22.0</u_min> |
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| 100 |
<u_max>22.0</u_max> |
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| 101 |
</config> |
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| 102 |
</pid-controller> |
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| 103 | ||
| 104 |
<pid-controller> |
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| 105 |
<name>Approach mode Stage 1</name> |
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| 106 |
<debug>false</debug> |
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| 107 |
<enable> |
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| 108 |
<prop>/autopilot/locks/roll</prop> |
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| 109 |
<value>APR</value> |
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</enable> |
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| 111 |
<input> |
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| 112 |
<prop>/instrumentation/zkv1000/cdi/course-deflection</prop> |
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| 113 |
</input> |
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| 114 |
<reference> |
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| 115 |
<value>0.0</value> |
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| 116 |
</reference> |
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| 117 |
<output> |
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| 118 |
<prop>/autopilot/internal/target-roll-deg</prop> |
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| 119 |
</output> |
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| 120 |
<config> |
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| 121 |
<Kp>-1.0</Kp> |
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| 122 |
<beta>1.0</beta> |
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| 123 |
<alpha>0.1</alpha> |
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| 124 |
<gamma>0.0</gamma> |
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| 125 |
<Ti>10.0</Ti> |
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| 126 |
<Td>0.00001</Td> |
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| 127 |
<u_min>-22.0</u_min> |
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| 128 |
<u_max>22.0</u_max> |
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| 129 |
</config> |
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| 130 |
</pid-controller> |
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| 131 | ||
| 132 |
<pid-controller> |
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| 133 |
<name>Ailerons control</name> |
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| 134 |
<debug>false</debug> |
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| 135 |
<enable> |
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| 136 |
<condition> |
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| 137 |
<and> |
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| 138 |
<not-equals> |
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| 139 |
<property>/autopilot/locks/roll</property> |
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| 140 |
<value>wing-leveler</value> |
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| 141 |
</not-equals> |
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| 142 |
<not> |
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| 143 |
<property>/autopilot/locks/passive-mode</property> |
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</not> |
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| 145 |
</and> |
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| 146 |
</condition> |
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<honor-passive>true</honor-passive> |
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| 148 |
</enable> |
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| 149 |
<input> |
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| 150 |
<prop>/orientation/roll-deg</prop> |
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| 151 |
</input> |
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| 152 |
<reference> |
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| 153 |
<prop>/autopilot/internal/target-roll-deg</prop> |
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| 154 |
</reference> |
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| 155 |
<output> |
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| 156 |
<prop>/controls/flight/aileron</prop> |
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| 157 |
</output> |
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| 158 |
<config> |
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<Kp>0.1</Kp> |
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| 160 |
<beta>1.0</beta> |
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| 161 |
<alpha>0.1</alpha> |
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| 162 |
<gamma>0.0</gamma> |
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| 163 |
<Ti>10.0</Ti> |
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| 164 |
<Td>0.00001</Td> |
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| 165 |
<u_min>-1.0</u_min> |
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| 166 |
<u_max>1.0</u_max> |
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| 167 |
</config> |
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| 168 |
</pid-controller> |
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| 169 | ||
| 170 |
<!-- =============================================================== --> |
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| 171 |
<!-- Pitch Axis Modes --> |
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| 172 |
<!-- =============================================================== --> |
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| 173 | ||
| 174 |
<pid-controller> |
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| 175 |
<name>Pitch hold</name> |
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| 176 |
<debug>false</debug> |
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| 177 |
<enable> |
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| 178 |
<condition> |
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| 179 |
<and> |
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| 180 |
<equals> |
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| 181 |
<property>/autopilot/locks/pitch</property> |
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| 182 |
<value>pitch-hold</value> |
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| 183 |
</equals> |
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| 184 |
<not> |
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| 185 |
<property>/autopilot/locks/passive-mode</property> |
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| 186 |
</not> |
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| 187 |
</and> |
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| 188 |
</condition> |
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| 189 |
</enable> |
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| 190 |
<input> |
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| 191 |
<prop>/orientation/pitch-deg</prop> |
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| 192 |
</input> |
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| 193 |
<reference> |
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| 194 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
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| 195 |
</reference> |
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| 196 |
<output> |
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| 197 |
<prop>/controls/flight/elevator-trim</prop> |
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| 198 |
</output> |
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| 199 |
<config> |
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| 200 |
<Kp>-0.05</Kp> |
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| 201 |
<beta>1.0</beta> |
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| 202 |
<alpha>0.1</alpha> |
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| 203 |
<gamma>0.0</gamma> |
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| 204 |
<Ti>1.0</Ti> |
