Primus , autopilot and autopilot dialog updates ...
[fg:toms-fgdata.git] / Aircraft / Citation-Bravo / Systems / Citation-autopilot.xml
1 <?xml version="1.0"?>
2 <!-- Citation-Bravo  -->
3
4 <PropertyList>
5
6 <!-- =============================== -->
7 <!-- ======  Roll Axis Modes  ====== -->
8 <!-- =============================== -->
9
10 <pi-simple-controller>
11     <name>Wing Leveler (Turn Coordinator based)</name>
12     <debug>false</debug>
13     <enable>
14         <prop>autopilot/locks/heading</prop>
15         <value>ROLL</value>
16     </enable>
17     <input>
18         <prop>orientation/roll-deg</prop>
19     </input>
20     <reference>
21         <prop>autopilot/settings/target-roll-deg</prop>
22     </reference>
23     <output>
24         <prop>autopilot/internal/target-roll-deg</prop>
25     </output>
26     <config>
27         <Kp>1.0</Kp>
28         <Ki>0.0</Ki>
29         <u_min>
30             <prop>instrumentation/flightdirector/roll-min</prop>
31         </u_min>
32         <u_max>
33             <prop>instrumentation/flightdirector/roll-max</prop>
34         </u_max>
35     </config>
36 </pi-simple-controller>
37
38 <pi-simple-controller>
39     <name>Heading Bug Hold</name>
40     <debug>false</debug>
41     <enable>
42         <prop>autopilot/locks/heading</prop>
43         <value>HDG</value>
44     </enable>
45     <input>
46         <prop>autopilot/internal/fdm-heading-bug-error-deg</prop>
47     </input>
48     <reference>
49         <value>0.0</value>
50     </reference>
51     <output>
52         <prop>autopilot/internal/target-roll-deg</prop>
53     </output>
54     <config>
55         <Kp>-1.0</Kp>
56         <Ki>0.0</Ki>
57         <u_min>
58             <prop>instrumentation/flightdirector/roll-min</prop>
59         </u_min>
60         <u_max>
61             <prop>instrumentation/flightdirector/roll-max</prop>
62         </u_max>
63     </config>
64 </pi-simple-controller>
65
66 <pi-simple-controller>
67     <name>True Heading Hold</name>
68     <debug>false</debug>
69     <enable>
70         <prop>autopilot/locks/heading</prop>
71         <value>LNAV</value>
72     </enable>
73     <input>
74         <prop>autopilot/internal/true-heading-error-deg</prop>
75     </input>
76     <reference>
77         <value>0.0</value>
78     </reference>
79     <output>
80         <prop>autopilot/internal/target-roll-deg</prop>
81     </output>
82     <config>
83         <Kp>-1.0</Kp>
84         <Ki>0.0</Ki>
85         <u_min>
86             <prop>instrumentation/flightdirector/roll-min</prop>
87         </u_min>
88         <u_max>
89             <prop>instrumentation/flightdirector/roll-max</prop>
90         </u_max>
91     </config>
92 </pi-simple-controller>
93
94 <pi-simple-controller>
95     <name>Nav1 armed</name>
96     <debug>false</debug>
97     <enable>
98         <prop>autopilot/locks/heading</prop>
99         <value>NAV-ARM</value>
100     </enable>
101     <input>
102         <prop>autopilot/internal/fdm-heading-bug-error-deg</prop>
103     </input>
104     <reference>
105         <value>0.0</value>
106     </reference>
107     <output>
108         <prop>autopilot/internal/target-roll-deg</prop>
109     </output>
110     <config>
111         <Kp>-1.0</Kp>
112         <Ki>0.0</Ki>
113         <u_min>
114             <prop>instrumentation/flightdirector/roll-min</prop>
115         </u_min>
116         <u_max>
117             <prop>instrumentation/flightdirector/roll-max</prop>
118         </u_max>
119     </config>
120 </pi-simple-controller>
121
122 <pi-simple-controller>
123     <name>Nav1 Hold</name>
124     <debug>false</debug>
125     <enable>
126         <prop>autopilot/locks/heading</prop>
127         <value>NAV</value>
128     </enable>
129     <input>
130         <prop>instrumentation/flightdirector/nav-crs-offset</prop>
131     </input>
132     <reference>
133         <value>0.0</value>
134     </reference>
135     <output>
136         <prop>autopilot/internal/target-roll-deg</prop>
137     </output>
138     <config>
139         <Kp>-1.5</Kp>
140         <Ki>0.0</Ki>
141         <u_min>
142             <prop>instrumentation/flightdirector/roll-min</prop>
143         </u_min>
144         <u_max>
145             <prop>instrumentation/flightdirector/roll-max</prop>
146         </u_max>
147     </config>
148 </pi-simple-controller>
149
150 <pi-simple-controller>
