Fixed file modes.
[fg:toms-fgdata.git] / Aircraft / 777-200 / Systems / 777-autopilot.xml
1 <?xml version="1.0"?>
2
3
4 <PropertyList>
5
6   <!-- =============================================================== -->
7   <!--                        Lateral Modes                            -->
8   <!-- =============================================================== -->
9
10   <filter>
11         <name>Radar altimeter</name>
12         <type>gain</type>
13         <gain>1.0</gain>
14         <input>/position/gear-agl-ft</input>
15         <output>instrumentation/afds/ra-ft</output>
16   </filter>
17
18   <pid-controller>
19         <name>TO/GA1</name>
20         <debug>false</debug>
21         <enable>
22           <property>instrumentation/afds/ap-modes/roll-mode</property>
23           <value>TO/GA</value>
24         </enable>
25         <input>
26           <property>orientation/roll-deg</property>
27         </input>
28         <reference>
29           <value>0.0</value>
30         </reference>
31         <output>
32           <property>/autopilot/internal/target-roll-deg</property>
33         </output>
34         <config>
35           <Ts>0.05</Ts>
36           <Kp>-1.0</Kp>
37           <beta>1.0</beta>
38           <alpha>0.1</alpha>
39           <gamma>0.0</gamma>
40           <Ti>10.0</Ti>
41           <Td>0.0</Td>
42                 <u_min>
43                         <property>instrumentation/afds/settings/bank-min</property>
44                 </u_min>
45                 <u_max>
46                         <property>instrumentation/afds/settings/bank-max</property>
47                 </u_max>
48         </config>
49   </pid-controller>
50
51   <pi-simple-controller>
52         <name>HDG HOLD</name>
53         <debug>false</debug>
54         <enable>
55                 <condition>
56           <or>
57                 <equals>
58                   <property>instrumentation/afds/ap-modes/roll-mode</property>
59                   <value>HDG SEL</value>
60                 </equals>
61                 <equals>
62                   <property>instrumentation/afds/ap-modes/roll-mode</property>
63                   <value>HDG HOLD</value>
64                 </equals>
65           </or>
66   </condition>
67         </enable>
68         <input>
69           <property>autopilot/internal/fdm-heading-bug-error-deg</property>
70         </input>
71         <reference>
72           <value>0</value>
73         </reference>
74         <output>
75           <property>/autopilot/internal/target-roll-deg</property>
76         </output>
77         <config>
78           <Kp>-1.75</Kp>
79           <Ki>0.00</Ki>
80                 <u_min>
81                         <property>instrumentation/afds/settings/bank-min</property>
82                 </u_min>
83                 <u_max>
84                         <property>instrumentation/afds/settings/bank-max</property>
85                 </u_max>
86         </config>
87    </pi-simple-controller>
88
89   <filter>
90         <name>LNAV waypoint error computer/normalizer</name>
91         <debug>false</debug>
92         <enable>
93           <property>instrumentation/afds/ap-modes/roll-mode</property>
94           <value>LNAV</value>
95         </enable>
96         <type>gain</type>
97         <input>
98           <property>/autopilot/route-manager/wp/bearing-deg</property>
99           <offset>
100                 <property>/orientation/heading-magnetic-deg</property>
101                 <scale>-1.0</scale>
102           </offset>
103         </input>
104         <output>autopilot/internal/waypoint-bearing-error-deg</output>
105         <period>
106           <min>-180</min>
107           <max>180</max>
108         </period>
109         <gain>1.0</gain>
110   </filter>
111
112   <pi-simple-controller>
113         <name>LNAV1</name>
114         <debug>false</debug>
115         <enable>
116           <property>instrumentation/afds/ap-modes/roll-mode</property>
117           <value>LNAV</value>
118         </enable>
119         <input>
120           <property>/autopilot/internal/waypoint-bearing-error-deg</property>
121         </input>
122         <reference>
123                 <property>/instrumentation/gps/wp/wp[1]/course-deviation-deg</property>
124                 <scale>-1.5</scale>
125         </reference>
126         <output>
127           <property>/autopilot/internal/target-roll-deg</property>
128         </output>
129         <config>
130           <Kp>-1.75</Kp>
131           <Ki>0.0</Ki>
132           <u_min>
133                 <property>instrumentation/afds/settings/bank-min</property>
134           </u_min>
135           <u_max>
136                 <property>instrumentation/afds/settings/bank-max</property>
137           </u_max>
138         </config>
139    </pi-simple-controller>
140
141    <pi-simple-controller>
142         <name>LOC1</name>
143         <debug>false</debug>
144         <enable>
145           <property>instrumentation/afds/ap-modes/roll-mode</property>
146           <value>LOC</value>
147         </enable>
148         <input>
149           <property>/autopilot/internal/nav1-heading-error-deg</property>
150         </input>
151         <reference>
152           <value>0.0</value>
153         </reference>
154         <output>
155           <property>/autopilot/internal/target-roll-deg</property>
156         </output>
157         <config>
158           <Kp>-3.0</Kp>
159           <Ki>0.0</Ki>
160                 <u_min>
161                         <property>instrumentation/afds/settings/bank-min</property>
162                 </u_min>
163                 <u_max>
164                         <property>instrumentation/afds/settings/bank-max</property>
165                 </u_max>
166         </config>
167    </pi-simple-controller>
168
169         <pi-simple-controller>