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| 205 |
<Td>0.00001</Td> |
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| 206 |
<u_min>-1.0</u_min> |
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<u_max>1.0</u_max> |
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</config> |
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| 209 |
</pid-controller> |
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| 210 |
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| 211 |
<pid-controller> |
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<name>Altitude Hold</name> |
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| 213 |
<debug>false</debug> |
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| 214 |
<enable> |
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| 215 |
<prop>/autopilot/locks/pitch</prop> |
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| 216 |
<value>altitude-hold</value> |
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| 217 |
</enable> |
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| 218 |
<input> |
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| 219 |
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop> |
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| 220 |
</input> |
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| 221 |
<reference> |
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| 222 |
<prop>/autopilot/settings/target-altitude-ft</prop> |
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| 223 |
</reference> |
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| 224 |
<output> |
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| 225 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
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| 226 |
</output> |
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| 227 |
<config> |
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| 228 |
<Kp>0.025</Kp> |
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| 229 |
<beta>1.0</beta> |
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| 230 |
<alpha>0.1</alpha> |
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| 231 |
<gamma>0.0</gamma> |
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| 232 |
<Ti>50.0</Ti> |
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| 233 |
<Td>0.0</Td> |
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| 234 |
<u_min>-20.0</u_min> |
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| 235 |
<u_max>15.0</u_max> |
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| 236 |
</config> |
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| 237 |
</pid-controller> |
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| 238 | ||
| 239 |
<!--pid-controller> |
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| 240 |
<name>Selected Altitude Hold</name> |
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| 241 |
<debug>false</debug> |
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| 242 |
<enable> |
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| 243 |
<prop>/autopilot/locks/pitch</prop> |
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| 244 |
<value>ALTS</value> |
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| 245 |
</enable> |
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| 246 |
<input> |
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| 247 |
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop> |
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| 248 |
</input> |
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| 249 |
<reference> |
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| 250 |
<prop>/autopilot/settings/target-altitude-ft</prop> |
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| 251 |
</reference> |
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| 252 |
<output> |
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| 253 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
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| 254 |
</output> |
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| 255 |
<config> |
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| 256 |
<Kp>0.025</Kp> |
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| 257 |
<beta>1.0</beta> |
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| 258 |
<alpha>0.1</alpha> |
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| 259 |
<gamma>0.0</gamma> |
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| 260 |
<Ti>50.0</Ti> |
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| 261 |
<Td>0.0</Td> |
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| 262 |
<u_min>-20.0</u_min> |
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| 263 |
<u_max>15.0</u_max> |
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| 264 |
</config> |
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| 265 |
</pid-controller--> |
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| 266 | ||
| 267 |
<pid-controller> |
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| 268 |
<name>Glideslop Hold</name> |
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| 269 |
<debug>false</debug> |
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| 270 |
<enable> |
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| 271 |
<prop>/autopilot/locks/pitch</prop> |
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| 272 |
<value>glide-slope</value> |
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| 273 |
</enable> |
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| 274 |
<input> |
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| 275 |
<prop>/instrumentation/zkv1000/cdi/gs-deflection</prop> |
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| 276 |
</input> |
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| 277 |
<reference> |
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| 278 |
<value>0.0</value> |
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| 279 |
</reference> |
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| 280 |
<output> |
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| 281 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
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| 282 |
</output> |
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| 283 |
<config> |
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| 284 |
<Kp>-1.5</Kp> |
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| 285 |
<beta>1.0</beta> |
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| 286 |
<alpha>0.1</alpha> |
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| 287 |
<gamma>0.0</gamma> |
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| 288 |
<Ti>10.0</Ti> |
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| 289 |
<Td>0.0</Td> |
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| 290 |
<u_min>-10</u_min> |
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| 291 |
<u_max>5</u_max> |
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| 292 |
</config> |
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| 293 |
</pid-controller> |
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| 294 | ||
| 295 |
<pi-simple-controller> |
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| 296 |
<name>Vertical Speed Hold</name> |
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| 297 |
<debug>false</debug> |
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| 298 |
<enable> |
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| 299 |
<prop>/autopilot/locks/pitch</prop> |
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| 300 |
<value>version-speed-hold</value> |
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| 301 |
</enable> |
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| 302 |
<input> |
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| 303 |
<prop>/velocities/vertical-speed-fps</prop> |
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| 304 |
</input> |
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| 305 |
<reference> |
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| 306 |
<prop>/autopilot/settings/vertical-speed-fpm</prop> |
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| 307 |
<scale>0.01667</scale> |
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| 308 |
</reference> |
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| 309 |
