777:Fix of Issue#1290 AP rudder control seems to be wrong sense
[fg:toms-fgdata.git] / Aircraft / 777 / Systems / 777-autopilot.xml
1 <?xml version="1.0"?>
2
3
4 <PropertyList>
5
6         <!-- =============================================================== -->
7         <!--                        Lateral Modes                            -->
8         <!-- =============================================================== -->
9
10         <pid-controller>
11                 <name>TO/GA1</name>
12                 <debug>false</debug>
13                 <enable>
14                         <property>instrumentation/afds/ap-modes/roll-mode</property>
15                         <value>TO/GA</value>
16                 </enable>
17                 <input>
18                         <property>orientation/roll-deg</property>
19                 </input>
20                 <reference>
21                         <value>0.0</value>
22                 </reference>
23                 <output>
24                         <property>autopilot/internal/target-roll-deg</property>
25                 </output>
26                 <config>
27                         <Ts>0.05</Ts>
28                         <Kp>-1.0</Kp>
29                         <beta>1.0</beta>
30                         <alpha>0.1</alpha>
31                         <gamma>0.0</gamma>
32                         <Ti>10.0</Ti>
33                         <Td>0.0</Td>
34                         <u_min>
35                                 <property>instrumentation/afds/settings/bank-min</property>
36                         </u_min>
37                         <u_max>
38                                 <property>instrumentation/afds/settings/bank-max</property>
39                         </u_max>
40                 </config>
41         </pid-controller>
42
43         <pi-simple-controller>
44                 <name>HDG HOLD</name>
45                 <debug>false</debug>
46                 <enable>
47                         <condition>
48                                 <or>
49                                         <equals>
50                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
51                                                 <value>HDG SEL</value>
52                                         </equals>
53                                         <equals>
54                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
55                                                 <value>HDG HOLD</value>
56                                         </equals>
57                                 </or>
58                         </condition>
59                 </enable>
60                 <input>
61                         <property>autopilot/internal/fdm-heading-bug-error-deg</property>
62                 </input>
63                 <reference>
64                         <value>0</value>
65                 </reference>
66                 <output>
67                         <property>autopilot/internal/target-roll-deg</property>
68                 </output>
69                 <config>
70                         <Kp>-1.75</Kp>
71                         <Ki>0.00</Ki>
72                         <u_min>
73                                 <property>instrumentation/afds/settings/bank-min</property>
74                         </u_min>
75                         <u_max>
76                                 <property>instrumentation/afds/settings/bank-max</property>
77                         </u_max>
78                 </config>
79         </pi-simple-controller>
80
81         <filter>
82                 <name>LNAV course error filter</name>
83                 <debug>false</debug>
84                 <type>noise-spike</type>
85                 <enable>
86                         <property>instrumentation/afds/ap-modes/roll-mode</property>
87                         <value>LNAV</value>
88                 </enable>
89                 <max-rate-of-change>0.2</max-rate-of-change>
90                 <initialize-to>output</initialize-to>
91                 <input>
92                         <property>autopilot/internal/course-error</property>
93                 </input>
94                 <output>autopilot/internal/course-error-filtered</output>
95         </filter>
96
97         <filter>
98                 <name>LNAV waypoint error computer/normalizer</name>
99                 <debug>false</debug>
100                 <enable>
101                         <property>autopilot/route-manager/active</property>
102                 </enable>
103                 <type>gain</type>
104                 <input>
105                         <property>autopilot/internal/course-deg</property>
106                         <offset>
107                                 <property>orientation/heading-deg</property>
108                                 <scale>-1.0</scale>
109                         </offset>
110                 </input>
111                 <output>autopilot/internal/waypoint-bearing-error-deg</output>
112                 <period>
113                         <min>-180</min>
114                         <max>180</max>
115                 </period>
116                 <gain>1.0</gain>
117         </filter>
118
119         <filter>
120                 <name>LNAV course error to waypoint error computer/normalizer </name>
121                 <debug>false</debug>
122                 <enable>
123                         <property>instrumentation/afds/ap-modes/roll-mode</property>
124                         <value>LNAV</value>
125                 </enable>
126                 <type>gain</type>
127                 <input>
128                         <property>autopilot/internal/waypoint-bearing-error-deg</property>
129                         <offset>
130                                 <property>autopilot/internal/course-error-filtered</property>
131                                 <scale>1.0</scale>
132                         </offset>
133                 </input>
134                 <output>autopilot/internal/course-error-deg</output>
135                 <period>
136                         <min>-180</min>
137                         <max>180</max>
138                 </period>
139                 <gain>1.0</gain>
140         </filter>
141
142         <pi-simple-controller>
143                 <name>LNAV1</name>
144                 <debug>false</debug>
145                 <enable>
146                         <property>instrumentation/afds/ap-modes/roll-mode</property>
147                         <value>LNAV</value>
148                 </enable>
149                 <input>
150                         <property>autopilot/internal/course-error-deg</property>
151                 </input>
152                 <reference>
153                         <value>0.0</value>
154                 </reference>
155                 <output>
156                         <property>autopilot/internal/target-roll-deg</property>
157                 </output>
158                 <config>
159                         <Kp>-1.75</Kp>
160                         <Ki>0.0</Ki>
161                         <u_min>
