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="0.1"> fcs/revers-1-limit </property>
  21 <property value="0.03"> fcs/revers-2-limit </property>-->
  22
  23 <!--<property> fcs/revers-1-limit </property>
  24 <property> fcs/revers-2-limit </property>-->
  25
  26   <property>ap/roll-selector</property>
  27   <property>ap/input-heading-pnp</property>
  28   <property>ap/input-heading-zk</property>
  29   <!--<property>ap/input-heading-nvu</property>-->
  30   <property>ap/input-at</property>
  31
  32   <property>ap/suu-enable</property>
  33
  34  <!-- <property>ap/input-z</property>-->
  35
  36 <!--  <property>ap/gs-distance</property>
  37   <property>ap/crosstrack-m</property> -->
  38
  39   <property>ap/ils-epsilon</property>
  40
  41   <property>ap/at-pid-output</property>
  42   <property>ap/at-podg</property>
  43   <property>ap/at-hold-0</property>
  44   <property>ap/at-hold-1</property>
  45   <property>ap/at-hold-2</property>
  46
  47   <property>ap/input-heading-delta</property>
  48   <property>ap/heading-cmd-norm</property>
  49
  50
  51   <property>ap/stab-input-roll-rad</property>
  52   <property>ap/roll-hold</property>
  53
  54 <!-- Pitch interface properties -->
  55   <property>ap/pitch-selector</property>
  56
  57 <!--<property>ap/gs-gain</property>-->
  58 <property>ap/hdg-out</property>
  59 <property>ap/output-pitch-current</property>
  60
  61   <property>ap/input-glideslope-speed</property>
  62   <property>ap/input-glideslope-delta</property>
  63
  64   <property>ap/glideslope-cmd-norm</property>
  65
  66
  67   <property>ap/input-mach</property>
  68   <property>ap/mach-cmd-norm</property>
  69
  70
  71   <property>ap/input-speed</property>
  72   <property>ap/speed-cmd-norm</property>
  73
  74
  75   <property>ap/input-altitude</property>
  76   <property>ap/altitude-cmd-norm</property>
  77
  78
  79   <property>ap/stab-input-pitch-rad</property>
  80
  81   <property>ap/pitch-hold</property>
  82
  83   <property>ap/go-around</property>
  84
  85   <property>ap/windup-trigger</property>
  86
  87
  88  <!--Needles flag-->
  89   <property>ap/ena-needles</property>
  90
  91 <channel name="Glue">
  92
  93 <fcs_function name="ap/navigac" >
  94     <function>
  95        <property>/tu154/switches/pn-5-navigac</property>
  96     </function>
  97   </fcs_function>
  98
  99 <fcs_function name="ap/posadk" >
 100     <function>
 101        <property>/tu154/switches/pn-5-posadk</property>
 102     </function>
 103 </fcs_function>
 104
 105 </channel>
 106
 107 <!--ILS and VOR debug channel-->
 108 <!--
 109 <channel name="Debug">
 110   <fcs_function>
 111     <function>
 112        <property>/controls/engines/engine/throttle</property>
 113     </function>
 114     <output>
 115       fcs/throttle-pos-norm
 116     </output>
 117   </fcs_function>
 118
 119     <summer name="debug/latitude-track-rad">
 120       <bias>0.819</bias>
 121     </summer>
 122     <summer name="debug/longitude-runway-rad">
 123       <bias>2.134</bias>
 124     </summer>
 125
 126     <summer name="debug/latitude-distance-rad">
 127       <input>debug/latitude-track-rad</input>
 128       <input>-position/lat-gc-rad</input>
 129     </summer>
 130
 131     <pure_gain name="debug/latitude-distance-m">
 132       <input>debug/latitude-distance-rad</input>
 133       <gain>6378138.12</gain>
 134     </pure_gain>
 135
 136     <summer name="debug/longitude-distance-rad">
 137       <input>debug/longitude-runway-rad</input>
 138       <input>-position/long-gc-rad</input>
 139     </summer>
 140     <pure_gain name="debug/longitude-distance-m">
 141       <input>debug/longitude-distance-rad</input>
 142       <gain>4355962.26</gain>
 143     </pure_gain>
 144
 145     <fcs_function name="debug/deviation-deg">
 146       <description>Arctang</description>
 147       <function>
 148         <product>
 149           <atan2>
 150               <property>debug/latitude-distance-m</property>
 151               <property>debug/longitude-distance-m</property>