170                 <name>ROLLOUT</name>
171                 <debug>false</debug>
172                 <enable>
173                         <condition>
174                                 <and>
175                                         <property>/instrumentation/afds/inputs/AP</property>
176                                         <equals>
177                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
178                                                 <value>ROLLOUT</value>
179                                         </equals>
180                                         <greater-than>
181                                                 <property>velocities/groundspeed-kt</property>
182                                                 <value>5</value>
183                                         </greater-than>
184                                 </and>
185                         </condition>
186                 </enable>
187                 <input>
188                         <property>/autopilot/internal/nav1-heading-error-deg</property>
189                 </input>
190                 <reference>
191                         <value>0.0</value>
192                 </reference>
193                 <output>
194                         <property>/controls/flight/rudder</property>
195                 </output>
196                 <config>
197                         <Kp>-0.28</Kp>
198                         <Ki>0.0</Ki>
199                         <u_min>-5.0</u_min>
200                         <u_max>5.0</u_max>
201                 </config>
202         </pi-simple-controller>
203
204         <pid-controller>
205                 <name>Aileron Control</name>
206                 <debug>false</debug>
207                 <enable>
208                         <property>autopilot/locks/roll-engaged</property>
209                 </enable>
210                 <input>
211                         <property>/orientation/roll-deg</property>
212                 </input>
213                 <reference>
214                         <property>/autopilot/internal/target-roll-deg</property>
215                 </reference>
216                 <output>
217                         <property>/controls/flight/aileron-trim-filter</property>
218                 </output>
219                 <config>
220                         <Kp>0.08</Kp>
221                 <Ti>5</Ti>
222                 <Td>0.0</Td>
223                         <u_min>
224                                 <value>-0.5</value>
225                         </u_min>
226                         <u_max>
227                                 <value>0.5</value>
228                         </u_max>
229                 </config>
230         </pid-controller>
231
232         <filter>
233                 <name>Aileron control filter</name>
234                 <debug>false</debug>
235                 <type>noise-spike</type>
236                 <max-rate-of-change>
237                         <condition>
238                                 <greater-than>
239                                         <property>/instrumentation/airspeed-indicator/indicated-mach</property>
240                                         <value>0.85</value>
241                                 </greater-than>
242                         </condition>
243                         <value>0.6</value>
244                 </max-rate-of-change>
245                 <max-rate-of-change>
246                         <condition>
247                                 <greater-than>
248                                         <property>/instrumentation/airspeed-indicator/indicated-mach</property>
249                                         <value>0.666</value>
250                                 </greater-than>
251                         </condition>
252                         <value>0.7</value>
253                 </max-rate-of-change>
254                 <max-rate-of-change>
255                         <condition>
256                                 <greater-than>
257                                         <property>/instrumentation/airspeed-indicator/indicated-mach</property>
258                                         <value>0.5</value>
259                                 </greater-than>
260                         </condition>
261                         <value>0.8</value>
262                 </max-rate-of-change>
263                 <max-rate-of-change>
264                         <condition>
265                                 <greater-than>
266                                         <property>/instrumentation/airspeed-indicator/indicated-mach</property>
267                                         <value>0.333</value>
268                                 </greater-than>
269                         </condition>
270                         <value>0.9</value>
271                 </max-rate-of-change>
272                 <max-rate-of-change>1</max-rate-of-change>
273                 <feedback-if-disabled>true</feedback-if-disabled>
274                 <initialize-to>output</initialize-to>
275                 <enable>
276                         <honor-passive>true</honor-passive>
277                 </enable>
278                 <input>
279                         <property>/controls/flight/aileron-trim-filter</property>
280                 </input>
281                 <output>/controls/flight/aileron</output>
282         </filter>
283
284  <!-- =============================================================== -->
285  <!-- Pitch Axis Modes                                                -->
286  <!-- =============================================================== -->
287
288  <pi-simple-controller>
289         <name>TO/GA</name>
290         <debug>false</debug>
291         <enable>