162                         <property>instrumentation/afds/settings/bank-min</property>
163                         </u_min>
164                         <u_max>
165                         <property>instrumentation/afds/settings/bank-max</property>
166                         </u_max>
167                 </config>
168         </pi-simple-controller>
169
170         <pi-simple-controller>
171                 <name>LOC1</name>
172                 <debug>false</debug>
173                 <enable>
174                         <property>instrumentation/afds/ap-modes/roll-mode</property>
175                         <value>LOC</value>
176                 </enable>
177                 <input>
178                         <property>autopilot/internal/nav1-heading-error-deg</property>
179                 </input>
180                 <reference>
181                         <value>0.0</value>
182                 </reference>
183                 <output>
184                         <property>autopilot/internal/target-roll-deg</property>
185                 </output>
186                 <config>
187                         <Kp>-3.0</Kp>
188                         <Ki>0.0</Ki>
189                         <u_min>
190                                 <property>instrumentation/afds/settings/bank-min</property>
191                         </u_min>
192                         <u_max>
193                                 <property>instrumentation/afds/settings/bank-max</property>
194                         </u_max>
195                 </config>
196         </pi-simple-controller>
197
198         <pi-simple-controller>
199                 <name>ROLLOUT-rudder-air</name>
200                 <debug>false</debug>
201                 <enable>
202                         <condition>
203                                 <and>
204                                         <property>instrumentation/afds/inputs/AP</property>
205                                         <equals>
206                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
207                                                 <value>ROLLOUT</value>
208                                         </equals>
209                                         <not><property>gear/gear[0]/wow</property></not>
210                                 </and>
211                         </condition>
212                 </enable>
213                 <input>
214                         <property>orientation/heading-deg</property>
215                 </input>
216                 <reference>
217                         <property>instrumentation/nav/heading-deg</property>
218                 </reference>
219                 <output>
220                         <property>controls/flight/rudder</property>
221                 </output>
222                 <config>
223                         <Kp>0.03</Kp>
224                         <Ki>0.01</Ki>
225                         <u_min>-5.0</u_min>
226                         <u_max>5.0</u_max>
227                 </config>
228         </pi-simple-controller>
229
230         <pi-simple-controller>
231                 <name>ROLLOUT-rudder-gnd</name>
232                 <debug>false</debug>
233                 <enable>
234                         <condition>
235                                 <and>
236                                         <property>instrumentation/afds/inputs/AP</property>
237                                         <equals>
238                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
239                                                 <value>ROLLOUT</value>
240                                         </equals>
241                                         <property>gear/gear[0]/wow</property>
242                                 </and>
243                         </condition>
244                 </enable>
245                 <input>
246                         <property>autopilot/internal/nav1-heading-error-deg</property>
247                 </input>
248                 <reference>
249                         <value>0.0</value>
250                 </reference>
251                 <output>
252                         <property>controls/flight/rudder</property>
253                 </output>
254                 <config>
255                         <Kp>-0.10</Kp>
256                         <Ki>0.0</Ki>
257                         <u_min>-5.0</u_min>
258                         <u_max>5.0</u_max>
259                 </config>
260         </pi-simple-controller>
261
262         <pi-simple-controller>
263                 <name>ROLLOUT-aileron</name>
264                 <debug>false</debug>
265                 <enable>
266                         <condition>
267                                 <and>
268                                         <property>instrumentation/afds/inputs/AP</property>
269                                         <equals>
270                                                 <property>instrumentation/afds/ap-modes/roll-mode</property>
271                                                 <value>ROLLOUT</value>
272                                         </equals>
273                                 </and>
274                         </condition>
275                 </enable>
276                 <input>
277                         <property>orientation/roll-deg</property>
278                 </input>
279                 <reference>
280                         <value>/orientation/side-slip-deg</value>
281                         <scale>-1.0</scale> <!-- change in side-slip sign as reported by yasim, see bug #901 -->
282                 </reference>
283                 <output>
284                         <property>autopilot/internal/target-roll-deg</property>
285                 </output>
286                 <config>
287                         <Kp>5.0</Kp>
288                         <Ki>0.0</Ki>
289                         <u_min>
290                                 <property>instrumentation/afds/settings/bank-min</property>
291                         </u_min>
292                         <u_max>
293                                 <property>instrumentation/afds/settings/bank-max</property>
294                         </u_max>
295                 </config>
296         </pi-simple-controller>
297
298         <pi-simple-controller>
299                 <name>Aileron Control</name>
300                 <debug>false</debug>
301                 <enable>
302                         <property>instrumentation/afds/inputs/AP</property>
303                 </enable>
304                 <input>
305                         <property>orientation/roll-deg</property>
306                 </input>
307                 <reference>
308                         <property>autopilot/internal/target-roll-deg</property>
309                 </reference>
310                 <output>
311                         <property>controls/flight/aileron</property>
312                 </output>
313                 <config>
314                         <Kp>
315                                 <condition>
316                                         <greater-than>
