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>