Aircraft/tu154b/Nasal/absu.nas

   1 #
   2 # ABSU-154 support
   3 # Yurik V. Nikiforoff, yurik.nsk@gmail.com
   4 # Novosibirsk, Russia
   5 # 2007 - 2008,2010,2013
   6 #
   7
   8 #var HEADING_DEVIATION_LIMIT = 20.0;
   9 #var GLIDESLOPE_DEVIATION_LIMIT = 10.0;
  10 var PITCH_YOKE_LIMIT = 0.5;
  11 var BANK_YOKE_LIMIT = 0.5;
  12
  13 var absu_property_update = func {       # <-   handler begin here
  14
  15 var param=0.0;
  16
  17 settimer( absu_property_update, 0 );
  18
  19 # pn-5 selected mode
  20 #var az1 = getprop("tu154/instrumentation/pn-5/az-1");
  21 #if( az1 == nil ) az1 = 0.0;
  22 var az2 = getprop("tu154/instrumentation/pn-5/az-2");
  23 if( az2 == nil ) az2 = 0.0;
  24
  25
  26
  27
  28
  29 # VOR support
  30 if( az2 )
  31         {
  32         var radial_actual = "instrumentation/nav[1]/radials/actual-deg";
  33         var radial_reciprocal = "instrumentation/nav[1]/radials/reciprocal-radial-deg";
  34         var radial_selected = "instrumentation/nav[1]/radials/selected-deg";
  35         var to_flag_prop = "instrumentation/nav[1]/to-flag";
  36         }
  37 else    {
  38         var radial_actual = "instrumentation/nav[0]/radials/actual-deg";
  39         var radial_reciprocal = "instrumentation/nav[0]/radials/reciprocal-radial-deg";
  40         var radial_selected = "instrumentation/nav[0]/radials/selected-deg";
  41         var to_flag_prop = "instrumentation/nav[0]/to-flag";
  42         }
  43 var to_flag = getprop( to_flag_prop );
  44 if( to_flag == nil ) to_flag = 0.0;
  45 if( to_flag ) param = getprop(radial_reciprocal);
  46 else param = getprop(radial_actual);
  47 if( param == nil ) param = 0.0;
  48 var param2 = getprop(radial_selected);
  49 if( param2 == nil ) param2 = 0.0;
  50 param = param - param2;
  51 if( param < -180.0 ) param = 360.0 + param;
  52 if( param > 180.0 ) param = 360.0 - param;
  53 if( to_flag ) param = -param;
  54 setprop("fdm/jsbsim/ap/input-heading-delta", param);
  55
  56 #Delivery gyro heading to TKS compass system
  57 param = getprop("orientation/heading-deg")+
  58         getprop("instrumentation/heading-indicator[0]/offset-deg");
  59 if( param < 0.0 ) param = param + 360.0;
  60 if( param > 360.0 ) param = param - 360.0;
  61 setprop("fdm/jsbsim/ap/input-heading-gyro-1", param);
  62
  63 param = getprop("orientation/heading-deg")+
  64         getprop("instrumentation/heading-indicator[1]/offset-deg");
  65 if( param < 0.0 ) param = param + 360.0;
  66 if( param > 360.0 ) param = param - 360.0;
  67 setprop("fdm/jsbsim/ap/input-heading-gyro-2", param);
  68
  69 #Delivery magnetic heading to TKS compass system
  70
  71 param = getprop("orientation/heading-magnetic-deg");
  72 if( param == nil ) param = 0.0;
  73 setprop("fdm/jsbsim/ap/input-magnetic-heading", param);
  74
  75 #Delivery brakes
  76 param = getprop("controls/gear/brake-left");
  77 if( param == nil ) param = 0.0;
  78 setprop("fdm/jsbsim/gear/brake-left", param);
  79 param = getprop("controls/gear/brake-right");
  80 if( param == nil ) param = 0.0;
  81 setprop("fdm/jsbsim/gear/brake-right", param);
  82 param = getprop("controls/gear/brake-parking");
  83 if( param == nil ) param = 0.0;
  84 setprop("fdm/jsbsim/gear/brake-parking", param);
  85 # delivery steering parameters
  86 param = getprop("controls/gear/steering");
  87 if( param == nil ) param = 0.0;
  88 setprop("fdm/jsbsim/gear/steering", param);
  89 param = getprop("controls/gear/nose-wheel-steering");
  90 if( param == nil ) param = 0.0;
  91 setprop("fdm/jsbsim/gear/nose-wheel-steering", param);
  92
  93
  94 # PNP
  95
  96
  97 # "Plane" handle
  98 var src_plane = "tu154/instrumentation/pnp[0]/plane-deg";
  99 param = getprop("tu154/switches/pn-5-pnp-selector");
 100 if( param == nil ) param = 0.0;
 101 if( param ) src_plane = "tu154/instrumentation/pnp[1]/plane-deg";
 102 param = getprop(src_plane);
 103 if( param == nil ) param = 0.0;
 104 setprop("fdm/jsbsim/ap/input-heading-pnp", param);
 105
 106 # ZK handle
 107 param = getprop("tu154/switches/zk-selector");
 108 if( param == nil ) param = 0.0;
 109
 110 if( param ) src_plane = "tu154/instrumentation/pnp[1]/heading-deg";
 111 else src_plane = "tu154/instrumentation/pnp[0]/heading-deg";
 112