317                                                 <property>instrumentation/airspeed-indicator/indicated-mach</property>
318                                                 <value>0.666</value>
319                                         </greater-than>
320                                 </condition>
321                                 <value>0.01</value>
322                         </Kp>
323                         <Kp>0.02</Kp>
324                         <Ti>10</Ti>
325                         <Td>0.0</Td>
326                         <u_min>
327                                 <value>-1.0</value>
328                         </u_min>
329                         <u_max>
330                                 <value>1.0</value>
331                         </u_max>
332                 </config>
333         </pi-simple-controller>
334
335         <pi-simple-controller>
336                 <name>Rudder Control</name>
337                 <debug>false</debug>
338                 <enable>
339                         <condition>
340                                 <and>
341                                         <property>instrumentation/afds/inputs/AP</property>
342                                         <not><property>gear/gear[1]/wow</property></not>
343                                         <not>
344                                                 <equals>
345                                                         <property>instrumentation/afds/ap-modes/roll-mode</property>
346                                                         <value>ROLLOUT</value>
347                                                 </equals>
348                                         </not>
349                                 </and>
350                         </condition>
351                 </enable>
352                 <input>
353                         <property>instrumentation/slip-skid-ball/indicated-slip-skid</property>
354                 </input>
355                 <reference>
356                         <value>0.0</value>
357                 </reference>
358                 <output>
359                         <property>controls/flight/rudder</property>
360                 </output>
361                 <config>
362                         <Kp>0.15</Kp>
363                         <Ki>0.0</Ki>
364                         <u_min>-0.5</u_min>
365                         <u_max>0.5</u_max>
366                 </config>
367         </pi-simple-controller>
368
369         <!-- =============================================================== -->
370         <!-- Pitch Axis Modes                                                -->
371         <!-- =============================================================== -->
372
373         <pi-simple-controller>
374                 <name>TO/GA</name>
375                 <debug>false</debug>
376                 <enable>
377                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
378                         <value>TO/GA</value>
379                 </enable>
380                 <input>
381                         <property>instrumentation/altimeter/indicated-altitude-ft</property>
382                 </input>
383                 <reference>
384                         <value>10000</value>
385                 </reference>
386                 <output>
387                         <property>autopilot/internal/target-climb-rate-fps</property>
388                 </output>
389                 <config>
390                         <Kp>0.3</Kp>
391                         <Ki>0.0</Ki>
392                         <u_min>
393                         <value>-16.67</value>
394                         </u_min>
395                         <u_max>
396                         <value>33.33</value>
397                         </u_max>
398                 </config>
399         </pi-simple-controller>
400
401         <pid-controller>
402                 <name>TO/GA 2</name>
403                 <debug>false</debug>
404                 <enable>
405                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
406                         <value>TO/GA</value>
407                 </enable>
408                 <input>
409                         <property>velocities/vertical-speed-fps</property>
410                 </input>
411                 <reference>
412                         <property>autopilot/internal/target-climb-rate-fps</property>
413                 </reference>
414                 <output>
415                         <property>autopilot/internal/target-pitch-deg</property>
416                 </output>
417                 <config>
418                         <Ts>0.05</Ts>
419                         <Kp>0.1</Kp>
420                         <beta>1.0</beta>
421                         <alpha>0.1</alpha>
422                         <gamma>0.0</gamma>
423                         <Ti>10.0</Ti>
424                         <Td>0.00001</Td>
425                         <u_min>
426                                 <property>instrumentation/afds/settings/pitch-min</property>
427                         </u_min>
428                         <u_max>
429                                 <property>instrumentation/afds/settings/pitch-max</property>
430                         </u_max>
431                 </config>
432         </pid-controller>
433
434         <filter>
435                 <name>Target spped local</name> 
436                 <type>gain</type>
437                 <gain>1.0</gain>
438                 <input>
439                         <property>instrumentation/airspeed-indicator/indicated-speed-kt</property>
440                 </input>
441                 <output>
442                         <property>autopilot/internal/current-speed-kt</property>
443                 </output>
444         </filter>
445
446         <filter>
447                 <name>Target speed filter</name>
448                 <debug>false</debug>
449                 <type>noise-spike</type>
450                 <max-rate-of-change>
451                         <value>1.5</value>
452                 </max-rate-of-change>
453                 <input>instrumentation/afds/ias-target-kt</input>
454                 <output>/autopilot/internal/ias-set-kt</output>
455         </filter>
456
457         <pid-controller>
458                 <name>Flight Level Change IAS</name>
459                 <debug>false</debug>
460                 <initialize-to>output</initialize-to>
461                 <enable>
462                         <condition>
463                         <and>
464                                 <or>
465                                         <equals>
466                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
467                                                 <value>FLCH SPD</value>
468                                         </equals>
469                                         <equals>
470                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
471                                                 <value>VNAV SPD</value>
472                                         </equals>
473                                         <and>