292           <property>instrumentation/afds/ap-modes/pitch-mode</property>
293           <value>TO/GA</value>
294         </enable>
295         <input>
296           <property>instrumentation/altimeter/indicated-altitude-ft</property>
297         </input>
298         <reference>
299           <value>10000</value>
300         </reference>
301         <output>
302           <property>/autopilot/internal/target-climb-rate-fps</property>
303         </output>
304         <config>
305           <Kp>0.3</Kp>
306           <Ki>0.0</Ki>
307           <u_min>
308                 <value>-16.67</value>
309           </u_min>
310           <u_max>
311                 <value>33.33</value>
312           </u_max>
313         </config>
314    </pi-simple-controller>
315
316   <pid-controller>
317         <name>TO/GA 2</name>
318         <debug>false</debug>
319         <enable>
320           <property>instrumentation/afds/ap-modes/pitch-mode</property>
321           <value>TO/GA</value>
322         </enable>
323         <input>
324           <property>/velocities/vertical-speed-fps</property>
325         </input>
326         <reference>
327           <property>/autopilot/internal/target-climb-rate-fps</property>
328         </reference>
329         <output>
330           <property>/autopilot/internal/target-pitch-deg</property>
331         </output>
332         <config>
333           <Ts>0.05</Ts>
334           <Kp>0.1</Kp>
335           <beta>1.0</beta>
336           <alpha>0.1</alpha>
337           <gamma>0.0</gamma>
338           <Ti>10.0</Ti>
339           <Td>0.00001</Td>
340                 <u_min>
341                         <property>instrumentation/afds/settings/pitch-min</property>
342                 </u_min>
343                 <u_max>
344                         <value>8</value>
345                 </u_max>
346         </config>
347   </pid-controller>
348   
349         <filter>
350                 <name>Target spped local</name> 
351                 <type>gain</type>
352                 <gain>1.0</gain>
353                 <input>
354                         <property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
355                 </input>
356                 <output>
357                         <property>/autopilot/internal/current-speed-kt</property>
358                 </output>
359         </filter>
360
361         <filter>
362                 <name>Target speed filter</name>
363                 <debug>false</debug>
364                 <type>noise-spike</type>
365                 <max-rate-of-change>
366                   <condition>
367                         <and>
368                                 <or>
369                                         <equals>
370                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
371                                                 <value>FLCH SPD</value>
372                                         </equals>
373                                         <equals>
374                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
375                                                 <value>VNAV SPD</value>
376                                         </equals>
377                                 </or>
378                                 <not>
379                                         <property>/instrumentation/afds/inputs/ias-mach-selected</property>
380                                 </not>
381                         </and>
382                         </condition>
383                         <value>1.5</value>
384                 </max-rate-of-change>
385                 <max-rate-of-change>50</max-rate-of-change>
386                 <input>instrumentation/afds/ias-target-kt</input>
387                 <output>/autopilot/internal/ias-set-kt</output>
388         </filter>
389
390         <pid-controller>
391                 <name>Flight Level Change IAS</name>
392                 <debug>false</debug>
393                 <feedback-if-disabled>true</feedback-if-disabled>
394                 <initialize-to>output</initialize-to>
395                 <enable>
396                         <not>
397                                 <property>/instrumentation/afds/inputs/ias-mach-selected</property>
398                         </not>
399                 </enable>
400                 <input>
401                         <property>/autopilot/internal/current-speed-kt</property>
402                 </input>
403                 <reference>
404                         <property>/autopilot/internal/ias-set-kt</property>
405                 </reference>
406                 <output>
407                         <property>/autopilot/internal/flch-pitch-deg</property>
408                 </output>
409                 <config>
410                         <Kp>-0.25</Kp>
411                         <Ti>
412                                 <condition>
413                                         <greater-than>
414                                                 <property>/autopilot/settings/actual-target-altitude-ft</property>
415                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
416                                         </greater-than>
417                                 </condition>
418                                 <value>30.0</value>
419                         </Ti>
420                         <Ti>10.0</Ti>
421                         <Td>
422                                 <condition>
423                                         <greater-than>
424                                                 <property>/autopilot/settings/actual-target-altitude-ft</property>
425                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
426                                         </greater-than>
427                                 </condition>
