Tu-154B2 version 3.1:
[fg:toms-fgdata.git] / Aircraft / tu154b / Systems / absu154.xml
1 <?xml version="1.0"?>
2 <!--
3     
4     Author:   Yurik V. Nikiforoff, yurik@megasignal.com
5     Date:     apr-nov 2008
6     Function: Autopilot fot TU-154B
7     License:  GPL
8     -->
9 <autopilot name="ABSU-154">
10
11 <!-- INTERFACE PROPERTIES -->
12
13 <!-- Roll interface properties -->
14
15 <property value="0.001"> ap/alt-gain </property>
16
17 <!--<property> fcs/revers-by-joy </property>-->
18 <property value="0.0"> fcs/revers-by-key </property>
19 <property value="0.0"> ap/turbulence </property>
20 <property value="0.0"> ap/met-neutral </property>
21 <!--<property value="0.1"> fcs/revers-1-limit </property>
22 <property value="0.03"> fcs/revers-2-limit </property>-->
23
24 <!--<property> fcs/revers-1-limit </property>
25 <property> fcs/revers-2-limit </property>-->
26
27   <property>ap/roll-selector</property>
28   <property>ap/input-heading-pnp</property>
29   <property>ap/input-heading-zk</property>
30   <property>ap/input-at</property>
31   
32   <property>ap/suu-enable</property>
33   
34 <!--  <property>ap/gs-distance</property>
35   <property>ap/crosstrack-m</property> -->
36   
37   <property>ap/ils-epsilon</property> 
38   
39   <property>ap/at-pid-output</property> 
40   <property>ap/at-podg</property>
41   <property>ap/at-hold-0</property>
42   <property>ap/at-hold-1</property>
43   <property>ap/at-hold-2</property>
44   
45   <property>ap/input-heading-delta</property>
46   <property>ap/heading-cmd-norm</property>
47
48   
49   <property>ap/stab-input-roll-rad</property>
50   <property>ap/roll-hold</property>
51
52 <!-- Pitch interface properties -->
53   <property>ap/pitch-selector</property>
54
55 <!--<property>ap/gs-gain</property>-->
56 <property>ap/hdg-out</property>
57 <property>ap/output-pitch-current</property>
58
59   <property>ap/input-glideslope-speed</property>
60   <property>ap/input-glideslope-delta</property>
61   
62   <property>ap/glideslope-cmd-norm</property>
63
64
65   <property>ap/input-mach</property>
66   <property>ap/mach-cmd-norm</property>
67
68
69   <property>ap/input-speed</property>
70   <property>ap/speed-cmd-norm</property>
71
72
73   <property>ap/input-altitude</property>
74   <property>ap/altitude-cmd-norm</property>
75   
76
77   <property>ap/stab-input-pitch-rad</property>
78   <property>ap/offset-pitch-rad</property>
79  
80  
81   <property>ap/pitch-hold</property>
82   <property>ap/pitch/latch-out-rad</property>
83   
84
85   <property>ap/windup-trigger</property>
86
87 <property>ap/pitch/met-integr-out</property>
88  <!--Needles flag-->
89   <property>ap/ena-needles</property>
90
91                                                         <!--RESTORE IT FOR RELEASE!!!-->
92                                                         
93                                                         
94 <channel name="Glue">
95   
96 <fcs_function name="ap/navigac" >
97     <function>
98        <property>/tu154/switches/pn-5-navigac</property>
99     </function>
100   </fcs_function>
101
102 <fcs_function name="ap/posadk" >
103     <function>
104        <property>/tu154/switches/pn-5-posadk</property>
105     </function>
106 </fcs_function>
107
108 <fcs_function name="ap/pressure-altitude-ft" >
109      <function>
110         <property>/instrumentation/altimeter[0]/pressure-alt-ft</property>
111      </function>
112 </fcs_function>
113
114 <fcs_function name="ap/heading-epsilon" >
115      <function>
116         <property>/instrumentation/nav[0]/heading-needle-deflection-norm</property>
117      </function>
118 </fcs_function>
119
120 <fcs_function name="ap/gs-epsilon" >
121      <function>
122         <property>/instrumentation/nav[0]/gs-needle-deflection-norm</property>
123      </function>
124 </fcs_function>
125
126 </channel>
127
128                                                         <!--COMMENT IT FOR RELEASE!!!-->
129
130 <!--ILS and VOR debug channel-->
131 <!--
132 <channel name="Debug">
133
134  <waypoint_heading name="debug/wp-heading" unit="DEG">
135    <source_latitude unit="DEG">debug/wp-lat-deg</source_latitude>
136    <source_longitude unit="DEG">debug/wp-lon-deg</source_longitude>
137    <target_latitude unit="RAD">position/lat-gc-rad</target_latitude>
138    <target_longitude unit="RAD">position/long-gc-rad</target_longitude>
139  </waypoint_heading>
140
141  <waypoint_distance name="debug/wp-distance" unit="M">
142    <source_latitude unit="DEG">debug/wp-lat-deg</source_latitude>
143    <source_longitude unit="DEG">debug/wp-lon-deg</source_longitude>
144    <target_latitude unit="RAD">position/lat-gc-rad</target_latitude>
145    <target_longitude unit="RAD">position/long-gc-rad</target_longitude>
146  </waypoint_distance>
147
148  <summer name="debug/wp-hdg">
149    <input>debug/wp-heading</input>
150    <bias>-270.0</bias>
151  </summer>
152
153  <pure_gain name="debug/h-m">
154    <input>position/h-agl-ft</input>
155    <gain>0.3048</gain>
156  </pure_gain>
157  
158  <fcs_function name="debug/gs-epsilon">
159    <function>
160      <product>
161       <value>-1.43</value>
162       <sum>
163         <value>-2.4</value>
164         <product>
165           <value>57.3</value>
166           <atan2>
167             <property>debug/h-m</property>
168             <property>debug/wp-distance</property>