474                                                 <equals>
475                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
476                                                         <value>VNAV PTH</value>
477                                                 </equals>
478                                                 <equals>
479                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
480                                                         <value>2</value>
481                                                 </equals>
482                                         </and>
483                                 </or>
484                                 <not>
485                                         <property>instrumentation/afds/inputs/ias-mach-selected</property>
486                                 </not>
487                         </and>
488                         </condition>
489                 </enable>
490                 <input>
491                         <property>autopilot/internal/current-speed-kt</property>
492                 </input>
493                 <reference>
494                         <property>autopilot/internal/ias-set-kt</property>
495                 </reference>
496                 <output>
497                         <property>autopilot/internal/flch-pitch-deg</property>
498                 </output>
499                 <config>
500                         <Kp>-0.25</Kp>
501                         <Ti>
502                                 <condition>
503                                         <greater-than>
504                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
505                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
506                                         </greater-than>
507                                 </condition>
508                                 <value>30.0</value>
509                         </Ti>
510                         <Ti>10.0</Ti>
511                         <Td>
512                                 <condition>
513                                         <greater-than>
514                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
515                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
516                                         </greater-than>
517                                 </condition>
518                                 <value>0.0018</value>
519                         </Td>
520                         <Td>0.000</Td>
521                         <u_min>
522                                 <condition>
523                                         <greater-than>
524                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
525                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
526                                         </greater-than>
527                                 </condition>
528                                 <value>0</value>
529                         </u_min>
530                         <u_min>
531                                 <value>-7.0</value>
532                         </u_min>
533                         <u_max>
534                                 <condition>
535                                         <greater-than>
536                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
537                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
538                                         </greater-than>
539                                 </condition>
540                                 <property>instrumentation/afds/settings/pitch-max</property>
541                         </u_max>
542                         <u_max>
543                                 <condition>
544                                         <greater-than>
545                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
546                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
547                                         </greater-than>
548                                 </condition>
549                                 <property>autopilot/internal/current-pitch-deg</property>
550                         </u_max>
551                 </config>
552         </pid-controller>
553
554         <filter>
555                 <name>Target mach local</name> 
556                 <type>gain</type>
557                 <gain>1.0</gain>
558                 <input>
559                         <property>instrumentation/airspeed-indicator/indicated-mach</property>
560                 </input>
561                 <output>
562                         <property>autopilot/internal/current-mach</property>
563                 </output>
564         </filter>
565
566         <filter>
567                 <name>Target mach filter</name>
568                 <type>noise-spike</type>
569                 <max-rate-of-change>
570                         <value>0.006</value>
571                 </max-rate-of-change>
572                 <input>/autopilot/settings/target-speed-mach</input>
573                 <output>/autopilot/internal/mach-set</output>
574         </filter>
575
576         <pid-controller>
577                 <name>Flight Level Change Mach</name>
578                 <debug>false</debug>
579                 <initialize-to>output</initialize-to>
580                 <enable>
581                 <condition>
582                         <and>
583                                 <or>
584                                         <equals>
585                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
586                                                 <value>FLCH SPD</value>
587                                         </equals>
588                                         <equals>
589                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
590                                                 <value>VNAV SPD</value>
591                                         </equals>
592                                         <and>
593                                                 <equals>
594                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
595                                                         <value>VNAV PTH</value>
596                                                 </equals>
597                                                 <equals>
598                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
599                                                         <value>2</value>
600                                                 </equals>
601                                         </and>
602                                 </or>
603                                 <property>instrumentation/afds/inputs/ias-mach-selected</property>
604                         </and>
605                         </condition>
606                 </enable>
607                 <input>
608                         <property>autopilot/internal/current-mach</property>
609                 </input>
610                 <reference>
611                         <prop>/autopilot/internal/mach-set</prop>
612                 </reference>
613                 <output>