428                                 <value>0.0018</value>
429                         </Td>
430                         <Td>0.000</Td>
431                         <u_min>
432                                 <condition>
433                                         <greater-than>
434                                                 <property>/autopilot/settings/actual-target-altitude-ft</property>
435                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
436                                         </greater-than>
437                                 </condition>
438                                 <value>1.0</value>
439                         </u_min>
440                         <u_min>
441                                 <value>-7.0</value>
442                         </u_min>
443                         <u_max>
444                                 <condition>
445                                         <greater-than>
446                                                 <property>/autopilot/settings/actual-target-altitude-ft</property>
447                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
448                                         </greater-than>
449                                 </condition>
450                                 <property>instrumentation/afds/settings/pitch-max</property>
451                         </u_max>
452                         <u_max>
453                                 <value>3.0</value>
454                         </u_max>
455                 </config>
456         </pid-controller>
457
458         <filter>
459                 <name>Target mach local</name> 
460                 <type>gain</type>
461                 <gain>1.0</gain>
462                 <input>
463                         <property>/instrumentation/airspeed-indicator/indicated-mach</property>
464                 </input>
465                 <output>
466                         <property>/autopilot/internal/current-mach</property>
467                 </output>
468         </filter>
469
470         <filter>
471                 <name>Target mach filter</name>
472                 <type>noise-spike</type>
473                 <max-rate-of-change>
474                   <condition>
475                         <and>
476                                 <or>
477                                         <equals>
478                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
479                                                 <value>FLCH SPD</value>
480                                         </equals>
481                                         <equals>
482                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
483                                                 <value>VNAV SPD</value>
484                                         </equals>
485                                 </or>
486                                 <property>/instrumentation/afds/inputs/ias-mach-selected</property>
487                         </and>
488                         </condition>
489                         <value>0.006</value>
490                 </max-rate-of-change>
491                 <max-rate-of-change>0.2</max-rate-of-change>
492                 <input>/autopilot/settings/target-speed-mach</input>
493                 <output>/autopilot/internal/mach-set</output>
494         </filter>
495   
496         <pid-controller>
497                 <name>Flight Level Change Mach</name>
498                 <debug>false</debug>
499         <feedback-if-disabled>true</feedback-if-disabled>
500         <initialize-to>output</initialize-to>
501                 <enable>
502                         <property>/instrumentation/afds/inputs/ias-mach-selected</property>
503                 </enable>
504                 <input>
505                         <property>/autopilot/internal/current-mach</property>
506                 </input>
507                 <reference>
508                         <prop>/autopilot/internal/mach-set</prop>
509                 </reference>
510                 <output>
511                         <property>/autopilot/internal/flch-pitch-deg</property>
512                 </output>
513                 <config>
514                         <Kp>-75.0</Kp>
515                         <Ti>10.0</Ti>
516                         <Td>0</Td>
517                         <u_min>
518                                 <value>-7.0</value>
519                         </u_min>
520                         <u_max>
521                                 <condition>
522                                         <greater-than>
523                                                 <property>/autopilot/settings/actual-target-altitude-ft</property>
524                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
525                                         </greater-than>
526                                 </condition>
527                                 <property>instrumentation/afds/settings/pitch-max</property>
528                         </u_max>
529                         <u_max>
530                                 <value>3.0</value>
531                         </u_max>
532                 </config>
533         </pid-controller>
534
535         <filter>
536                 <name>Target flch pitch</name> 
537                 <debug>false</debug>
538                 <type>gain</type>
539                 <gain>1.0</gain>
540                 <enable>
541                         <condition>
542                                 <or>
543                                         <equals>
544                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
545                                                 <value>FLCH SPD</value>
546                                         </equals>
547                                         <equals>