169           </atan2>
170       </product>
171       </sum>
172     </product>
173    </function>
174    <clipto>
175     <min>-1.0</min>
176     <max>1.0</max>
177    </clipto>
178  </fcs_function>
179  
180  <pure_gain name="debug/wp-hdg-corrected">
181    <input>debug/wp-hdg</input>
182    <gain>0.77</gain>
183    <clipto>
184     <min>-1.0</min>
185     <max>1.0</max>
186    </clipto>   
187  </pure_gain>
188  
189 </channel>-->
190
191
192 <!--
193 ==================================== NEW PITCH CHANNEL ====================================
194 modified by Yurik nov 2013
195  Based on:
196  ABSU-154-2 RTE part 1 022.01.00 p.31
197  ABSU-154-2 RTE part 2 022.10.00 p.34
198  -->
199
200 <channel name="Pitch stab">
201   
202 <!-- Glideslope path system -->
203   <switch name="ap/pitch/gs-epsilon-gain">
204     <default value="-3.0"/>
205     <test value="-2.0">
206       instrumentation/indicated-altitude-m lt 250.0
207     </test>
208   </switch>
209
210   <pure_gain name="ap/pitch/gs-epsilon">
211 <input>ap/gs-epsilon</input>    <!-- -1..1 --> <!--RESTORE IT FOR RELEASE!!!-->
212 <!--<input>debug/gs-epsilon</input>-->                      <!--COMMENT IT FOR RELEASE!!!-->
213     <gain>ap/pitch/gs-epsilon-gain</gain>
214   </pure_gain>
215   
216   <pure_gain name="ap/pitch/gs-k7">
217     <input>ap/pitch/gs-epsilon</input>
218     <gain>0.5</gain>
219   </pure_gain>
220   
221   <pure_gain name="ap/pitch/gs-gain-k2">
222     <input>ap/pitch/gs-epsilon</input>
223     <gain>0.7</gain>
224   </pure_gain>
225
226   <washout_filter name="ap/pitch/gs-k2">
227   <input>ap/pitch/gs-gain-k2</input>
228   <c1>0.3</c1>
229   </washout_filter>
230   
231   <summer name="ap/pitch/gs-attitude">
232     <input>attitude/theta-rad</input>
233     <bias>-0.0087</bias>        <!--0.5 deg-->
234   </summer>
235
236   <pure_gain name="ap/pitch/gs-gain-k11">
237     <input>ap/pitch/gs-attitude</input>
238     <gain>5.0</gain>
239   </pure_gain>
240
241   <washout_filter name="ap/pitch/gs-k11">
242     <input>ap/pitch/gs-gain-k11</input>
243     <c1>0.3</c1>
244   </washout_filter>
245   
246   <summer name="ap/pitch/gs-sum-internal">
247     <input>ap/pitch/gs-k7</input>
248     <input>ap/pitch/gs-k2</input>
249     <input>ap/pitch/gs-k11</input>
250   </summer>
251
252   <pure_gain name="ap/pitch/gs-k10">
253     <input>ap/pitch/gs-attitude</input>
254     <gain>0.3</gain>
255   </pure_gain>
256   
257   <lag_filter name="ap/pitch/gs-k4">
258     <input>ap/pitch/gs-sum-internal</input>
259     <c1>4.0</c1>
260   </lag_filter> 
261   
262   <lag_filter name="ap/pitch/gs-k8">
263     <input>ap/pitch/gs-k10</input>
264     <c1>4.0</c1>
265   </lag_filter> 
266   
267   <switch name="ap/pitch/gs-k8-switched">
268     <default value="0.0"/>
269     <test value="ap/pitch/gs-k8">
270       ap/pitch-hold == 1
271     </test>
272   </switch>
273   
274   <summer name="ap/pitch/gs-sum-out">
275     <input>ap/pitch/gs-k4</input>
276     <input>ap/pitch/gs-k8-switched</input>
277   </summer>
278   
279   <switch name="ap/pitch/gs-sum-out-switched">
280     <default value="0.0"/>
281     <test value="ap/pitch/gs-sum-out">
282       ap/posadk == 1
283     </test>
284   </switch>
285   
286   <pure_gain name="ap/pitch/gs-k5">
287     <input>ap/pitch/gs-sum-out-switched</input>
288     <gain>5.0</gain>
289     <clipto>
290       <min>-0.6</min>
291       <max>0.6</max>
292     </clipto>
293   </pure_gain>
294   
295   <pure_gain name="ap/pitch/gs-needle">
296     <input>ap/pitch/gs-sum-out-switched</input>
297     <gain>-0.5</gain>
298     <clipto>
299       <min>-1.0</min>
300       <max>1.0</max>
301     </clipto>
302   </pure_gain>
303   
304   
305 <!--M stab-->
306   <summer name="ap/pitch/mach-error">
307     <input>ap/input-mach</input>
308     <input>-velocities/mach</input>
309     <clipto>
310       <min>-0.5</min>
311       <max>0.5</max>
312     </clipto>
313   </summer>
314   
315   <switch name="ap/pitch/mach-windup">
316     <default value="-1.0"/>
317     <test value="0.0">
318       ap/pitch-selector == 4
319       ap/pitch-hold == 1
320     </test>
321   </switch>
322   
323   <pid name="ap/pitch/m-pid">
324     <input>ap/pitch/mach-error</input>      
325     <kp> 5.0 </kp>
326     <ki> 0.5 </ki>
327     <kd> 5.0 </kd>
328     <trigger>ap/pitch/mach-windup</trigger>
329     <clipto>
330       <min>-0.25</min>
331       <max>0.25</max>
332     </clipto>
333   </pid>
334
335 <!--End M stab-->
336
337 <!--V stab-->
338   <summer name="ap/pitch/speed-error">
339     <input>ap/input-speed</input>
340     <input>-velocities/vc-fps</input>
341     <clipto>
342       <min>-100</min>
343       <max>100</max>
344     </clipto>
345   </summer>
346   
347   <switch name="ap/pitch/speed-windup">
348     <default value="-1.0"/>
349     <test value="0.0">
350       ap/pitch-selector == 3
351       ap/pitch-hold == 1
352     </test>
353   </switch>
354   
355   <pid name="ap/pitch/v-pid">
356     <input>ap/pitch/speed-error</input>     
357     <kp> 0.01 </kp>
358     <ki> 0.001 </ki>
359     <kd> 0.01 </kd>
360     <trigger>ap/pitch/speed-windup</trigger>
361     <clipto>
362       <min>-0.3</min>
363       <max>0.3</max>
364     </clipto>
365   </pid>
366
367 <!--End V stab-->
368 <!--H stab-->
369   <summer name="ap/pitch/altitude-error">
370     <input>ap/input-altitude</input>