 113 param = getprop(src_plane);
 114 if( param == nil ) param = 0.0;
 115 setprop("fdm/jsbsim/ap/input-heading-zk", param);
 116
 117
 118 var needles = getprop("tu154/switches/pn-5-strelki" );
 119 if( needles == nil )  needles = 0.0;
 120 if( needles != 0.0 )
 121         {
 122         # Directors
 123         param = getprop("fdm/jsbsim/ap/pitch/gs-needle");       # Modified by Yurik nov 2103 for new ABSU version
 124
 125         if( param == nil )  param = 0.0;
 126         if( getprop("fdm/jsbsim/ap/pitch-selector") != 5.0 ) param = 0.0;
 127         setprop("tu154/instrumentation/pkp[0]/pitch-director", param );
 128
 129         param = getprop("fdm/jsbsim/ap/ils-out");       # Modified by Yurik nov 2103 for new ABSU version
 130
 131         if( param == nil )  param = 0.0;
 132         if( getprop("fdm/jsbsim/ap/roll-selector") != 5.0 ) param = 0.0;
 133         setprop("tu154/instrumentation/pkp[0]/roll-director", param );
 134         }
 135 else{
 136         interpolate("tu154/instrumentation/pkp[0]/pitch-director", 0.3, 1.0 );
 137         interpolate("tu154/instrumentation/pkp[0]/roll-director", 0.3, 1.0 );
 138         }
 139
 140 # Modified by Yurik dec 2103 for new ABSU version
 141 # Glideslope auto switch
 142 if( getprop("fdm/jsbsim/fcs/flap-pos-deg") > 40.0 )
 143    if( getprop("fdm/jsbsim/ap/roll-selector") == 5.0 )
 144     if( getprop("fdm/jsbsim/ap/pitch-selector") != 5.0 )
 145       if( getprop("instrumentation/nav[0]/gs-needle-deflection") < 0.2 )
 146        if( getprop("instrumentation/nav[0]/gs-needle-deflection") > 0.0 )
 147         absu_glideslope();
 148
 149 # Go around procedure
 150 if( getprop("fdm/jsbsim/ap/pitch-selector") == 5.0 )
 151     if( getprop("fdm/jsbsim/fcs/throttle-cmd-norm[0]") > 0.9 )
 152       if( getprop("instrumentation/nav[0]/gs-in-range") )
 153                 absu_start_go_around();
 154
 155
 156 }
 157
 158
 159
 160 # ABSU control
 161
 162 var absu_stab_on = func {
 163 if( absu_powered() == 0 ) return;
 164
 165 var kren = getprop("tu154/switches/pu-46-kren");
 166 if( kren == nil ) kren = 0.0;
 167 var tang = getprop("tu154/switches/pu-46-tang");
 168 if( tang == nil ) tang = 0.0;
 169
 170         if( kren != 0  )
 171         {
 172         setprop("tu154/instrumentation/pu-46/stab", 1.0 );
 173         absu_stab_roll();
 174         setprop("fdm/jsbsim/ap/roll-hold", 1.0 );
 175         }
 176
 177         if( tang != 0  )
 178         {
 179         setprop("tu154/instrumentation/pu-46/stab", 1.0 );
 180         absu_stab_current_pitch();
 181         setprop("fdm/jsbsim/ap/pitch-hold", 1.0 );
 182         }
 183
 184 }
 185
 186 # Modified by Yurik dec 2013
 187 # Go to manual control
 188 var absu_stab_off = func {
 189 # Autopilot state
 190 # Clear audio warning if interpolation of is stale
 191         setprop("tu154/systems/warning/alarm/absu_warn", 0.0 );
 192         var state = 0;
 193         if( getprop("fdm/jsbsim/ap/pitch-hold") ) state = 1;
 194         if( getprop("fdm/jsbsim/ap/roll-hold") ) state = state + 1;
 195         if( getprop("tu154/instrumentation/pu-46/stab") ) state = state + 1;
 196         if( getprop("tu154/instrumentation/pn-6/stab") ) state = state + 1;
 197         if( state ) absu_alarm();
 198
 199         setprop("fdm/jsbsim/ap/roll-selector", 0.0 );
 200         setprop("fdm/jsbsim/ap/pitch-selector", 0.0 );
 201         setprop("fdm/jsbsim/ap/pitch-hold", 0.0 );
 202         setprop("fdm/jsbsim/ap/roll-hold", 0.0 );
 203 # Blue lamp on PU-46
 204         setprop("tu154/instrumentation/pu-46/stab", 0.0 );
 205 # stop go around
 206         setprop("fdm/jsbsim/ap/go-around", 0.0);
 207         clr_pitch_lamp();
 208         clr_heading_lamp();
 209
 210         if( absu_powered() == 1 )
 211         {
 212 # PN-5 indicators
 213         setprop( "tu154/instrumentation/pn-5/pitch-state", 1 );
 214         setprop( "tu154/instrumentation/pn-5/heading-state", 1 );
 215         setprop("tu154/instrumentation/pn-5/sbros", 1.0 );
 216         }
 217         else{
 218         setprop( "tu154/instrumentation/pn-5/pitch-state", 0 );
 219         setprop( "tu154/instrumentation/pn-5/heading-state", 0 );
 220         }
 221 }
 222
 223 # switches on PN-5
 224 # for XML animation