548                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
549                                                 <value>VNAV SPD</value>
550                                         </equals>
551                                 </or>
552                         </condition>
553                 </enable>
554                 <input>
555                         <property>/autopilot/internal/flch-pitch-deg</property>
556                 </input>
557                 <output>
558                         <property>/autopilot/internal/target-pitch-deg</property>
559                 </output>
560         </filter>
561                 
562   <pi-simple-controller>
563         <name>Altitude Stage 1</name>
564         <debug>false</debug>
565         <enable>
566           <condition>
567                  <equals>
568                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
569                         <value>ALT</value>
570                   </equals>
571          </condition>
572         </enable>
573         <input>
574           <property>instrumentation/altimeter/indicated-altitude-ft</property>
575         </input>
576         <reference>
577           <property>/autopilot/settings/actual-target-altitude-ft</property>
578         </reference>
579         <output>
580           <property>/autopilot/internal/target-climb-rate-fps</property>
581         </output>
582         <config>
583           <Kp>0.15</Kp>
584           <Ki>0.0</Ki>
585           <u_min>
586                 <value>-20.00</value>
587           </u_min>
588           <u_max>
589                 <value>20.00</value>
590           </u_max>
591         </config>
592   </pi-simple-controller>
593
594   <pid-controller>
595         <name>Altitude Hold (Altimeter based) Stage 2</name>
596         <debug>false</debug>
597         <enable>
598           <condition>
599                  <equals>
600                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
601                         <value>ALT</value>
602                   </equals>
603          </condition>
604         </enable>
605         <input>
606           <property>/velocities/vertical-speed-fps</property>
607         </input>
608         <reference>
609           <property>/autopilot/internal/target-climb-rate-fps</property>
610         </reference>
611         <output>
612           <property>/autopilot/internal/target-pitch-deg</property>
613         </output>
614         <config>
615                 <Kp>
616                         <condition>
617                                 <and>
618                                         <greater-than>
619                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
620                                                 <value>14000</value>
621                                         </greater-than>
622                                 </and>
623                         </condition>
624                         <value>0.1</value>
625                 </Kp>
626           <Kp>0.5</Kp>
627           <beta>1.0</beta>
628           <alpha>0.1</alpha>
629           <gamma>0.0</gamma>
630           <Ti>10.0</Ti>
631           <Td>0.005</Td>
632                 <u_min>
633                         <property>instrumentation/afds/settings/pitch-min</property>
634                 </u_min>
635                 <u_max>
636                         <property>instrumentation/afds/settings/pitch-max</property>
637                 </u_max>
638         </config>
639   </pid-controller>
640
641         <filter>
642                 <name>Current spped local</name> 
643                 <type>gain</type>
644                 <gain>1.0</gain>
645                 <input>
646                         <property>/instrumentation/airspeed-indicator/indicated-speed-kt</property>
647                 </input>
648                 <output>
649                         <property>/autopilot/internal/current-vnavspeed-kt</property>
650                 </output>
651         </filter>
652
653   <pi-simple-controller>
654         <name>VNAV 1</name>
655         <debug>false</debug>
656         <enable>
657           <property>instrumentation/afds/ap-modes/pitch-mode</property>
658           <value>VNAV ALT</value>
659         </enable>
660         <input>
661           <property>instrumentation/altimeter/indicated-altitude-ft</property>
662         </input>
663         <reference>
664           <property>/instrumentation/afds/settings/vnav-alt</property>
665         </reference>
666         <output>
667           <property>/autopilot/internal/target-climb-rate-fps</property>
668         </output>
669         <config>
670           <Kp>0.3</Kp>
671           <Ki>0.0</Ki>
672           <u_min>
673                 <value>-16.67</value>
674           </u_min>
675           <u_max>
676                 <value>33.33</value>
677           </u_max>
678         </config>
679   </pi-simple-controller>
680
681   <pid-controller>
682         <name>VNAV 2</name>
683         <debug>false</debug>
684         <enable>
685           <property>instrumentation/afds/ap-modes/pitch-mode</property>
686           <value>VNAV ALT</value>
687         </enable>
688         <input>
689           <property>/velocities/vertical-speed-fps</property>
690         </input>
691         <reference>
692           <property>/autopilot/internal/target-climb-rate-fps</property>
693         </reference>
694         <output>
695           <property>/autopilot/internal/target-pitch-deg</property>
696         </output>
697         <config>
698           <Kp>1</Kp>
699           <beta>1.0</beta>
700           <alpha>0.1</alpha>
701           <gamma>0.0</gamma>
702           <Ti>10.0</Ti>
703           <Td>0.00001</Td>
704                 <u_min>
705                         <property>instrumentation/afds/settings/pitch-min</property>