371     <input>-ap/pressure-altitude-ft</input> <!--RESTORE IT FOR RELEASE!!!-->
372     <!--<input>-position/h-agl-ft</input>--> <!--COMMENT IT FOR RELEASE!!!-->
373     <clipto>
374       <min>-100</min>
375       <max>100</max>
376     </clipto>
377   </summer>
378
379   <switch name="ap/pitch/h-windup">
380     <default value="-1.0"/>
381     <test value="0.0">
382       ap/pitch-selector == 2
383       ap/pitch-hold == 1
384     </test>
385   </switch>
386   
387   <pid name="ap/pitch/h-pid-pi">
388     <input>-ap/pitch/altitude-error</input>
389     <kp> 0.0005 </kp>
390     <ki> 0.00005 </ki>
391     <kd> 0.0 </kd>
392     <trigger>ap/pitch/h-windup</trigger>
393   </pid>
394   
395   <pid name="ap/pitch/h-pid-d">
396     <input>-ap/pitch/altitude-error</input>
397     <kp> 0.0 </kp>
398     <ki> 0.0 </ki>
399     <kd> 0.0005 </kd>
400   </pid>
401   
402   <switch name="ap/pitch/h-pid-d-switched">
403     <default value="ap/pitch/h-pid-d"/>
404     <test value="0.0">
405       ap/turbulence == 1
406     </test>
407   </switch>
408   
409   <summer name="ap/pitch/h-pid">
410     <input>ap/pitch/h-pid-pi</input>
411     <input>ap/pitch/h-pid-d</input>
412   </summer>
413
414 <!--End H stab-->
415
416 <!--Go around stab-->
417   <fcs_function name="ap/pitch/go-around-speed">
418   <function>
419     <table >
420       <independentVar> fcs/flap-pos-deg </independentVar>
421       <tableData>
422         0         367
423         28        317
424         45        267
425       </tableData>
426     </table>
427   </function>
428   </fcs_function>
429
430   <fcs_function name="ap/pitch/go-around-pitch-rad">
431   <function>
432     <table >
433       <independentVar> fcs/flap-pos-deg </independentVar>
434       <tableData>
435         0         0.8
436         28        0.4
437         45        0.2
438       </tableData>
439     </table>
440   </function>
441   </fcs_function>
442   
443   <switch name="ap/pitch/go-around-pitch-rad-switched">
444     <default value="0.0"/>
445     <test value="ap/pitch/go-around-pitch-rad">
446       ap/pitch-selector == 6
447     </test>
448   </switch>
449   
450   <washout_filter name="ap/pitch/go-around-pitch-rad-dot">
451     <input>ap/pitch/go-around-pitch-rad-switched</input>
452     <c1>0.1</c1>
453   </washout_filter>
454   
455   <summer name="ap/pitch/go-around-f5">
456     <input>ap/pitch/go-around-speed</input>
457     <input>-velocities/vc-fps</input>
458     <clipto>
459       <min>-82</min>
460       <max>82</max>     <!-- +-25 m/s -->
461     </clipto>
462   </summer>
463
464   <pure_gain name="ap/pitch/go-around-kv">
465     <input>ap/pitch/go-around-f5</input>
466     <gain>0.005</gain>
467   </pure_gain>
468   
469   <pure_gain name="ap/pitch/go-around-kd">
470     <input>-velocities/vc-fps</input>
471     <gain>0.005</gain>
472   </pure_gain>
473
474   <washout_filter name="ap/pitch/go-around-d">
475     <input>ap/pitch/go-around-kd</input>
476     <c1>0.3</c1>
477   </washout_filter>
478   
479   <summer name="ap/pitch/go-around-sum-1">
480     <input>ap/pitch/go-around-kv</input>
481     <input>ap/pitch/go-around-d</input>
482   </summer>
483   
484   <lag_filter name="ap/pitch/go-around-sum-1-filtered">
485     <input>ap/pitch/go-around-sum-1</input>
486     <c1>2.0</c1>
487   </lag_filter> 
488   
489   <washout_filter name="ap/pitch/go-around-theta-rad-dot">
490     <input>attitude/theta-rad</input>
491     <c1>0.1</c1>
492   </washout_filter>
493
494   <summer name="ap/pitch/go-around-sum-2">
495     <input>ap/pitch/go-around-sum-1-filtered</input>
496     <input>-ap/pitch/go-around-pitch-rad-dot</input>
497     <input>ap/pitch/go-around-theta-rad-dot</input>
498   </summer>
499   
500   <pure_gain name="ap/pitch/go-around-f">
501     <input>ap/pitch/go-around-sum-2</input>
502     <gain>5.0</gain>
503   </pure_gain>
504   
505   
506 <!--End go around stab-->
507
508
509 <!--Longitudal stabilizer selector-->
510
511   <switch name="ap/pitch/stab-selector">
512     <default value="0.0"/>       <!--   Zero output -->
513     <test value="ap/pitch/h-pid"><!--   Stab H -->
514       ap/pitch-selector == 2
515     </test>
516     <test value="ap/pitch/v-pid"><!--   Stab V -->
517       ap/pitch-selector == 3
518     </test>
519     <test value="ap/pitch/m-pid"><!--   Stab M -->
520       ap/pitch-selector == 4
521     </test>
522   </switch>
523     
524
525 <!--Theta stabilizer-->
526   <switch name="ap/pitch/theta-latched-rad">
527     <default value="ap/pitch/latch-out-rad"/>
528     <test value="ap/pitch/theta-latched-rad">
529       ap/pitch-selector ne 0
530     </test>
531   </switch>
532   
533   <summer name="ap/pitch/theta-sum-rad">
534     <input>-ap/pitch/theta-latched-rad</input>
535     <input>attitude/theta-rad</input>
536   </summer>
537
538   <pure_gain name="ap/pitch/theta">
539     <input>ap/pitch/theta-sum-rad</input>
540     <gain>1.0</gain>
541   </pure_gain>
542
543 <!--Bank compensator-->
544  <fcs_function name="ap/pitch/bank-compensation">
545     <function>
546       <product>
547         <abs>
548           <property>attitude/phi-rad</property>
549         </abs>  
550         <value>-0.015</value>
551       </product>
552     </function>
553  </fcs_function>
554
555 <!--Pitch manually-->
556   <pure_gain name="ap/pitch/manu">
557     <input>-ap/stab-input-pitch-rad</input>