 225 var absu_stab_kren = func {
 226
 227 var state = getprop("tu154/instrumentation/pu-46/stab");
 228 if ( state == nil ) state = 0;
 229 if ( arg[0] != 0 )      # start roll stabilizer
 230         {
 231         if( state != 0 )
 232                 {
 233                 absu_stab_roll();
 234                 setprop("fdm/jsbsim/ap/roll-hold", 1.0 );
 235                 }
 236         }
 237
 238 else    # stop roll stabilizer
 239         {
 240         setprop("tu154/systems/electrical/indicators/nvu", 0.0 );
 241         setprop("tu154/systems/electrical/indicators/vor", 0.0 );
 242         setprop("tu154/systems/electrical/indicators/zk", 0.0 );
 243         setprop("tu154/systems/electrical/indicators/heading", 0.0 );
 244         setprop("tu154/systems/electrical/indicators/stab-heading", 0.0 );
 245         setprop("fdm/jsbsim/ap/roll-hold", 0.0 );
 246         if( absu_powered() == 1 )
 247                 {
 248                 absu_alarm();
 249                 setprop( "tu154/instrumentation/pn-5/heading-state", 1 );
 250                 }
 251         if( getprop("tu154/switches/pu-46-tang") != 1.0 )
 252                  setprop("tu154/instrumentation/pu-46/stab", 0.0 );
 253         }
 254 }
 255
 256
 257 var absu_stab_tang = func {
 258 var state = getprop("tu154/instrumentation/pu-46/stab");
 259 if ( state == nil ) state = 0;
 260 if ( arg[0] != 0 )      # start pitch stabilizer
 261         {
 262         if( state != 0 ){
 263                 absu_stab_current_pitch();
 264                 setprop("fdm/jsbsim/ap/pitch-hold", 1.0 );
 265                 }
 266         }
 267
 268 else    # stop pitch stabilizer
 269         {
 270         clr_pitch_lamp();
 271         setprop("fdm/jsbsim/ap/pitch-hold", 0.0 );
 272         if( absu_powered() == 1 )
 273                 {
 274                 absu_alarm();
 275                 setprop( "tu154/instrumentation/pn-5/pitch-state", 1 );
 276                 }
 277         if( getprop("tu154/switches/pu-46-kren") != 1.0 )
 278                  setprop("tu154/instrumentation/pu-46/stab", 0.0 );
 279         }
 280 }
 281
 282 # Helpers
 283
 284
 285 var absu_powered = func{
 286 if( getprop("tu154/systems/absu/serviceable" ) == 1 ) return 1;
 287 else return 0;
 288 }
 289
 290 var absu_stab_current_pitch = func{
 291         setprop("fdm/jsbsim/ap/pitch-selector", 1.0 ); # 1 - stabilize pitch
 292         setprop( "tu154/instrumentation/pn-5/pitch-state", 2 );
 293         setprop("tu154/systems/electrical/indicators/stab-pitch", 1.0 );
 294 }
 295
 296 var absu_stab_roll = func{
 297         setprop("fdm/jsbsim/ap/stab-input-roll-rad", 0.0 ); # roll=0, stabilize wing level
 298         setprop("fdm/jsbsim/ap/roll-selector", 1.0 ); # 1 - stabilize roll
 299         setprop( "tu154/instrumentation/pn-5/heading-state", 2 );
 300         setprop("tu154/systems/electrical/indicators/stab-heading", 1.0 );
 301 }
 302
 303 var clr_heading_lamp = func{
 304 # PU-5
 305 setprop("tu154/instrumentation/pn-5/sbros", 0.0 );
 306 setprop("tu154/instrumentation/pn-5/zk", 0.0 );
 307 setprop("tu154/instrumentation/pn-5/nvu", 0.0 );
 308 setprop("tu154/instrumentation/pn-5/az-1", 0.0 );
 309 setprop("tu154/instrumentation/pn-5/az-2", 0.0 );
 310 setprop("tu154/instrumentation/pn-5/zahod", 0.0 );
 311 # Indicators on captain panel
 312 setprop("tu154/systems/electrical/indicators/nvu", 0.0 );
 313 setprop("tu154/systems/electrical/indicators/vor", 0.0 );
 314 setprop("tu154/systems/electrical/indicators/zk", 0.0 );
 315 setprop("tu154/systems/electrical/indicators/heading", 0.0 );
 316 setprop("tu154/systems/electrical/indicators/stab-heading", 0.0 );
 317 }
 318
 319 var clr_pitch_lamp = func{
 320 setprop("tu154/instrumentation/pu-46/m", 0.0 );
 321 setprop("tu154/instrumentation/pu-46/v", 0.0 );
 322 setprop("tu154/instrumentation/pu-46/h", 0.0 );
 323 setprop("tu154/instrumentation/pn-5/gliss", 0.0  );
 324 # Indicators on captain panel
 325 setprop("tu154/systems/electrical/indicators/glideslope", 0.0 );
 326 setprop("tu154/systems/electrical/indicators/stab-pitch", 0.0 );
 327 setprop("tu154/systems/electrical/indicators/stab-h", 0.0 );
 328 setprop("tu154/systems/electrical/indicators/stab-v", 0.0 );