<output> |
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| 310 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
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| 311 |
</output> |
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| 312 |
<config> |
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| 313 |
<Kp>0.05</Kp> |
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| 314 |
<Ki>0.1</Ki> |
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| 315 |
<u_min>-20.0</u_min> |
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| 316 |
<u_max>15.0</u_max> |
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| 317 |
</config> |
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| 318 |
</pi-simple-controller> |
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| 319 | ||
| 320 |
<pid-controller> |
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| 321 |
<name>Flight Change Level (altitude) stage #1</name> |
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| 322 |
<debug>false</debug> |
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| 323 |
<enable> |
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| 324 |
<prop>/autopilot/locks/pitch</prop> |
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| 325 |
<value>flight-level-change</value> |
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| 326 |
</enable> |
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| 327 |
<input> |
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| 328 |
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop> |
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| 329 |
</input> |
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| 330 |
<reference> |
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| 331 |
<prop>/autopilot/settings/target-altitude-ft</prop> |
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| 332 |
</reference> |
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| 333 |
<output> |
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| 334 |
<prop>/autopilot/internal/flc-altitude-pitch-deg</prop> |
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| 335 |
</output> |
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| 336 |
<config> |
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| 337 |
<Kp>0.025</Kp> |
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| 338 |
<beta>1.0</beta> |
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| 339 |
<alpha>0.1</alpha> |
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| 340 |
<gamma>0.0</gamma> |
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| 341 |
<Ti>50.0</Ti> |
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| 342 |
<Td>0.0</Td> |
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| 343 |
<u_min>-20.0</u_min> |
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| 344 |
<u_max>15.0</u_max> |
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| 345 |
</config> |
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| 346 |
</pid-controller> |
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| 347 | ||
| 348 |
<pid-controller> |
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| 349 |
<name>Flight Change Level (airspeed) stage #1</name> |
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| 350 |
<debug>false</debug> |
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| 351 |
<enable> |
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| 352 |
<prop>/autopilot/locks/pitch</prop> |
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| 353 |
<value>flight-level-change</value> |
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| 354 |
</enable> |
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| 355 |
<input> |
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| 356 |
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> |
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| 357 |
</input> |
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| 358 |
<reference> |
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| 359 |
<prop>/autopilot/settings/target-speed-kt</prop> |
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| 360 |
</reference> |
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| 361 |
<output> |
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| 362 |
<prop>/autopilot/internal/flc-airspeed-pitch-deg</prop> |
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| 363 |
</output> |
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| 364 |
<config> |
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| 365 |
<Kp>-1.0</Kp> |
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| 366 |
<beta>1.0</beta> |
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| 367 |
<alpha>0.1</alpha> |
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| 368 |
<gamma>0.0</gamma> |
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| 369 |
<Ti>1.0</Ti> |
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| 370 |
<Td>0.00001</Td> |
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| 371 |
<u_min>-15.0</u_min> |
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| 372 |
<u_max>15.0</u_max> |
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| 373 |
</config> |
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| 374 |
</pid-controller> |
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| 375 | ||
| 376 |
<pid-controller> |
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| 377 |
<name>Elevator Trim Control</name> |
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| 378 |
<debug>false</debug> |
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| 379 |
<enable> |
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| 380 |
<condition> |
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| 381 |
<and> |
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| 382 |
<not-equals> |
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| 383 |
<property>/autopilot/locks/pitch</property> |
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| 384 |
<value>pitch-hold</value> |
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| 385 |
</not-equals> |
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| 386 |
<not> |
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| 387 |
<property>/autopilot/locks/passive-mode</property> |
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| 388 |
</not> |
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| 389 |
</and> |
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| 390 |
</condition> |
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| 391 |
<honor-passive>true</honor-passive> |
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| 392 |
</enable> |
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| 393 |
<input> |
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| 394 |
<prop>/orientation/pitch-deg</prop> |
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| 395 |
</input> |
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| 396 |
<reference> |
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| 397 |
<prop>/autopilot/internal/target-pitch-deg</prop> |
|
| 398 |
</reference> |
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| 399 |
<output> |
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| 400 |
<prop>/controls/flight/elevator-trim</prop> |
|
| 401 |
</output> |
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| 402 |
<config> |
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| 403 |
<Kp>-0.25</Kp> |
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| 404 |
<beta>1.0</beta> |
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| 405 |
<alpha>0.1</alpha> |
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| 406 |
<gamma>0.0</gamma> |
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| 407 |
<Ti>20.0</Ti> |
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| 408 |
<Td>0.000001</Td> |
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| 409 |
<u_min>-1.0</u_min> |
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| 410 |
<u_max>1.0</u_max> |
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| 411 |
</config> |
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| 412 |
</pid-controller> |
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| 413 | ||
| 414 |
</PropertyList> |