558     <gain>1.0</gain>
559     <clipto>
560       <min>-0.3</min>   <!-- Limit +-17 deg -->
561       <max>0.3</max>
562     </clipto>
563   </pure_gain>
564
565 <!--Main pitch summer-->
566   <summer name="ap/pitch/main_stab_summer">
567     <input>ap/pitch/theta</input>
568     <input>ap/pitch/bank-compensation</input>
569     <input>ap/pitch/manu</input>
570     <input>ap/pitch/stab-selector</input>
571 <!--    <clipto>
572       <min>-1.0</min>
573       <max>1.0</max>
574     </clipto>         -->
575   </summer>
576
577
578   <summer name="ap/pitch/latch_stab_summer">
579     <input>attitude/theta-rad</input>
580     <input>ap/pitch/bank-compensation</input>
581     <input>ap/pitch/manu</input>
582     <input>ap/pitch/stab-selector</input>
583     <output>ap/pitch/latch-out-rad</output>
584   </summer>
585   
586   
587   <pure_gain name="ap/pitch/main_stab">
588     <input>ap/pitch/main_stab_summer</input>
589     <gain>5.0</gain>
590   </pure_gain>
591
592   <!--AP mode selector-->
593   <switch name="ap/pitch/ap-sw">
594     <default value="0.0"/>
595     <test value="ap/pitch/main_stab">
596       ap/pitch-selector == 1                    <!--Stab-->
597     </test>
598     <test value="ap/pitch/main_stab">           <!--H-->
599       ap/pitch-selector == 2
600     </test>
601     <test value="ap/pitch/main_stab">           <!--V-->
602       ap/pitch-selector == 3
603     </test>
604     <test value="ap/pitch/main_stab">           <!--M-->
605       ap/pitch-selector == 4
606     </test>
607     <test value="ap/pitch/gs-k5">               <!--Glideslope-->
608       ap/pitch-selector == 5
609     </test>
610     <test value="ap/pitch/go-around-f">         <!--Go around-->
611       ap/pitch-selector == 6
612     </test>    
613   </switch>
614
615   <switch name="ap/pitch/ap-selector">
616     <default value="0.0"/>
617     <test value="ap/pitch/ap-sw">
618       ap/pitch-hold == 1                        <!--Main hold switch-->
619     </test>
620   </switch>
621 <!-- ********************** MET section ************************** -->
622             <!--MET selector-->
623             <switch name="ap/pitch/met-selector">
624               <default value="ap/pitch/ap-selector"/>
625               <test logic="OR" value="fcs/met-cmd">
626                 ap/pitch-selector == 0
627                 ap/pitch-hold == 0      <!--We use buttons for MET moving if yoke control mode (0) selected-->
628               </test>
629             </switch>
630             <!--Set met to neutral-->
631             <switch name="ap/pitch/met-trigger">
632               <default value="0.0"/>
633               <test value="-1.0">
634                 ap/met-neutral == 1     <!-- Set it to 1 if you want move MET to neutral -->
635               </test>
636             </switch>
637             
638             <!--Input MET threshold (deadband zone)-->
639             <deadband name="ap/pitch/met-input-deadband">
640               <input>ap/pitch/met-selector</input>
641               <width>0.2</width>
642             </deadband>
643             
644             <!--Limit for output MET value-->
645             <deadband name="ap/pitch/met-output-deadband">
646               <input>ap/pitch/met-integr-out</input>
647               <width>2.0</width> <!-- -1 ... 1 -->
648             </deadband>
649             
650             <switch name="ap/pitch/met-threshold">
651               <default value="0.0"/>
652               <test value="0.0625">     <!--1/16 sec -> 32 sec for moving MET to all band -1..1 -->
653                 ap/pitch/met-input-deadband ne 0
654                 ap/pitch/met-selector ge 0
655               </test>
656               <test value="-0.0625">
657                 ap/pitch/met-input-deadband ne 0
658                 ap/pitch/met-selector lt 0
659               </test>         
660             </switch>
661             
662             <switch name="ap/pitch/met-input">
663               <default value="ap/pitch/met-threshold"/>
664               <test value="0.0">
665                 ap/pitch/met-output-deadband ne 0
666                 ap/pitch/met-integr-out le 0
667                 ap/pitch/met-threshold le 0
668               </test>
669               <test value="0.0">
670                 ap/pitch/met-output-deadband ne 0
671                 ap/pitch/met-integr-out gt 0
672                 ap/pitch/met-threshold gt 0
673               </test>         
674             </switch>
675             
676             <pid name="ap/pitch/met-integrator">
677               <input>ap/pitch/met-input</input>
678               <kp>0.0</kp>
679               <ki>1.0</ki>
680               <kd>0.0</kd>
681               <trigger>ap/pitch/met-trigger</trigger>
682               <output>ap/pitch/met-integr-out</output>
683             </pid>
684             
685             <pure_gain name="ap/pitch/met">
686               <input>ap/pitch/met-integrator</input>
687               <gain>0.7</gain>
688             </pure_gain>
689   
690 <!-- ***************** End MET section ****************************-->
691
692 <!-- +++++++++++++++++++ SUU ( enchance control system ) ++++++++++++++++++ -->
693 <!-- 
694 There is a system for enchance pitch control. It read pitch trimmer position and adjust gain of pitch channel of yoke control. 