 329 setprop("tu154/systems/electrical/indicators/stab-m", 0.0 );
 330 setprop("tu154/systems/electrical/indicators/reject", 0.0 );
 331 }
 332
 333
 334 # "Sbros progr" lamp - reset AP to zero roll state
 335 # also use in heading wheel animation
 336 var absu_reset = func {
 337 if( absu_powered() == 0 ) return;
 338 clr_heading_lamp();
 339 setprop("fdm/jsbsim/ap/roll-selector", 0.0 );
 340 setprop("tu154/instrumentation/pn-5/sbros", 1.0  );
 341 if( getprop("fdm/jsbsim/ap/pitch-selector" ) == 5 )
 342         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 343                 absu_stab_current_pitch(); # Glideslope mode -> stab current pitch
 344
 345 setprop("tu154/instrumentation/pn-5/gliss", 0.0  );
 346 setprop("tu154/systems/electrical/indicators/glideslope", 0.0 );
 347
 348 setprop("tu154/systems/electrical/indicators/reject", 0.0 );
 349
 350 if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0
 351     and getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 352     {
 353     absu_stab_roll();
 354     setprop("fdm/jsbsim/ap/roll-hold", 1.0 );
 355     }
 356 }
 357
 358
 359 # --------------- Pitch modes ------------------------------
 360
 361 var absu_drop_mvh = func{
 362 if( absu_powered() == 0 ) return;
 363 if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 364 if( getprop("fdm/jsbsim/ap/pitch-selector" ) != 1.0 )
 365         {
 366         clr_pitch_lamp();
 367         setprop("fdm/jsbsim/ap/pitch-selector",0);
 368         settimer( set_pitch_stab, 0.1 );
 369         setprop("fdm/jsbsim/ap/pitch-hold",1);
 370         if( getprop("tu154/switches/pu-46-tang" ) == 1.0 )
 371                 {
 372                 setprop( "tu154/instrumentation/pn-5/pitch-state", 2 );
 373                 setprop("tu154/systems/electrical/indicators/stab-pitch", 1.0 );
 374                 }
 375         }
 376 }
 377
 378 var set_pitch_stab = func{
 379   setprop("fdm/jsbsim/ap/pitch-selector",1 );
 380 }
 381
 382
 383 # Clear MET to neutral
 384
 385 var absu_met_neutral = func{
 386   setprop("fdm/jsbsim/ap/met-neutral", 1 );
 387   settimer( enable_met, 0.1 );
 388 }
 389
 390 var enable_met = func{
 391   setprop("fdm/jsbsim/ap/met-neutral", 0 );
 392 }
 393
 394
 395
 396 # Altitude stabilizer
 397 var absu_h = func{
 398 if( absu_powered() == 0 ) return;
 399 clr_pitch_lamp();
 400 var alt = getprop("instrumentation/altimeter[0]/pressure-alt-ft");              # Modified by Yurik dec 2013
 401
 402 setprop("fdm/jsbsim/ap/input-altitude", alt );
 403 setprop("fdm/jsbsim/ap/pitch-selector", 2 ); # H stab code
 404 setprop("tu154/instrumentation/pu-46/h", 1.0 );
 405 if( getprop("tu154/switches/pu-46-tang" ) == 1.0 )
 406         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 407               setprop("tu154/systems/electrical/indicators/stab-h", 1.0 );
 408 }
 409
 410 # Air speed stabilizer
 411 var absu_v = func{
 412 if( absu_powered() == 0 ) return;
 413 var ias = getprop("fdm/jsbsim/velocities/vc-fps");
 414 clr_pitch_lamp();
 415 setprop("fdm/jsbsim/ap/input-speed", ias );
 416 setprop("fdm/jsbsim/ap/pitch-selector", 3 ); # V stab code
 417 setprop("tu154/instrumentation/pu-46/v", 1.0 );
 418 if( getprop("tu154/switches/pu-46-tang" ) == 1.0 )
 419         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 420               setprop("tu154/systems/electrical/indicators/stab-v", 1.0 );
 421 }
 422
 423 # Mach stabilizer
 424 var absu_m = func{
 425 if( absu_powered() == 0 ) return;
 426 var mach = getprop("fdm/jsbsim/velocities/mach");
 427 #if ( mach == nil ) return;
 428 clr_pitch_lamp();
 429 setprop("fdm/jsbsim/ap/input-mach", mach );
 430 setprop("fdm/jsbsim/ap/pitch-selector", 4 ); # M stab code
 431 setprop("tu154/instrumentation/pu-46/m", 1.0 );
 432 if( getprop("tu154/switches/pu-46-tang" ) == 1.0 )
 433         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 434               setprop("tu154/systems/electrical/indicators/stab-m", 1.0 );
 435 }
 436
 437 # GLideslope
 438 var absu_glideslope = func{
 439 if( absu_powered() == 0 ) return;
 440 if( getprop("tu154/switches/pn-5-posadk") != 1.0)return;# "podgotovka posadki" not engaged
 441 if( getprop("tu154/switches/pn-5-navigac" ) != 0.0 ) return; # wrong control!