614                         <property>autopilot/internal/flch-pitch-deg</property>
615                 </output>
616                 <config>
617                         <Kp>-75.0</Kp>
618                         <Ti>10.0</Ti>
619                         <Td>0</Td>
620                         <u_min>
621                                 <condition>
622                                         <greater-than>
623                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
624                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
625                                         </greater-than>
626                                 </condition>
627                                 <value>0</value>
628                         </u_min>
629                         <u_min>
630                                 <value>-7.0</value>
631                         </u_min>
632                         <u_max>
633                                 <condition>
634                                         <greater-than>
635                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
636                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
637                                         </greater-than>
638                                 </condition>
639                                 <property>instrumentation/afds/settings/pitch-max</property>
640                         </u_max>
641                         <u_max>
642                                 <condition>
643                                         <greater-than>
644                                                 <property>instrumentation/altimeter/indicated-altitude-ft</property>
645                                                 <property>autopilot/settings/actual-target-altitude-ft</property>
646                                         </greater-than>
647                                 </condition>
648                                 <property>autopilot/internal/current-pitch-deg</property>
649                         </u_max>
650                 </config>
651         </pid-controller>
652
653         <filter>
654                 <name>Target flch pitch</name> 
655                 <debug>false</debug>
656                 <type>gain</type>
657                 <gain>1.0</gain>
658                 <enable>
659                         <condition>
660                                 <or>
661                                         <equals>
662                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
663                                                 <value>FLCH SPD</value>
664                                         </equals>
665                                         <equals>
666                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
667                                                 <value>VNAV SPD</value>
668                                         </equals>
669                                         <and>
670                                                 <equals>
671                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
672                                                         <value>VNAV PTH</value>
673                                                 </equals>
674                                                 <equals>
675                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
676                                                         <value>2</value>
677                                                 </equals>
678                                         </and>
679                                 </or>
680                         </condition>
681                 </enable>
682                 <input>
683                         <property>autopilot/internal/flch-pitch-deg</property>
684                 </input>
685                 <output>
686                         <property>autopilot/internal/target-pitch-deg</property>
687                 </output>
688                 <config>
689                         <u_min>
690                                 <property>instrumentation/afds/settings/pitch-min</property>
691                         </u_min>
692                         <u_max>
693                                 <property>instrumentation/afds/settings/pitch-max</property>
694                         </u_max>
695                 </config>
696         </filter>
697                 
698         <pi-simple-controller>
699                 <name>Altitude Stage 1</name>
700                 <debug>false</debug>
701                 <enable>
702                         <condition>
703                                 <or>
704                                         <equals>
705                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
706                                                 <value>ALT</value>
707                                         </equals>
708                                         <and>
709                                                 <equals>
710                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
711                                                         <value>V/S</value>
712                                                 </equals>
713                                                 <equals>
714                                                         <property>autopilot/settings/vertical-speed-fpm</property>
715                                                         <value>0</value>
716                                                 </equals>
717                                         </and>
718                                         <and>
719                                                 <equals>
720                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
721                                                         <value>VNAV PTH</value>
722                                                 </equals>
723                                                 <equals>
724                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
725                                                         <value>0</value>
726                                                 </equals>
727                                         </and>
728                                         <equals>
729                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
730                                                 <value>VNAV ALT</value>
731                                         </equals>
732                                 </or>
733                         </condition>
734                 </enable>
735                 <input>
736                         <property>instrumentation/altimeter/indicated-altitude-ft</property>
737                 </input>
738                 <reference>
739                         <property>autopilot/settings/actual-target-altitude-ft</property>
740                 </reference>
741                 <output>
742                         <property>autopilot/internal/target-climb-rate-fps</property>
743                 </output>
744                 <config>
745                         <Kp>0.15</Kp>