695 -->
696             <scheduled_gain name="ap/suu">
697               <input>fcs/elevator-cmd-norm</input>
698               <table>
699                 <!--<independentVar> fcs/pitch-trim-cmd-norm </independentVar>-->
700                 <independentVar> ap/pitch/met-integrator </independentVar>
701                 <tableData>
702                   -1            -1.2
703                   0             -0.175
704                   0.5           0.325
705                   0.583         0.4
706                   0.667         0.4
707                   1             0.4
708                 </tableData>
709               </table>
710             </scheduled_gain>
711             
712             <switch name="ap/suu-switched">
713               <default value="0.0"/>
714               <test value="ap/suu">
715                 ap/suu-enable == 1
716               </test>
717             </switch>
718             
719             <pure_gain name="ap/suu-gain">
720               <input>ap/suu-switched</input>
721               <gain>-0.5</gain>
722             </pure_gain>
723
724 <!-- +++++++++++++++++++ END SUU subsystem  ++++++++++++++++++ -->
725
726
727
728 <!--Pitch damper-->  
729   <pure_gain name="ap/pitch/kwz-main">
730     <input>velocities/thetadot-rad_sec</input>
731     <gain>4.0</gain>
732   </pure_gain>
733
734   <pure_gain name="ap/pitch/kwz-gs">
735     <input>velocities/thetadot-rad_sec</input>
736     <gain>4.0</gain>
737   </pure_gain>
738   
739   <switch name="ap/pitch/kwz-gs-switched">
740     <default value="0.0"/>
741     <test value="ap/pitch/kwz-gs">
742       ap/pitch-selector == 5            <!--Glideslope-->
743       ap/pitch-hold == 1
744     </test>
745     <test value="ap/pitch/kwz-gs">
746       ap/pitch-selector == 6            <!--Go around-->
747       ap/pitch-hold == 1
748     </test>
749   </switch>
750   
751 <!--End pitch damper  -->
752   
753   <summer name="ap/pitch/ap-summer">
754     <input>ap/pitch/kwz-main</input>
755     <input>ap/pitch/kwz-gs-switched</input>
756     <input>ap/pitch/ap-selector</input>
757     <input>ap/suu-gain</input>
758     <clipto>
759       <min>-0.6</min>
760       <max>0.6</max>
761     </clipto>         
762   </summer>
763
764   
765   <pure_gain name="ap/pitch/elevator-cmd">
766     <input>ap/pitch/ap-summer</input>
767     <gain>systems/electrical-ok</gain>    
768     <output>fcs/absu-pitch</output>
769   </pure_gain>
770
771 </channel>
772 <!--================================= END NEW PITCH CHANNEL ===================================-->
773
774 <!-- *********************** Heading channels ************************ -->
775
776       <channel name="Heading stab">
777         
778 <!--******************************* VOR Staff ***************************-->
779         <summer name="ap/heading-error-pnp">
780           <input> -instrumentation/pnp-heading </input>
781           <input> ap/input-heading-pnp </input>
782           <input> -instrumentation/nvu/drift-angle </input>
783         </summer>
784         
785 <!--VOR angle stabilizer (epsilon) -->        
786         <pure_gain name="ap/vor-beam-error">
787          <input> -ap/input-heading-delta </input>
788          <gain> 2.0 </gain><!--1-->
789          <clipto>
790            <min> -5 </min>
791            <max>  5 </max>
792          </clipto>
793         </pure_gain>
794
795         <lag_filter name="ap/beam-error-filtered">
796           <input>ap/vor-beam-error</input>
797          <c1>5.0</c1>
798         </lag_filter> 
799         
800         <pure_gain name="ap/beam-error-adjusted">
801           <input> ap/beam-error-filtered </input>
802           <gain> 7.0 </gain>
803         </pure_gain>
804         
805         <switch name="ap/vor-eps">
806           <default value="0.0"/>
807           <test value="ap/beam-error-adjusted">
808             ap/roll-selector eq 3
809             ap/navigac == 1
810           </test>
811         </switch>
812
813         <!--******************************* ZK Staff ***************************-->
814         <summer name="ap/heading-error-zk">
815 <!--<input> -attitude/psi-deg </input>-->                       <!--COMMENT IT FOR RELEASE!!!-->
816 <input> -instrumentation/pnp-heading </input>    <!--RESTORE IT FOR RELEASE!!!-->
817           <input> ap/input-heading-zk </input>
818         </summer>
819         <!--******************************* NVU Staff ***************************-->
820         <pure_gain name="ap/nvu-delta-corr">
821           <input> instrumentation/nvu/Z-active </input>
822           <gain> 0.01 </gain>
823           <clipto>
824             <min> -60 </min>
825             <max>  60 </max>
826           </clipto>
827         </pure_gain>
828         
829         <summer name="ap/heading-error-nvu">
830           <input> -instrumentation/tks-heading </input>
831           <input> instrumentation/nvu/ZPU-active </input>
832           <input> -ap/nvu-delta-corr </input>
833           <input> -instrumentation/nvu/drift-angle </input>
834         </summer>
835
836 <!--******************************* ILS Staff ***************************-->
837         <summer name="ap/heading-error-ils">
838 <!--<input> -attitude/psi-deg </input>-->                                       <!--COMMENT IT FOR RELEASE!!!-->
839 <input> -instrumentation/pnp-heading </input>           <!--RESTORE IT FOR RELEASE!!!-->
840           <input> ap/input-heading-pnp </input>
841         </summer>
842
843         <switch name="ap/ils-error-bias-switch">
844           <default value="0.0"/>
845           <test value="360.0">
846             ap/heading-error-ils lt -180
847           </test>
848           <test value="-360.0">
849             ap/heading-error-ils gt 180
850           </test>
851         </switch>
852         
853         <switch name="ap/ils-beam-ki">
854           <default value="0.003"/><!--0.003-->
855           <test value="0.007"><!--0.007-->
856             instrumentation/indicated-altitude-m lt 250.0
857           </test>
858         </switch>
859
860         <pure_gain name="ap/ils-epsilon-input">
861 <!--<input> debug/wp-hdg-corrected</input>-->                           <!--COMMENT IT FOR RELEASE!!!-->
862 <input> ap/heading-epsilon </input><!-- -1...1 -->      <!--RESTORE IT FOR RELEASE!!!-->
863           <gain> 3.0 </gain>
864         </pure_gain>
865         
866         
867         <pure_gain name="ap/ils-hdg-k10">
868           <input> ap/ils-epsilon-input</input>
869           <gain> 1.0 </gain>
870         </pure_gain>
871         
872         <pure_gain name="ap/ils-gain-k17">
873           <input> ap/ils-epsilon-input</input>
874           <gain> 10.0 </gain>
875         </pure_gain>
876         
877 <!--        <lag_filter name="ap/ils-beam-filtered">
878           <input>ap/ils-beam-error</input>
879           <c1>5.0</c1>
880         </lag_filter> -->
881         
882
883  <!-- ILS heading  -->
884 <!-- modified by Yurik jul 2013
885  Based on:
886  ABSU-154-2 RTE part 1 022.01.00 p.24-->
887         <summer name="ap/ils-hdg-deviation">