 442
 443 clr_pitch_lamp();
 444 setprop("tu154/instrumentation/pn-5/sbros", 0.0 );
 445 setprop("fdm/jsbsim/ap/pitch-selector", 5.0 ); # Glideslope code
 446 setprop("tu154/instrumentation/pn-5/gliss", 1.0 );
 447 if( getprop("tu154/switches/pu-46-tang" ) == 1.0 )
 448         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 449                 setprop("tu154/systems/electrical/indicators/glideslope", 1.0 );
 450 }
 451
 452 # --------------- Heading modes ------------------------------
 453
 454 # ZK
 455 var absu_zk = func{
 456 if( absu_powered() == 0 ) return;
 457
 458 clr_heading_lamp();
 459 setprop("fdm/jsbsim/ap/roll-selector", 2 ); # ZK code
 460 setprop("tu154/instrumentation/pn-5/zk", 1.0 );
 461 if( getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 462         if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 )
 463               setprop("tu154/systems/electrical/indicators/zk", 1.0);
 464 }
 465 # VOR 1
 466 var absu_az1 = func{
 467 if( absu_powered() == 0 ) return;
 468
 469 clr_heading_lamp();
 470
 471 setprop("tu154/instrumentation/pn-5/az-1", 1.0 );
 472 setprop("fdm/jsbsim/ap/roll-selector", 3 ); # VOR code
 473
 474 if( getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 475     if( getprop("tu154/instrumentation/pu-46/stab") == 1.0) {
 476         if(getprop("tu154/switches/pn-5-navigac") == 1.0 and
 477            getprop("tu154/switches/pn-5-posadk") == 0.0)
 478             setprop("tu154/systems/electrical/indicators/vor", 1.0);
 479         else
 480             setprop("tu154/systems/electrical/indicators/stab-heading", 1.0);
 481     }
 482 }
 483 # VOR 2
 484 var absu_az2 = func{
 485 if( absu_powered() == 0 ) return;
 486
 487 clr_heading_lamp();
 488
 489 setprop("tu154/instrumentation/pn-5/az-2", 1.0 );
 490 setprop("fdm/jsbsim/ap/roll-selector", 3 ); # VOR code
 491 if( getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 492     if( getprop("tu154/instrumentation/pu-46/stab") == 1.0) {
 493         if(getprop("tu154/switches/pn-5-navigac") == 1.0 and
 494            getprop("tu154/switches/pn-5-posadk") == 0.0)
 495             setprop("tu154/systems/electrical/indicators/vor", 1.0);
 496         else
 497             setprop("tu154/systems/electrical/indicators/stab-heading", 1.0);
 498     }
 499 }
 500 # NVU
 501 var absu_nvu = func{
 502 if( absu_powered() == 0 ) return;
 503 clr_heading_lamp();
 504
 505 setprop("fdm/jsbsim/ap/roll-selector", 4 ); # NVU code
 506 setprop("tu154/instrumentation/pn-5/nvu", 1.0 );
 507 if( getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 508     if( getprop("tu154/instrumentation/pu-46/stab") == 1.0) {
 509         if(getprop("tu154/switches/pn-5-navigac") == 1.0 and
 510            getprop("tu154/switches/pn-5-posadk") == 0.0)
 511             setprop("tu154/systems/electrical/indicators/nvu", 1.0);
 512         else
 513             setprop("tu154/systems/electrical/indicators/stab-heading", 1.0);
 514     }
 515 }
 516
 517 # Approach
 518 var absu_approach = func{
 519 if( absu_powered() == 0 ) return;
 520
 521 clr_heading_lamp();
 522 setprop("fdm/jsbsim/ap/roll-selector", 5 ); # ILS approach code
 523 setprop("tu154/instrumentation/pn-5/zahod", 1.0 );
 524 if( getprop("tu154/switches/pu-46-kren" ) == 1.0 )
 525     if( getprop("tu154/instrumentation/pu-46/stab" ) == 1.0 ) {
 526         if(getprop("tu154/switches/pn-5-navigac") == 0.0 and
 527            getprop("tu154/switches/pn-5-posadk") == 1.0)
 528             setprop("tu154/systems/electrical/indicators/heading", 1.0 );
 529         else
 530             setprop("tu154/systems/electrical/indicators/stab-heading", 1.0);
 531     }
 532 }
 533
 534
 535
 536 var absu_shutdown = func {
 537 # Drop ABSU to idle state
 538 absu_reset();
 539 absu_stab_off();
 540
 541 setprop("tu154/systems/electrical/indicators/stab-heading", 0.0 );