746                         <Ki>0.01</Ki>
747                         <u_min>
748                         <value>-20.00</value>
749                         </u_min>
750                         <u_max>
751                         <value>20.00</value>
752                         </u_max>
753                 </config>
754         </pi-simple-controller>
755
756         <pid-controller>
757                 <name>Altitude Hold (Altimeter based) Stage 2</name>
758                 <debug>false</debug>
759                 <enable>
760                         <condition>
761                                 <or>
762                                         <equals>
763                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
764                                                 <value>ALT</value>
765                                         </equals>
766                                         <and>
767                                                 <equals>
768                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
769                                                         <value>V/S</value>
770                                                 </equals>
771                                                 <equals>
772                                                         <property>autopilot/settings/vertical-speed-fpm</property>
773                                                         <value>0</value>
774                                                 </equals>
775                                         </and>
776                                         <and>
777                                                 <equals>
778                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
779                                                         <value>VNAV PTH</value>
780                                                 </equals>
781                                                 <equals>
782                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
783                                                         <value>0</value>
784                                                 </equals>
785                                         </and>
786                                         <equals>
787                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
788                                                 <value>VNAV ALT</value>
789                                         </equals>
790                                 </or>
791                         </condition>
792                 </enable>
793                 <input>
794                         <property>velocities/vertical-speed-fps</property>
795                 </input>
796                 <reference>
797                         <property>autopilot/internal/target-climb-rate-fps</property>
798                 </reference>
799                 <output>
800                         <property>autopilot/internal/target-pitch-deg</property>
801                 </output>
802                 <config>
803                 <Kp>
804                         <condition>
805                                 <greater-than>
806                                         <property>instrumentation/altimeter/indicated-altitude-ft</property>
807                                         <value>26000</value>
808                                 </greater-than>
809                         </condition>
810                         <value>0.1</value>
811                 </Kp>
812                 <Kp>
813                         <condition>
814                                 <greater-than>
815                                         <property>instrumentation/altimeter/indicated-altitude-ft</property>
816                                         <value>14000</value>
817                                 </greater-than>
818                         </condition>
819                         <value>0.2</value>
820                 </Kp>
821                         <Kp>0.5</Kp>
822                         <beta>1.0</beta>
823                         <alpha>0.1</alpha>
824                         <gamma>0.0</gamma>
825                         <Ti>10.0</Ti>
826                         <Td>0.005</Td>
827                         <u_min>
828                                 <property>instrumentation/afds/settings/pitch-min</property>
829                         </u_min>
830                         <u_max>
831                                 <property>instrumentation/afds/settings/pitch-max</property>
832                         </u_max>
833                 </config>
834         </pid-controller>
835
836         <filter>
837                 <name>Current spped local</name> 
838                 <type>gain</type>
839                 <gain>1.0</gain>
840                 <input>
841                         <property>instrumentation/airspeed-indicator/indicated-speed-kt</property>
842                 </input>
843                 <output>
844                         <property>autopilot/internal/current-vnavspeed-kt</property>
845                 </output>
846         </filter>
847
848         <filter>
849                 <name>Current GSVspped local</name> 
850                 <debug>false</debug>
851                 <type>gain</type>
852                 <gain>1.0</gain>
853                 <enable>
854                         <condition>
855                                 <greater-than>
856                                         <property>position/gear-agl-ft</property>
857                                         <value>150.0</value>
858                                 </greater-than>
859                         </condition>
860                 </enable>
861                 <input>
862                         <property>instrumentation/nav[0]/gs-rate-of-climb</property>
863                 </input>
864                 <output>
865                         <property>autopilot/internal/current-gs-rate-of-climb</property>
866                 </output>
867         </filter>
868
869         <pid-controller>
870                 <name>Glideslop Hold</name>
871                 <debug>false</debug>
872                 <enable>
873                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
874                         <value>G/S</value>
875                 </enable>
876                 <input>
877                         <property>velocities/vertical-speed-fps</property>
878                 </input>
879                 <reference>
880                         <property>autopilot/internal/current-gs-rate-of-climb</property>
881                 </reference>
882                 <output>
883                         <property>autopilot/internal/target-pitch-deg</property>
884                 </output>
885                 <config>
886                         <Kp>0.45</Kp>
887                         <Td>0.0007</Td>
888                         <Ti>50.0</Ti>
889                         <u_min>
890                                 <property>instrumentation/afds/settings/pitch-min</property>
891                         </u_min>
892                         <u_max>