888           <input> ap/ils-error-bias-switch </input>
889           <input> ap/heading-error-ils </input>
890         </summer>
891         
892         <pure_gain name="ap/ils-hdg-gain-k2">
893           <input> ap/ils-hdg-mainsummer </input>
894           <gain> 0.2 </gain><!--0.2-->
895         </pure_gain>
896         
897         <switch name="ap/ils-hdg-gain-k2-switched">
898           <default value="0.0"/>
899           <test value="ap/ils-hdg-gain-k2">
900             instrumentation/indicated-altitude-m lt 250.0
901           </test>
902         </switch>
903         
904         <pure_gain name="ap/ils-hdg-k3">
905           <input> ap/ils-hdg-deviation </input>
906           <gain> -0.7 </gain>
907         </pure_gain>
908
909         <switch name="ap/ils-hdg-k3-switched">
910           <default value="0.0"/>
911           <test value="ap/ils-hdg-k3">
912             instrumentation/indicated-altitude-m gt 250.0
913           </test>
914         </switch>
915                 
916         <lag_filter name="ap/ils-hdg-k4">
917           <input>ap/ils-hdg-gain-k2-switched</input>
918           <c1>1.0</c1>
919         </lag_filter>
920         
921         <pure_gain name="ap/ils-hdg-gain-k5">
922           <input> ap/ils-hdg-deviation </input>
923           <gain> 0.175 </gain>
924         </pure_gain>
925         
926         <pure_gain name="ap/ils-hdg-k6">
927           <input> ap/ils-hdg-deviation </input>
928           <gain> 0.7 </gain>
929         </pure_gain>
930         
931         <switch name="ap/ils-hdg-k6-switched">
932           <default value="0.0"/>
933           <test value="ap/ils-hdg-k6">
934             instrumentation/indicated-altitude-m gt 250.0
935           </test>
936         </switch>
937         
938         <washout_filter name="ap/ils-hdg-k5">
939           <input> ap/ils-hdg-gain-k5</input>
940           <c1>0.3</c1>
941         </washout_filter>
942
943         <washout_filter name="ap/ils-hdg-k17">
944           <input> ap/ils-gain-k17</input>
945           <c1>0.3</c1>
946         </washout_filter>
947
948         <summer name="ap/ils-hdg-f1">
949          <input> ap/ils-hdg-k3-switched </input>
950          <input> ap/ils-hdg-k10 </input>
951          <input> ap/ils-hdg-k4 </input>  
952          <clipto>
953            <min> -20.0 </min>
954            <max> 20.0 </max>
955          </clipto>
956         </summer>
957
958         
959         <summer name="ap/ils-hdg-mainsummer">
960          <input> ap/ils-hdg-k6-switched </input>
961          <input> ap/ils-hdg-f1 </input>
962          <input> ap/ils-hdg-k5 </input>
963          <input> ap/ils-hdg-k17 </input>
964 <!--         <clipto>
965            <min> -0.38 </min>
966            <max> 0.38 </max>
967          </clipto>-->
968         </summer>
969         
970         <pure_gain name="ap/ils-out">
971           <input> ap/ils-hdg-mainsummer </input>
972           <gain> 0.043 </gain>
973         </pure_gain>
974
975         
976         
977 <!-- ############################## Needles ############################## -->
978         <pure_gain name="ap/heading-needle-deflection-ils">
979           <!--<input> ap/ils-angle-deviation </input>-->
980           <input> ap/heading-epsilon </input>
981           <gain>1.0</gain><!--0.143-->
982           <clipto>
983             <min> -1 </min>
984             <max>  1 </max>
985           </clipto>
986         </pure_gain>
987         
988         <pure_gain name="ap/heading-needle-deflection-vor">
989           <input> -ap/input-heading-delta </input>
990           <gain>0.02</gain>
991           <clipto>
992             <min> -1 </min>
993             <max>  1 </max>
994           </clipto>
995         </pure_gain>
996         
997         <pure_gain name="ap/heading-needle-deflection-nvu">
998           <input> -instrumentation/nvu/Z-active </input>
999           <gain>0.0002</gain>
1000           <clipto>
1001             <min> -1 </min>
1002             <max>  1 </max>
1003           </clipto>
1004         </pure_gain>
1005         
1006         <switch name="ap/heading-needle-deflection">
1007           <default value="0.0"/>
1008           <test value="ap/heading-needle-deflection-vor">
1009             ap/roll-selector eq 3
1010             ap/posadk eq 0
1011           </test>
1012           <test value="ap/heading-needle-deflection-nvu">
1013             ap/roll-selector eq 4
1014             ap/posadk eq 0
1015           </test>
1016           <test value="ap/heading-needle-deflection-ils">
1017             <!--ap/roll-selector eq 5-->
1018             ap/posadk eq 1
1019           </test>
1020         </switch>
1021
1022         <pure_gain name="ap/gs-needle-deflection-ils">
1023           <input> ap/gs-epsilon </input>
1024           <gain>1.0</gain> <!---GS needle from NAV radio:-1 ... 1-->
1025           <clipto>
1026             <min> -1 </min>
1027             <max>  1 </max>
1028           </clipto>
1029         </pure_gain>
1030
1031         <switch name="ap/gs-needle-deflection">
1032           <default value="0.0"/>
1033           <test value="ap/gs-needle-deflection-ils">
1034             <!--ap/pitch-selector eq 5-->
1035             ap/posadk eq 1
1036           </test>
1037         </switch>        
1038 <!--****************************** Heading stabilizer **********************-->
1039 <!--ILS approach (STU Kurs) have own pid. -->        
1040 <switch name="ap/heading-error">
1041           <default value="0.0"/>
1042           <test value="ap/heading-error-zk">
1043             ap/roll-selector eq 2
1044           </test>
1045           <test value="ap/heading-error-pnp">
1046             ap/roll-selector eq 3
1047             ap/navigac == 1
1048           </test>
1049           <test value="ap/heading-error-nvu">
1050             ap/roll-selector eq 4
1051             ap/navigac == 1
1052           </test>
1053         </switch>
1054         
1055         <switch name="ap/heading-error-bias-switch">
1056          <default value="0.0"/>
1057          <test value="360.0">
1058             ap/heading-error lt -180
1059          </test>
1060          <test value="-360.0">
1061             ap/heading-error gt 180
1062          </test>
1063         </switch>
1064
1065         <summer name="ap/heading-deviation">
1066          <input> ap/heading-error-bias-switch </input>
1067          <input> ap/heading-error </input>
1068          <input> ap/vor-eps </input>
1069        </summer>
1070         
1071        <pid name="ap/heading-pid">
1072           <input>ap/heading-deviation</input>
1073           <kp> 0.035 </kp>
1074           <ki> 0.0 </ki>
1075           <kd> 0.025 </kd>
1076           <output>ap/heading-cmd-norm</output>
1077         </pid>
1078     
1079       </channel>      
1080
1081 <!-- *********************** Wing leveler  ************************ -->
1082     <channel name="Roll">
1083 <!--              Roll stab mode selector         
1084     ap/roll-selector state:
1085     0 - roll damper
1086     1 - stabilize current roll value