 542 setprop("tu154/systems/electrical/indicators/stab-pitch", 0.0 );
 543
 544 if( getprop( "tu154/systems/absu/serviceable" ) == 0 )
 545         {
 546         absu_drop_mvh();
 547         clr_heading_lamp();
 548         clr_pitch_lamp()
 549         }
 550 }
 551
 552
 553 var absu_alarm = func{
 554 setprop("tu154/systems/warning/alarm/absu_warn", 1.0 );
 555 interpolate("tu154/systems/warning/alarm/absu_warn", 0.0, 1.4 );
 556 }
 557
 558 var absu_alarm_watchdog = func{
 559 if( getprop("tu154/systems/warning/alarm/absu_warn") < 0.1 )
 560         setprop("tu154/systems/warning/alarm/absu_warn", 0.0 );
 561 }
 562
 563
 564 setlistener("tu154/systems/absu/serviceable", absu_shutdown, 0, 0 );
 565 setlistener("tu154/systems/absu/serviceable", absu_alarm, 0, 0 );
 566 setlistener("tu154/systems/warning/alarm/absu_warn", absu_alarm_watchdog, 0, 0 );
 567
 568 absu_property_update();
 569
 570 # ********************** Go around procedure ********************************
 571
 572 var absu_start_go_around = func{
 573         absu_at_stop();
 574         absu_stab_roll();
 575         absu_stab_current_pitch();
 576         # Modified by Yurik dec 2013
 577         # for new AP JSBSim system
 578
 579         setprop("fdm/jsbsim/ap/pitch-selector", 6.0);
 580         setprop("fdm/jsbsim/ap/roll-selector", 1.0);
 581
 582 # Blank indicators, but stay button-lamps on PN-5 untouched
 583         setprop("tu154/systems/electrical/indicators/nvu", 0.0 );
 584         setprop("tu154/systems/electrical/indicators/vor", 0.0 );
 585         setprop("tu154/systems/electrical/indicators/zk", 0.0 );
 586         setprop("tu154/systems/electrical/indicators/heading", 0.0 );
 587
 588         setprop("tu154/systems/electrical/indicators/glideslope", 0.0 );
 589         setprop("tu154/systems/electrical/indicators/stab-pitch", 0.0 );
 590         setprop("tu154/systems/electrical/indicators/stab-h", 0.0 );
 591         setprop("tu154/systems/electrical/indicators/stab-v", 0.0 );
 592         setprop("tu154/systems/electrical/indicators/stab-m", 0.0 );
 593         setprop("tu154/systems/electrical/indicators/reject", 0.0 );
 594
 595         setprop("tu154/systems/electrical/indicators/reject", 1.0 );
 596         setprop("tu154/systems/electrical/indicators/stab-heading", 1.0 );
 597 }
 598
 599 # ========================== yoke ap off =============================
 600 var check_yoke_pitch = func{
 601 var pitch = abs( getprop("/controls/flight/elevator") );
 602 if( pitch < PITCH_YOKE_LIMIT ) return;
 603 if( getprop( "fdm/jsbsim/ap/pitch-hold" ) ) absu_stab_tang(0); # drop pitch stabilizer
 604 }
 605 var check_yoke_bank = func{
 606 var bank = abs( getprop("/controls/flight/aileron") );
 607 if( bank < BANK_YOKE_LIMIT ) return;
 608 if( getprop( "fdm/jsbsim/ap/roll-hold" ) ) absu_stab_kren(0); # drop roll
 609 }
 610
 611 setlistener("/controls/flight/elevator", check_yoke_pitch, 0, 0 );
 612 setlistener("/controls/flight/aileron", check_yoke_bank, 0, 0 );
 613
 614 # ================== AT-6 autothrottle subsystem =====================
 615
 616
 617 var absu_at_handler = func(param) {
 618 if( param == 0.0 )
 619         {       # drop to power off state
 620         absu_at_stop();
 621         setprop("tu154/instrumentation/pn-6/g1", 0 );
 622         setprop("tu154/instrumentation/pn-6/g2", 0 );
 623         setprop("tu154/instrumentation/pn-6/g3", 0 );
 624 #       setprop("tu154/instrumentation/pn-6/lamp-1", 0.0 );
 625 #       setprop("tu154/instrumentation/pn-6/lamp-2", 0.0 );
 626 #       setprop("tu154/instrumentation/pn-6/lamp-3", 0.0 );
 627         setprop("tu154/instrumentation/pn-6/lamp-4", 0.0 );
 628         setprop("tu154/instrumentation/pn-6/lamp-5", 0.0 );
 629         setprop("tu154/instrumentation/pn-6/stab", 0 );