893                                 <property>instrumentation/afds/settings/pitch-max</property>
894                         </u_max>
895                 </config>
896         </pid-controller>
897
898         <pid-controller>
899                 <name>VS</name>
900                 <debug>false</debug>
901                 <enable>
902                         <condition>
903                                 <or>
904                                         <and>
905                                                 <equals>
906                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
907                                                         <value>V/S</value>
908                                                 </equals>
909                                                 <not>
910                                                         <equals>
911                                                                 <property>autopilot/settings/vertical-speed-fpm</property>
912                                                                 <value>0</value>
913                                                         </equals>
914                                                 </not>
915                                         </and>
916                                         <and>
917                                                 <equals>
918                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
919                                                         <value>VNAV PTH</value>
920                                                 </equals>
921                                                 <equals>
922                                                         <property>instrumentation/afds/inputs/vnav-path-mode</property>
923                                                         <value>1</value>
924                                                 </equals>
925                                         </and>
926                                 </or>
927                         </condition>
928                 </enable>
929                 <input>
930                         <property>velocities/vertical-speed-fps</property>
931                 </input>
932                 <reference>
933                         <property>autopilot/settings/vertical-speed-fpm</property>
934                         <scale>0.01666666</scale>
935                 </reference>
936                 <output>
937                         <property>autopilot/internal/target-pitch-deg</property>
938                 </output>
939                 <config>
940                         <Ts>0.05</Ts>
941                         <Kp>0.15</Kp>
942                         <beta>1.0</beta>
943                         <alpha>0.1</alpha>
944                         <gamma>0.0</gamma>
945                         <Ti>10.0</Ti>
946                         <Td>0.00001</Td>
947                         <u_min>
948                                 <property>instrumentation/afds/settings/pitch-min</property>
949                         </u_min>
950                         <u_max>
951                                 <property>instrumentation/afds/settings/pitch-max</property>
952                         </u_max>
953                 </config>
954         </pid-controller>
955
956         <filter>
957                 <name>Flare end</name>
958                 <debug>false</debug>
959                 <type>gain</type>
960                 <gain>1.0</gain>
961                 <enable>
962                         <condition>
963                                 <and>
964                                         <equals>
965                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
966                                                 <value>FLARE</value>
967                                         </equals>
968                                         <less-than>
969                                                 <property>position/gear-agl-ft</property>
970                                                 <value>0.1</value>
971                                         </less-than>
972                                 </and>
973                         </condition>
974                 </enable>
975                 <input>
976                         <value>-3.0</value>
977                 </input>
978                 <output>
979                         <property>autopilot/internal/target-pitch-deg</property>
980                 </output>
981         </filter>
982
983         <pid-controller>
984                 <name>Flare</name>
985                 <debug>false</debug>
986                 <enable>
987                                 <condition>
988                                         <and>
989                                                 <equals>
990                                                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
991                                                         <value>FLARE</value>
992                                                 </equals>
993                                                 <greater-than>
994                                                         <property>position/gear-agl-ft</property>
995                                                         <value>0.1</value>
996                                                 </greater-than>
997                                         </and>
998                                 </condition>
999                 </enable>
1000                 <input>
1001                         <property>velocities/vertical-speed-fps</property>
1002                 </input>
1003                 <reference>
1004                         <property>autopilot/settings/flare-speed-fps</property>
1005                 </reference>
1006                 <output>
1007                         <property>autopilot/internal/target-pitch-deg</property>
1008                 </output>
1009                 <config>
1010                         <Ts>0.05</Ts>
1011                         <Kp>
1012                                 <property>autopilot/settings/flare-constant</property>
1013                         </Kp>
1014                         <beta>1.0</beta>
1015                         <alpha>0.1</alpha>
1016                         <gamma>0.0</gamma>
1017                         <Ti>10.0</Ti>
1018                         <Td>0.001</Td>
1019                         <u_min>
1020                                 <property>instrumentation/afds/settings/pitch-min</property>
1021                         </u_min>
1022                         <u_max>
1023                                 <property>instrumentation/afds/settings/pitch-max</property>
1024                         </u_max>
1025                 </config>
1026         </pid-controller>
1027
1028         <pid-controller>
1029                 <name>Flight Path Hold</name>
1030                 <debug>false</debug>
1031                 <enable>
1032                         <property>instrumentation/afds/ap-modes/pitch-mode</property>
1033                         <value>FPA</value>
1034                 </enable>
1035                 <input>