1087     2 - stabilize current heading by variate roll
1088     3 - VOR 
1089     4 - NVU
1090     5 - ILS (STU kurs)
1091
1092 -->
1093             <switch name="ap/roll-trigger">
1094               <default value="-1.0"/> 
1095               <test value="0.0">
1096                 ap/roll-hold ne 0
1097               </test>
1098             </switch>
1099
1100             <switch name="ap/input-roll-rad">
1101               <!--All automatic stabilizer exclude ILS use it-->
1102               <default value="ap/heading-cmd-norm"/> 
1103               <test value="0.0">
1104                 ap/roll-selector == 0 <!--Roll damper only-->
1105               </test>
1106
1107               <test value="ap/stab-input-roll-rad">
1108                 ap/roll-selector == 1 <!--Roll wheel-->
1109               </test>
1110
1111               <test value="ap/ils-out"> 
1112                 ap/roll-selector == 5 <!--ILS (STU Kurs) pid-->
1113                 ap/posadk == 1
1114               </test>        
1115             </switch>
1116             
1117             <lag_filter name="ap/input-roll-rad-clipped">
1118               <input>ap/input-roll-rad</input>
1119               <c1>0.7</c1>
1120               <clipto>
1121                 <min>-0.43</min>
1122                 <max>0.43</max>
1123               </clipto>
1124             </lag_filter> 
1125
1126             <summer name="ap/roll-error">
1127               <input>ap/input-roll-rad-clipped</input>
1128               <input>-attitude/roll-rad</input>
1129             </summer>
1130
1131             <pid name="ap/roll-hold-pid">
1132               <input>ap/roll-error</input>
1133               <kp> 5.0 </kp>
1134               <ki> 0.07 </ki>
1135               <kd> 0.0 </kd>
1136               <trigger>ap/roll-trigger</trigger>
1137               <clipto>
1138                 <min>-1.0</min>
1139                 <max>1.0</max>
1140               </clipto>
1141             </pid>
1142 <!--             Autopilot or  Roll Damper only?        -->
1143             <switch name="ap/roll-pid-switched">
1144               <default value="0.0"/>
1145               <test value="ap/roll-hold-pid">
1146                 ap/roll-hold ne 0
1147               </test>
1148             </switch>
1149             
1150             <pid name="ap/roll-damper">
1151               <input>-attitude/roll-rad</input>
1152               <kp> 0.0 </kp>
1153               <ki> 0.0 </ki>
1154               <kd> 1.0 </kd>
1155               <clipto>
1156                 <min>-1.0</min>
1157                 <max>1.0</max>
1158               </clipto>
1159             </pid>
1160
1161             <!--Output-->            
1162             <summer name="ap/roll-out">
1163  <!--<input>ap/roll-damper</input>-->
1164               <input>ap/roll-pid-switched</input>
1165               <clipto>
1166                 <min>-1</min>
1167                 <max>1</max>
1168               </clipto>
1169             </summer>
1170             
1171             <!--Turbulence switch-->        
1172             <scheduled_gain name="ap/roll-turb">
1173               <input>ap/roll-out</input>
1174               <table>
1175                 <independentVar> ap/turbulence </independentVar>
1176                 <tableData>
1177                   0             1.0
1178                   1             0.5
1179                 </tableData>
1180               </table>
1181             </scheduled_gain>
1182             
1183             <pure_gain name="ap/aileron">
1184               <input>ap/roll-turb</input>
1185               <gain>1.0</gain>
1186               <output>fcs/absu-roll</output>
1187             </pure_gain>       
1188       </channel>      
1189       
1190 <!--******************************** Yaw control *****************************-->
1191       <channel name="Yaw">
1192     
1193         <!--Yaw damper-->        
1194         <washout_filter name="ap/yaw-wf">
1195           <input>velocities/r-aero-rad_sec</input>
1196           <c1>0.4</c1>
1197         </washout_filter>
1198         
1199         <pure_gain name="ap/yaw-damper">
1200           <input>ap/yaw-wf</input>
1201           <gain>8.0</gain><!--8-->
1202         </pure_gain>
1203         
1204         <!--Slip stabilizer-->
1205         <switch name="ap/beta-rad-switched">
1206           <default value="0.0"/>
1207           <test value="aero/beta-rad">
1208             ap/roll-hold ne 0
1209           </test>
1210         </switch>
1211         
1212         <pid name="ap/yaw-pid">
1213           <input>ap/beta-rad-switched</input>
1214           <kp> 1.0 </kp>
1215           <ki> 1.0 </ki>
1216           <kd> 0.0 </kd>
1217           <clipto>
1218             <min>-0.5</min>
1219             <max>0.5</max>
1220           </clipto>
1221         </pid>
1222         <!--             Autopilot or  Yaw Damper only?        -->        
1223         <switch name="ap/yaw-pid-switched">
1224           <default value="0.0"/>
1225           <test value="ap/yaw-pid">
1226             ap/roll-hold ne 0
1227           </test>
1228         </switch>
1229                
1230         <!--Output-->            
1231         <summer name="ap/yaw-out">
1232           <input>ap/yaw-damper</input>
1233           <!--<input>ap/yaw-suu</input>-->
1234           <input>-ap/yaw-pid-switched</input>
1235           <clipto>
1236             <min>-1</min>
1237             <max>1</max>
1238           </clipto>
1239         </summer>
1240             <!--Turbulence switch-->        
1241         <scheduled_gain name="ap/yaw-turb">
1242            <input>ap/yaw-out</input>
1243              <table>
1244                 <independentVar> ap/turbulence </independentVar>
1245                 <tableData>
1246                   0             1.0
1247                   1             0.5
1248              </tableData>
1249            </table>
1250         </scheduled_gain>
1251
1252         <pure_gain name="ap/rudder">
1253           <input>ap/yaw-turb</input>
1254           <gain>1.0</gain>
1255           <output>fcs/absu-yaw</output>
1256         </pure_gain>
1257         
1258       </channel>
1259 <!-- ***************************** Reverser ******************************* -->
1260 <channel name="Reverser">
1261   
1262         <switch name="fcs/rev-1-left-cmd">
1263           <default value="0.0"/>
1264           <test value="1.0">
1265             fcs/revers-by-key gt 0.5
1266           </test>          
1267           <test value="fcs/revers-by-joy">
1268             fcs/throttle-cmd-norm[0] lt fcs/revers-1-limit
1269           </test>
1270         </switch>
1271         <switch name="fcs/rev-1-right-cmd">
1272           <default value="0.0"/>
1273           <test value="1.0">
1274             fcs/revers-by-key gt 0.5
1275           </test>          
1276           <test value="fcs/revers-by-joy">
1277             fcs/throttle-cmd-norm[2] lt fcs/revers-1-limit
1278           </test>
1279         </switch>
1280         <switch name="fcs/rev-2-left-cmd">