 630         setprop("tu154/instrumentation/pn-6/mode", 0.0 );
 631         setprop("tu154/systems/electrical/indicators/autothrottle", 0.0 );
 632         setprop("fdm/jsbsim/ap/at-podg", 0.0 );
 633         return;
 634         }
 635 if( param == 1.0 ) # power on ( mode "soglasovanie" )
 636         {
 637         setprop("tu154/instrumentation/pn-6/mode", 1.0 );
 638         setprop("fdm/jsbsim/ap/at-podg", 1.0 );
 639         absu_at_sogl(); # start "soglasovanie" cycle
 640         return;
 641         }
 642
 643
 644 if( param == 2.0 ) # mode "podgotovka" off
 645         {
 646     if( getprop( "tu154/instrumentation/pn-6/mode" ) >= 1.0 )
 647         {
 648         absu_at_stop();
 649         setprop("tu154/instrumentation/pn-6/mode", 1.0 );
 650         return;
 651         }}
 652
 653 if( param == 3.0 ) # mode "podgotovka" on
 654         {
 655 #print(param);
 656 #print( getprop("tu154/instrumentation/pn-6/mode") );
 657     if( getprop("tu154/instrumentation/pn-6/mode") >= 1.0 )
 658         {
 659         interpolate("tu154/instrumentation/pn-6/mode", 3.0, 10.0 );
 660         return;
 661         }}
 662 }
 663
 664 setlistener("tu154/instrumentation/pn-6/serviceable", func {
 665     absu_at_handler(getprop("tu154/instrumentation/pn-6/serviceable"));
 666 }, 0, 0 );
 667
 668
 669 # ABSU AT timer procedure
 670 var absu_at_sogl = func{
 671 if( getprop("tu154/instrumentation/pn-6/mode") == 0.0 ) return;
 672 settimer( absu_at_sogl, 0.3 );
 673
 674
 675 # control lamps
 676  if( getprop("tu154/instrumentation/pn-6/mode") > 2.0 )
 677  {
 678  setprop("tu154/instrumentation/pn-6/lamp-4", 1.0 );
 679  setprop("tu154/instrumentation/pn-6/lamp-5", 1.0 );
 680  }
 681  else
 682  {
 683  setprop("tu154/instrumentation/pn-6/lamp-4", 0.0 );
 684  setprop("tu154/instrumentation/pn-6/lamp-5", 0.0 );
 685  }
 686
 687 # end control lamps
 688 if( getprop("tu154/instrumentation/pn-6/stab") == 0 ) # soglasovanie
 689         {
 690         setprop("fdm/jsbsim/ap/at-podg", 1.0 );
 691         setprop("fdm/jsbsim/ap/at-hold-0", 0.0 );
 692         setprop("fdm/jsbsim/ap/at-hold-1", 0.0 );
 693         setprop("fdm/jsbsim/ap/at-hold-2", 0.0 );
 694
 695         var kias = getprop("instrumentation/airspeed-indicator/indicated-speed-kt");
 696         if( kias != nil ) interpolate("tu154/instrumentation/pn-6/at-kt", kias, 0.3);
 697         }
 698 else {
 699         var kias = getprop("tu154/instrumentation/pn-6/at-kt");
 700 if( kias != nil ) setprop( "fdm/jsbsim/ap/input-at", kias*1.688 ); # from knots to fps
 701         absu_at_check_thr(); # check off-line state
 702
 703         }
 704
 705
 706 }
 707
 708 var absu_at_check = func{
 709 if( getprop("tu154/instrumentation/pn-6/mode") > 2.0 )
 710         {
 711         var state = !arg[0];
 712         setprop("tu154/instrumentation/pn-6/lamp-4", state );
 713         setprop("tu154/instrumentation/pn-6/lamp-5", state );
 714 #       setprop("tu154/instrumentation/pn-6/check-lamp", state );
 715         }
 716
 717 }
 718
 719 # Start stabilize speed
 720 var absu_at_start = func{
 721 if( getprop("tu154/instrumentation/pn-6/mode") < 2.0 ) return;
 722 if( absu_at_check_thr() ) return; # 2 or 3 engines are offline now
 723 # Set AT to stab mode
 724 var kias = getprop("instrumentation/airspeed-indicator/indicated-speed-kt");
 725 if( kias != nil ){
 726         interpolate("tu154/instrumentation/pn-6/at-kt", kias, 0.3);
 727         setprop("fdm/jsbsim/ap/input-at", kias*1.688 );
 728         }
 729
 730 setprop("fdm/jsbsim/ap/at-hold-0", 1.0 );
 731 setprop("fdm/jsbsim/ap/at-hold-1", 1.0 );
 732 setprop("fdm/jsbsim/ap/at-hold-2", 1.0 );
 733
 734
 735 setprop("tu154/instrumentation/pn-6/stab", 1.0 );
 736 setprop("tu154/systems/electrical/indicators/autothrottle", 1.0 );
 737 }
 738
 739 # Stop stabilize speed