1036                         <property>autopilot/internal/fpa</property>
1037                 </input>
1038                 <reference>
1039                         <property>autopilot/settings/flight-path-angle</property>
1040                 </reference>
1041                 <output>
1042                         <property>autopilot/internal/target-pitch-deg</property>
1043                 </output>
1044                 <config>
1045                         <Ts>0.05</Ts>
1046                         <Kp>0.15</Kp>
1047                         <beta>1.0</beta>
1048                         <alpha>0.1</alpha>
1049                         <gamma>0.0</gamma>
1050                         <Ti>1.0</Ti>
1051                         <Td>0.0</Td>
1052                         <u_min>
1053                                 <property>instrumentation/afds/settings/pitch-min</property>
1054                         </u_min>
1055                         <u_max>
1056                                 <property>instrumentation/afds/settings/pitch-max</property>
1057                         </u_max>
1058                 </config>
1059         </pid-controller>
1060
1061         <pid-controller>
1062                 <name>Elevator Control</name>
1063                 <debug>false</debug>
1064                 <enable>
1065                         <property>instrumentation/afds/inputs/AP</property>
1066                 </enable>
1067                 <input>
1068                         <property>orientation/pitch-deg</property>
1069                 </input>
1070                 <reference>
1071                         <property>autopilot/internal/target-pitch-deg</property>
1072                 </reference>
1073                 <output>
1074                         <property>controls/flight/elevator-filter</property>
1075                 </output>
1076                 <config>
1077                         <Kp>
1078                                 <condition>
1079                                         <equals>
1080                                                 <property>instrumentation/afds/ap-modes/pitch-mode</property>
1081                                                 <value>G/S</value>
1082                                         </equals>
1083                                 </condition>
1084                                 <value>-0.024</value>
1085                         </Kp>
1086                         <Kp>-0.018</Kp>
1087                         <Ti>2.0</Ti>
1088                         <Td>0.0</Td>
1089                         <u_min>
1090                                 <value>-1.0</value>
1091                         </u_min>
1092                         <u_max>
1093                                 <value>1.0</value>
1094                         </u_max>
1095                 </config>
1096         </pid-controller>
1097
1098         <filter>
1099                 <name>Elevator control filter</name>
1100                 <debug>false</debug>
1101                 <type>noise-spike</type>
1102                 <enable>
1103                         <property>instrumentation/afds/inputs/AP</property>
1104                 </enable>
1105                 <max-rate-of-change>
1106                         <condition>
1107                                 <greater-than>
1108                                         <property>instrumentation/airspeed-indicator/indicated-mach</property>
1109                                         <value>0.85</value>
1110                                 </greater-than>
1111                         </condition>
1112                         <value>0.05</value>
1113                 </max-rate-of-change>
1114                 <max-rate-of-change>
1115                         <condition>
1116                                 <greater-than>
1117                                         <property>instrumentation/airspeed-indicator/indicated-mach</property>
1118                                         <value>0.666</value>
1119                                 </greater-than>
1120                         </condition>
1121                         <value>0.1</value>
1122                 </max-rate-of-change>
1123                 <max-rate-of-change>
1124                         <condition>
1125                                 <greater-than>
1126                                         <property>instrumentation/airspeed-indicator/indicated-mach</property>
1127                                         <value>0.5</value>
1128                                 </greater-than>
1129                         </condition>
1130                         <value>0.15</value>
1131                 </max-rate-of-change>
1132                 <max-rate-of-change>0.2</max-rate-of-change>
1133                 <initialize-to>output</initialize-to>
1134                 <input>
1135                         <property>controls/flight/elevator-filter</property>
1136                 </input>
1137                 <output>/controls/flight/elevator</output>
1138         </filter>
1139
1140         <pid-controller>
1141                 <name>Stabilizer Control</name>
1142                 <debug>false</debug>
1143                 <enable>
1144                         <property>instrumentation/afds/inputs/AP</property>
1145                 </enable>
1146                 <input>
1147                         <property>controls/flight/elevator</property>
1148                 </input>
1149                 <reference>
1150                         <value>0</value>
1151                 </reference>
1152                 <output>
1153                         <property>controls/flight/elevator-trim</property>
1154                 </output>
1155                 <config>
1156                         <Kp>-0.05</Kp>
1157                         <Ti>10.0</Ti>
1158                         <Td>0.0</Td>
1159                         <u_min>
1160                                 <value>-1.0</value>
1161                         </u_min>
1162                         <u_max>
1163                                 <value>1.0</value>
1164                         </u_max>
1165                 </config>
1166         </pid-controller>
1167
1168         <filter>
1169                 <name>Tiller control filter nose</name>
1170                 <debug>false</debug>
1171                 <type>noise-spike</type>
1172                 <max-rate-of-change>
1173                         <value>0.2</value>
1174                 </max-rate-of-change>
1175                 <input>controls/gear/nosegear-steering-cmd</input>
1176                 <output>controls/gear/nosegear-steering-cmd-norm</output>
1177         </filter>
1178
1179         <filter>
1180                 <name>Tiller control filter main</name>
1181                 <debug>false</debug>
1182                 <type>noise-spike</type>
1183                 <max-rate-of-change>
1184                         <value>0.2</value>
1185                 </max-rate-of-change>
1186                 <input>controls/gear/maingear-steering-cmd</input>
1187                 <output>controls/gear/maingear-steering-cmd-norm</output>
1188         </filter>
1189
1190 </PropertyList>