1281           <default value="0.0"/>
1282           <test value="1.0">
1283             fcs/revers-by-key gt 0.5
1284           </test>          
1285           <test value="fcs/revers-by-joy">
1286             fcs/throttle-cmd-norm[0] lt fcs/revers-2-limit
1287           </test>
1288         </switch>
1289         <switch name="fcs/rev-2-right-cmd">
1290           <default value="0.0"/>
1291           <test value="1.0">
1292             fcs/revers-by-key gt 0.5
1293           </test>          
1294           <test value="fcs/revers-by-joy">
1295             fcs/throttle-cmd-norm[2] lt fcs/revers-2-limit
1296           </test>
1297         </switch>
1298         
1299         <kinematic name="fcs/reverser-lever-left">
1300           <input>fcs/rev-1-left-cmd</input>
1301           <traverse>
1302             <setting>
1303               <position>0</position>
1304               <time>0</time>
1305             </setting>
1306             <setting>
1307               <position>2.35</position>
1308               <time>2</time>
1309             </setting>
1310           </traverse>
1311           <output>propulsion/engine[0]/reverser-angle-rad</output>
1312         </kinematic>
1313         
1314         <kinematic name="fcs/reverser-lever-right">
1315           <input>fcs/rev-1-right-cmd</input>
1316           <traverse>
1317             <setting>
1318               <position>0</position>
1319               <time>0</time>
1320             </setting>
1321             <setting>
1322               <position>2.35</position>
1323               <time>2</time>
1324             </setting>
1325           </traverse>
1326           <output>propulsion/engine[2]/reverser-angle-rad</output>
1327         </kinematic>
1328
1329         <kinematic name="fcs/reverser-throttle-left">
1330           <input>fcs/rev-2-left-cmd</input>
1331           <traverse>
1332             <setting>
1333               <position>0</position>
1334               <time>0</time>
1335             </setting>
1336             <setting>
1337               <position>0.6</position>
1338               <time>1</time>
1339             </setting>
1340           </traverse>
1341         </kinematic>
1342         
1343         <kinematic name="fcs/reverser-throttle-right">
1344           <input>fcs/rev-2-right-cmd</input>
1345           <traverse>
1346             <setting>
1347               <position>0</position>
1348               <time>0</time>
1349             </setting>
1350             <setting>
1351               <position>0.6</position>
1352               <time>1</time>
1353             </setting>
1354           </traverse>
1355         </kinematic>
1356         
1357 </channel>
1358 <!-- ***************************** Autothrottle ******************************* -->      
1359       <channel name="At">
1360         
1361         <summer name="ap/at-error">
1362           <input>-ap/input-at</input>
1363           <input>velocities/vc-fps</input>
1364           <clipto>
1365             <min>-30</min>
1366             <max>30</max>
1367           </clipto>
1368         </summer>
1369
1370 <!--Transient compensation -->
1371         <summer name="ap/at-transient-error">
1372           <input>fcs/throttle-cmd-norm[0]</input>
1373           <input>-ap/at-pid-output</input>
1374         </summer>
1375                 
1376         <switch name="ap/at-tr-err-switched">
1377           <default value="0.0"/>
1378           <test value="-ap/at-transient-error">
1379             ap/at-podg == 1
1380           </test>
1381         </switch>
1382         
1383         <pure_gain name="ap/at-transient-compensator">
1384           <input>ap/at-tr-err-switched</input>
1385           <gain>20.0</gain>
1386         </pure_gain>       
1387
1388         <!--End transient procedure -->            
1389 <!--Helpers-->
1390         <switch name="ap/at-hold">
1391           <default value="0.0"/>
1392           <test value="1">
1393             ap/at-hold-0 == 1
1394           </test>
1395           <test value="1">
1396             ap/at-hold-1 == 1
1397           </test>
1398           <test value="1">
1399             ap/at-hold-2 == 1
1400           </test>
1401         </switch>
1402         
1403         <switch name="ap/at-trigger">
1404           <default value="0.0"/>
1405           <test value="-1.0">
1406             ap/at-podg == 0
1407           </test>
1408           <test value="-1.0">
1409             ap/at-hold == 0
1410           </test>
1411           <test value="1.0">
1412             ap/at-error > 0.0
1413             ap/at-pid-output > 0.9
1414           </test>
1415           <test value="1.0">
1416             ap/at-error lt 0.0
1417             ap/at-pid-output lt 0.1
1418           </test>
1419           
1420         </switch>
1421
1422         <switch name="ap/at-error-switched">
1423           <default value="ap/at-transient-compensator"/>
1424           <test value="ap/at-error">
1425             ap/at-hold == 1
1426           </test>
1427         </switch>
1428         
1429         <switch name="ap/at-pid-ki">
1430           <default value="0.1"/>
1431           <test value="0.001">
1432             ap/at-hold == 1
1433           </test>
1434         </switch>
1435         <switch name="ap/at-pid-kd">
1436           <default value="0.0"/>
1437           <test value="0.1">
1438             ap/at-hold == 1
1439           </test>
1440         </switch>
1441         
1442         <pid name="ap/at-pid">
1443           <input>-ap/at-error-switched</input>
1444           <kp> 0.04 </kp>
1445           <ki> ap/at-pid-ki </ki>
1446           <kd> ap/at-pid-kd </kd>
1447           <trigger>ap/at-trigger</trigger>
1448           <clipto>
1449             <min>0.0</min>
1450             <max>1.0</max>
1451           </clipto>
1452           <output>ap/at-pid-output</output>
1453         </pid>
1454
1455        <switch name="ap/at-thr-switched-0">
1456          <default value="fcs/throttle-cmd-norm[0]"/>
1457          <test value="fcs/reverser-throttle-left">
1458            fcs/reverser-throttle-left gt 0
1459          </test>
1460           <test value="ap/at-pid">
1461             ap/at-hold-0 == 1
1462           </test>
1463           <output>fcs/at-throttle-cmd-norm[0]</output>
1464         </switch>
1465         
1466         <switch name="ap/at-thr-switched-1">
1467           <default value="fcs/throttle-cmd-norm[1]"/>
1468           <test value="ap/at-pid">
1469             ap/at-hold-1 == 1
1470           </test>
1471           <output>fcs/at-throttle-cmd-norm[1]</output>
1472         </switch>
1473         
1474         <switch name="ap/at-thr-switched-2">
1475           <default value="fcs/throttle-cmd-norm[2]"/>
1476           <test value="fcs/reverser-throttle-right">
1477             fcs/reverser-throttle-right gt 0
1478           </test>
1479           <test value="ap/at-pid">
1480             ap/at-hold-2 == 1
1481           </test>
1482           <output>fcs/at-throttle-cmd-norm[2]</output>
1483         </switch>
1484       
1485       </channel>
1486       
1487 </autopilot>