 740 var absu_at_stop = func{
 741 var thr_pos0 = getprop("fdm/jsbsim/fcs/throttle-pos-norm[0]");
 742 var thr_pos1 = getprop("fdm/jsbsim/fcs/throttle-pos-norm[1]");
 743 var thr_pos2 = getprop("fdm/jsbsim/fcs/throttle-pos-norm[2]");
 744 setprop("controls/engines/engine[0]/throttle", thr_pos0);
 745 setprop("controls/engines/engine[1]/throttle", thr_pos1);
 746 setprop("controls/engines/engine[2]/throttle", thr_pos2);
 747
 748 setprop("fdm/jsbsim/ap/at-podg", 1.0 );
 749 setprop("fdm/jsbsim/ap/at-hold-0", 0.0 );
 750 setprop("fdm/jsbsim/ap/at-hold-1", 0.0 );
 751 setprop("fdm/jsbsim/ap/at-hold-2", 0.0 );
 752
 753 setprop("tu154/instrumentation/pn-6/lamp-4", 0.0 );
 754 setprop("tu154/instrumentation/pn-6/lamp-5", 0.0 );
 755
 756 if( getprop("tu154/instrumentation/pn-6/stab" ) ) absu_alarm();
 757
 758 setprop("tu154/instrumentation/pn-6/stab", 0.0 );
 759
 760 setprop("tu154/systems/electrical/indicators/autothrottle", 0.0 );
 761
 762 }
 763
 764 var absu_at_check_thr = func{
 765 # Check off-line engines
 766 var eng_1 = getprop( "tu154/instrumentation/pn-6/g1" );
 767 if( eng_1 == nil ) eng_1 = 0;
 768 var eng_2 = getprop( "tu154/instrumentation/pn-6/g2" );
 769 if( eng_2 == nil ) eng_2 = 0;
 770 var eng_3 = getprop( "tu154/instrumentation/pn-6/g3" );
 771 if( eng_3 == nil ) eng_3 = 0;
 772
 773 if( (eng_1 + eng_2 + eng_3) > 1.0 ) {
 774         absu_at_stop();
 775         return 1;
 776         }
 777 if( eng_1 ) setprop("fdm/jsbsim/ap/at-hold-0", 0.0 );
 778 else setprop("fdm/jsbsim/ap/at-hold-0", 1.0 );
 779 if( eng_2 ) setprop("fdm/jsbsim/ap/at-hold-1", 0.0 );
 780 else setprop("fdm/jsbsim/ap/at-hold-1", 1.0 );
 781 if( eng_3 ) setprop("fdm/jsbsim/ap/at-hold-2", 0.0 );
 782 else setprop("fdm/jsbsim/ap/at-hold-2", 1.0 );
 783 return 0;
 784 }
 785
 786 # Power support
 787 absu_power = func{
 788 var acpwr = getprop( "tu154/systems/electrical/buses/AC3x200-bus-3L/volts" );
 789 var mgv1 = getprop("tu154/instrumentation/bkk/mgv-1-failure");
 790 if( mgv1 == nil ) mgv1 = 1;
 791 var mgv2 = getprop("tu154/instrumentation/bkk/mgv-2-failure");
 792 if( mgv2 == nil ) mgv2 = 1;
 793 var mgvc = getprop("tu154/instrumentation/bkk/mgv-contr-failure");
 794 if( mgvc == nil ) mgvc = 1;
 795
 796         if( getprop("tu154/switches/SAU-STU")==1 )
 797         {
 798             if( acpwr == nil ) return; # system not ready yet
 799             if( acpwr < 150.0 ) return;
 800             # hydrosystem fails or busters off
 801             if(  getprop("fdm/jsbsim/hs/busters-serviceable") < 2.5 ) return;
 802             # MGV check
 803             var mgv = mgv1 + mgv2 + mgvc;
 804             if( mgv > 1 ) return;       # deny stab autopilot if all MGV failure
 805             # check hydropower of RA-56
 806             if( getprop("fdm/jsbsim/hs/ra-56-roll-serviceable") < 1.0 ) return;
 807             if( getprop("fdm/jsbsim/hs/ra-56-yaw-serviceable") < 1.0 ) return;
 808             if( getprop("fdm/jsbsim/hs/ra-56-pitch-serviceable") < 1.0 ) return;
 809             if( getprop("fdm/jsbsim/ap/suu-enable") != 1.0 ) return;
 810             # All OK, let's turn power on for ABSU
 811              setprop("tu154/systems/absu/serviceable", 1 );
 812              electrical.AC3x200_bus_3R.add_output( "ABSU", 100.0);
 813         }
 814         else {
 815              setprop("tu154/systems/absu/serviceable", 0 );
 816              electrical.AC3x200_bus_3R.rm_output( "ABSU" );
 817         }
 818 }
 819
 820
 821
 822 setlistener("tu154/switches/SAU-STU", absu_power, 0, 0 );
 823 # ============================== End AT-6 support ===========================
 824
 825 gui.Dialog.new("/sim/gui/dialogs/Tu-154B-2/nav/dialog", "Aircraft/tu154b/Dialogs/nav.xml");
 826
 827
 828 setprop("sim/menubar/default/menu[3]/enabled", 0 );
 829
 830 print("ABSU started, default autopilot disabled");