151     <name>Loc armed</name>
152     <debug>false</debug>
153     <enable>
154         <prop>autopilot/locks/heading</prop>
155         <value>LOC-ARM</value>
156     </enable>
157     <input>
158         <prop>autopilot/internal/fdm-heading-bug-error-deg</prop>
159     </input>
160     <reference>
161         <value>0.0</value>
162     </reference>
163     <output>
164         <prop>autopilot/internal/target-roll-deg</prop>
165     </output>
166     <config>
167         <Kp>-1.0</Kp>
168         <Ki>0.0</Ki>
169         <u_min>
170             <prop>instrumentation/flightdirector/roll-min</prop>
171         </u_min>
172         <u_max>
173             <prop>instrumentation/flightdirector/roll-max</prop>
174         </u_max>
175     </config>
176 </pi-simple-controller>
177
178 <pi-simple-controller>
179     <name>Loc Hold</name>
180     <debug>false</debug>
181     <enable>
182         <prop>autopilot/locks/heading</prop>
183         <value>LOC</value>
184     </enable>
185     <input>
186         <prop>autopilot/internal/nav1-heading-error-deg</prop>
187     </input>
188     <reference>
189         <value>0.0</value>
190     </reference>
191     <output>
192         <prop>autopilot/internal/target-roll-deg</prop>
193     </output>
194     <config>
195         <Kp>-1.5</Kp>
196         <Ki>0.0</Ki>
197         <u_min>
198             <prop>instrumentation/flightdirector/roll-min</prop>
199         </u_min>
200         <u_max>
201             <prop>instrumentation/flightdirector/roll-max</prop>
202         </u_max>
203     </config>
204 </pi-simple-controller>
205
206 <pid-controller>
207     <name>Aileron Control</name>
208     <debug>false</debug>
209     <enable>
210         <prop>autopilot/locks/roll-active</prop>
211         <value>true</value>
212         <honor-passive>true</honor-passive>
213     </enable>
214     <input>
215         <prop>orientation/roll-deg</prop>
216     </input>
217     <reference>
218         <prop>autopilot/internal/target-roll-deg</prop>
219     </reference>
220     <output>
221         <prop>controls/flight/aileron</prop>
222     </output>
223     <config>
224         <Kp>0.5</Kp>
225         <beta>1.0</beta>
226         <alpha>0.1</alpha>
227         <gamma>0.0</gamma>
228         <Ti>1.0</Ti>
229         <Td>0.0</Td>
230         <u_min>
231             <value>-1.0</value>
232         </u_min>
233         <u_max>
234             <value>1.0</value>
235         </u_max>
236     </config>
237 </pid-controller>
238
239 <!-- ================================ -->
240 <!-- ======= Pitch Axis Modes ======= -->
241 <!-- ================================ -->
242
243 <pid-controller>
244     <name>Altitude Hold</name>
245     <debug>false</debug>
246     <enable>
247         <prop>autopilot/locks/altitude</prop>
248         <value>ALT</value>
249     </enable>
250     <input>
251         <prop>instrumentation/altimeter/indicated-altitude-ft</prop>
252     </input>
253     <reference>
254         <prop>autopilot/settings/target-altitude-ft</prop>
255     </reference>
256     <output>
257         <prop>autopilot/settings/target-pitch-deg</prop>
258     </output>
259     <config>
260         <Kp>0.025</Kp>
261         <beta>1.0</beta>
262         <alpha>0.1</alpha>
263         <gamma>0.0</gamma>
264         <Ti>50.0</Ti>
265         <Td>0.0</Td>
266         <u_min>
267             <prop>instrumentation/flightdirector/pitch-min</prop>
268         </u_min>
269         <u_max>
270             <prop>instrumentation/flightdirector/pitch-max</prop>
271         </u_max>
272     </config>
273 </pid-controller>
274
275 <pid-controller>
276         <name>Glideslop Hold</name>
277         <debug>false</debug>
278         <enable>
279                 <prop>/autopilot/locks/altitude</prop>
280                 <value>GS</value>
281         </enable>
282         <input>
283                 <prop>instrumentation/flightdirector/gs-deflection</prop>
284         </input>
285         <reference>
286                 <value>0</value>
287         </reference>
288         <output>
289                 <prop>autopilot/settings/target-pitch-deg</prop>
290         </output>
291         <config>
292                 <Kp>-1.5</Kp>
293                 <beta>1.0</beta>
294                 <alpha>0.1</alpha>
295                 <gamma>0.0</gamma>
296                 <Ti>10.0</Ti>
297                 <Td>0.00001</Td>