706                 </u_min>
707                 <u_max>
708                         <property>instrumentation/afds/settings/pitch-max</property>
709                 </u_max>
710         </config>
711   </pid-controller>
712
713         <pi-simple-controller>
714                 <name>VNAV PTH Stage 1</name>
715                 <debug>false</debug>
716                 <enable>
717                         <condition>
718                                 <equals>
719                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
720                                         <value>VNAV PTH</value>
721                                 </equals>
722                         </condition>
723                 </enable>
724                 <input>
725                         <property>instrumentation/altimeter/indicated-altitude-ft</property>
726                 </input>
727                 <reference>
728                         <property>/autopilot/settings/actual-target-altitude-ft</property>
729                 </reference>
730                 <output>
731                         <property>/autopilot/internal/target-climb-rate-fps</property>
732                 </output>
733                 <config>
734                         <Kp>0.15</Kp>
735                         <Ki>0.0</Ki>
736                         <u_min>
737                                 <value>-20.00</value>
738                         </u_min>
739                         <u_max>
740                                 <value>20.00</value>
741                         </u_max>
742                 </config>
743         </pi-simple-controller>
744
745         <pid-controller>
746                 <name>VNAV PTH level flight</name>
747                 <debug>false</debug>
748                 <enable>
749                         <condition>
750                                 <equals>
751                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
752                                         <value>VNAV PTH</value>
753                                 </equals>
754                         </condition>
755                 </enable>
756                 <input>
757                         <property>/velocities/vertical-speed-fps</property>
758                 </input>
759                 <reference>
760                         <property>/autopilot/internal/target-climb-rate-fps</property>
761                 </reference>
762                 <output>
763                         <property>/autopilot/internal/target-pitch-deg</property>
764                 </output>
765                 <config>
766                         <Kp>0.5</Kp>
767                         <beta>1.0</beta>
768                         <alpha>0.1</alpha>
769                         <gamma>0.0</gamma>
770                         <Ti>10.0</Ti>
771                         <Td>0.005</Td>
772                         <u_min>
773                                 <property>instrumentation/afds/settings/pitch-min</property>
774                         </u_min>
775                         <u_max>
776                                 <property>instrumentation/afds/settings/pitch-max</property>
777                         </u_max>
778                 </config>
779         </pid-controller>
780
781   <pid-controller>
782         <name>Glideslop Hold</name>
783         <debug>false</debug>
784         <enable>
785           <property>instrumentation/afds/ap-modes/pitch-mode</property>
786           <value>G/S</value>
787         </enable>
788         <input>
789           <property>/velocities/vertical-speed-fps</property>
790         </input>
791         <reference>
792           <property>/instrumentation/nav[0]/gs-rate-of-climb</property>
793         </reference>
794          <output>
795           <property>/autopilot/internal/target-pitch-deg</property>
796         </output>
797         <config>
798                 <Kp>0.45</Kp>
799                 <Td>0.0007</Td>
800                 <Ti>50.0</Ti>
801                 <u_min>
802                         <property>instrumentation/afds/settings/pitch-min</property>
803                 </u_min>
804                 <u_max>
805                         <property>instrumentation/afds/settings/pitch-max</property>
806                 </u_max>
807         </config>
808   </pid-controller>
809
810   <pid-controller>
811         <name>VS</name>
812         <debug>false</debug>
813         <enable>
814           <property>instrumentation/afds/ap-modes/pitch-mode</property>
815           <value>V/S</value>
816         </enable>
817         <input>
818           <property>/velocities/vertical-speed-fps</property>
819         </input>
820         <reference>
821           <property>/autopilot/settings/vertical-speed-fpm</property>
822           <scale>0.01666666</scale>
823         </reference>
824         <output>
825           <property>/autopilot/internal/target-pitch-deg</property>
826         </output>
827         <config>
828           <Ts>0.05</Ts>
829           <Kp>0.15</Kp>
830           <beta>1.0</beta>
831           <alpha>0.1</alpha>
832           <gamma>0.0</gamma>
833           <Ti>10.0</Ti>
834           <Td>0.00001</Td>
835                 <u_min>
836                         <property>instrumentation/afds/settings/pitch-min</property>
837                 </u_min>
838                 <u_max>
839                         <property>instrumentation/afds/settings/pitch-max</property>
840                 </u_max>
841         </config>
842   </pid-controller>
843
844         <filter>
845                 <name>Flare end</name>
846                 <debug>false</debug>
847                 <type>gain</type>
848                 <gain>1.0</gain>
849                 <enable>
850                         <condition>