298                 <u_min>
299                         <value>-10</value>
300                 </u_min>
301                 <u_max>
302                         <value>0</value>
303                 </u_max>
304         </config>
305 </pid-controller>
306
307 <pi-simple-controller>
308     <name>Vertical Speed Hold</name>
309     <debug>false</debug>
310     <enable>
311         <prop>autopilot/locks/altitude</prop>
312         <value>VS</value>
313     </enable>
314     <input>
315         <prop>velocities/vertical-speed-fps</prop>
316     </input>
317     <reference>
318         <prop>autopilot/settings/vertical-speed-fpm</prop>
319         <scale>0.01667</scale>
320     </reference>
321     <output>
322         <prop>autopilot/settings/target-pitch-deg</prop>
323     </output>
324     <config>
325         <Kp>0.5</Kp>
326         <Ki>0.0</Ki>
327         <u_min>
328             <prop>instrumentation/flightdirector/pitch-min</prop>
329         </u_min>
330         <u_max>
331             <prop>instrumentation/flightdirector/pitch-max</prop>
332         </u_max>
333     </config>
334 </pi-simple-controller>
335
336 <pi-simple-controller>
337     <name>VNAV</name>
338     <debug>false</debug>
339     <enable>
340         <prop>autopilot/locks/altitude</prop>
341         <value>VNAV</value>
342     </enable>
343     <input>
344         <prop>velocities/vertical-speed-fps</prop>
345     </input>
346     <reference>
347         <prop>autopilot/settings/vertical-speed-fpm</prop>
348         <scale>0.01667</scale>
349     </reference>
350     <output>
351         <prop>autopilot/settings/target-pitch-deg</prop>
352     </output>
353     <config>
354         <Kp>0.2</Kp>
355         <Ki>0.0</Ki>
356         <u_min>
357             <prop>instrumentation/flightdirector/pitch-min</prop>
358         </u_min>
359         <u_max>
360             <prop>instrumentation/flightdirector/pitch-max</prop>
361         </u_max>
362     </config>
363 </pi-simple-controller>
364
365 <pid-controller>
366     <name>Elevator Trim Control</name>
367     <debug>false</debug>
368     <enable>
369         <prop>autopilot/locks/pitch-active</prop>
370         <value>true</value>
371         <honor-passive>true</honor-passive>
372     </enable>
373     <input>
374         <prop>orientation/pitch-deg</prop>
375     </input>
376     <reference>
377         <prop>autopilot/settings/target-pitch-deg</prop>
378     </reference>
379     <output>
380         <prop>controls/flight/elevator-trim</prop>
381     </output>
382     <config>
383         <Kp>-0.15</Kp>
384         <beta>1.0</beta>
385         <alpha>0.1</alpha>
386         <gamma>0.0</gamma>
387         <Ti>10.0</Ti>
388         <Td>0.2</Td>
389         <u_min>-0.7</u_min>
390         <u_max>0.7</u_max>
391     </config>
392 </pid-controller>
393
394 <pid-controller>
395     <name>Yaw Damper</name>
396     <debug>false</debug>
397     <enable>
398         <prop>autopilot/locks/yaw-damper</prop>
399         <value>true</value>
400     </enable>
401     <input>
402         <prop>orientation/side-slip-deg</prop>
403     </input>
404     <reference>
405         <value>0</value>
406     </reference>
407     <output>
408         <prop>controls/flight/rudder</prop>
409     </output>
410     <config>
411         <Kp>0.25</Kp>
412         <beta>1.0</beta>
413         <alpha>0.1</alpha>
414         <gamma>0.0</gamma>
415         <Ti>1.0</Ti>
416         <Td>0.0</Td>
417         <u_min>-0.5</u_min>
418         <u_max>0.5</u_max>
419     </config>
420 </pid-controller>
421
422 <!--
423 ==============
424 Velocity Modes
425 ==============
426 -->
427 <!-- Simple Auto throttle -->
428 <pid-controller>
429 <name>Auto Throttle</name>
430 <debug>false</debug>
431 <enable>
432 <prop>/autopilot/locks/speed</prop>
433 <value>IAS</value>
434 <honor-passive>true</honor-passive>
435 </enable>
436 <input>
437 <prop>/velocities/airspeed-kt</prop>
438 </input>
439 <reference>
440 <prop>/autopilot/settings/target-speed-kt</prop>
441 </reference>
442 <output>
443 <prop>/controls/engines/engine[0]/throttle</prop>
444 <prop>/controls/engines/engine[1]/throttle</prop>
445 </output>
446 <config>
447 <Kp>0.1</Kp>
448 <beta>1.0</beta>
449 <alpha>0.1</alpha>
450 <gamma>0.0</gamma>
451 <Ti>10.0</Ti>
452 <Td>0.001</Td>
453 <u_min>0.0</u_min>
454 <u_max>1.0</u_max>
455 </config>
456 </pid-controller>
457
458 </PropertyList>
459