851                                 <and>
852                                         <equals>
853                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
854                                                 <value>FLARE</value>
855                                         </equals>
856                                         <less-than>
857                                                 <property>position/gear-agl-ft</property>
858                                                 <value>0.1</value>
859                                         </less-than>
860                                 </and>
861                         </condition>
862                 </enable>
863                 <input>
864                         <value>0</value>
865                 </input>
866                 <output>
867                         <property>/autopilot/internal/target-pitch-deg</property>
868                 </output>
869         </filter>
870
871   <pid-controller>
872         <name>Flare</name>
873         <debug>false</debug>
874         <enable>
875                         <condition>
876                                 <and>
877                                         <equals>
878                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
879                                                 <value>FLARE</value>
880                                         </equals>
881                                         <greater-than>
882                                                 <property>position/gear-agl-ft</property>
883                                                 <value>0.1</value>
884                                         </greater-than>
885                                 </and>
886                         </condition>
887         </enable>
888         <input>
889           <property>/velocities/vertical-speed-fps</property>
890         </input>
891         <reference>
892                 <property>/autopilot/settings/flare-speed-fps</property>
893         </reference>
894         <output>
895           <property>/autopilot/internal/target-pitch-deg</property>
896         </output>
897         <config>
898           <Ts>0.05</Ts>
899           <Kp>0.52</Kp>
900           <beta>1.0</beta>
901           <alpha>0.1</alpha>
902           <gamma>0.0</gamma>
903           <Ti>10.0</Ti>
904           <Td>0.001</Td>
905                 <u_min>
906                         <property>instrumentation/afds/settings/pitch-min</property>
907                 </u_min>
908                 <u_max>
909                         <property>instrumentation/afds/settings/pitch-max</property>
910                 </u_max>
911         </config>
912   </pid-controller>
913
914   <pid-controller>
915         <name>Flight Path Hold</name>
916         <debug>false</debug>
917         <enable>
918           <property>instrumentation/afds/ap-modes/pitch-mode</property>
919           <value>FPA</value>
920         </enable>
921         <input>
922           <property>autopilot/internal/fpa</property>
923         </input>
924         <reference>
925           <property>/autopilot/settings/flight-path-angle</property>
926         </reference>
927         <output>
928           <property>/autopilot/internal/target-pitch-deg</property>
929         </output>
930         <config>
931           <Ts>0.05</Ts>
932           <Kp>0.15</Kp>
933           <beta>1.0</beta>
934           <alpha>0.1</alpha>
935           <gamma>0.0</gamma>
936           <Ti>1.0</Ti>
937           <Td>0.0</Td>
938                 <u_min>
939                         <property>instrumentation/afds/settings/pitch-min</property>
940                 </u_min>
941                 <u_max>
942                         <property>instrumentation/afds/settings/pitch-max</property>
943                 </u_max>
944         </config>
945   </pid-controller>
946
947         <pid-controller>
948                 <name>Elevator Control</name>
949                 <debug>false</debug>
950                 <enable>
951                         <property>autopilot/locks/pitch-engaged</property>
952                         <honor-passive>true</honor-passive>
953                 </enable>
954                 <input>
955                         <property>/orientation/pitch-deg</property>
956                 </input>
957                 <reference>
958                         <property>/autopilot/internal/target-pitch-deg</property>
959                 </reference>
960                 <output>
961                         <property>/controls/flight/elevator-trim-filter</property>
962                 </output>
963                 <config>
964                         <Kp>-0.024</Kp>
965                         <Ti>2.0</Ti>
966                         <Td>0.0</Td>
967                         <u_min>
968                                 <value>-0.8</value>
969                         </u_min>
970                         <u_max>
971                                 <value>0.8</value>
972                         </u_max>
973                 </config>
974         </pid-controller>
975
976         <filter>
977                 <name>Elevator control filter</name>
978                 <debug>false</debug>
979                 <type>noise-spike</type>
980                 <max-rate-of-change>0.2</max-rate-of-change>
981                 <feedback-if-disabled>true</feedback-if-disabled>
982                 <initialize-to>output</initialize-to>
983                 <enable>
984                         <honor-passive>true</honor-passive>
985                 </enable>
986                 <input>
987                         <property>/controls/flight/elevator-trim-filter</property>
988                 </input>
989                 <output>/controls/flight/elevator-trim</output>
990         </filter>
991
992 </PropertyList>