 152           </atan2>
 153           <value>57.2958</value>
 154         </product>
 155       </function>
 156     </fcs_function>
 157
 158     <summer name="debug/heading-deg">
 159       <input>debug/deviation-deg</input>
 160       <bias>90</bias>
 161     </summer>
 162
 163   </channel>-->
 164
 165
 166 <!--************************** ABSU staff ****************************-->
 167 <!-- Parameter stabilizers -->
 168
 169 <channel name="Mach stab">
 170             <summer name="ap/m-error">
 171               <input>-ap/input-mach</input>
 172               <input>velocities/mach</input>
 173               <clipto>
 174                 <min>-0.5</min>
 175                 <max>0.5</max>
 176               </clipto>
 177             </summer>
 178             <!--Transient - see air speed PID-->
 179             <summer name="ap/mach-transient-error">
 180               <input>ap/output-pitch-current</input>
 181               <input>-ap/mach-cmd-norm</input>
 182             </summer>
 183
 184             <switch name="ap/mach-trigger">
 185               <default value="0.0"/>
 186               <test value="-1.0">
 187                 ap/pitch-selector == 4
 188               </test>
 189               <test value="-1.0">
 190                 ap/pitch-hold == 0
 191               </test>
 192             </switch>
 193
 194             <pid name="ap/mach-pid-transient">
 195               <input>ap/mach-transient-error</input>
 196               <kp> 0.00 </kp>
 197               <ki> 0.5 </ki>
 198               <kd> 0.0 </kd>
 199              <trigger>ap/mach-trigger</trigger>
 200             </pid>
 201             <!--End transient PID -->
 202
 203             <switch name="ap/m-error-switched">
 204              <default value="ap/mach-pid-transient"/>
 205               <test value="ap/m-error">
 206                 ap/pitch-selector == 4
 207               </test>
 208             </switch>
 209
 210             <pid name="ap/m-pid">
 211               <input>ap/m-error-switched</input>
 212
 213               <kp> 5.0 </kp>
 214               <ki> 0.5 </ki>
 215               <kd> 1.0 </kd>
 216
 217              <trigger>ap/windup-trigger</trigger>
 218               <clipto>
 219                 <min>-0.3</min>
 220                 <max>0.3</max>
 221               </clipto>
 222             </pid>
 223
 224             <pure_gain name="ap/m-cmd">
 225               <input>ap/m-pid</input>
 226               <gain>1.0</gain>
 227               <output>ap/mach-cmd-norm</output>
 228             </pure_gain>
 229
 230         </channel>
 231
 232 <!-- *********************************************************-->
 233         <channel name="Go around">
 234
 235           <scheduled_gain name="ap/go-around-speed">
 236             <input>ap/go-around</input>
 237             <table>
 238               <independentVar> fcs/flap-pos-deg </independentVar>
 239               <tableData>
 240                 0       363
 241                 28      313
 242                 45      263
 243               </tableData>
 244             </table>
 245           </scheduled_gain>
 246
 247           <switch name="ap/input-speed-switched">
 248             <default value="ap/input-speed"/>
 249             <test value="ap/go-around-speed">
 250               ap/go-around == 1
 251             </test>
 252           </switch>
 253
 254         </channel>
 255
 256
 257 <!-- *********************************************************-->
 258         <channel name="Aero speed stab">
 259             <summer name="ap/speed-error">
 260               <input>-ap/input-speed-switched</input>
 261               <input>velocities/vc-fps</input>
 262               <clipto>
 263                 <min>-100</min>
 264                 <max>100</max>
 265               </clipto>
 266             </summer>
 267
 268 <!--This PID use for avoid transient impulse then mode has selected. It
 269 adjust speed-pid to right state all time. -->
 270             <summer name="ap/speed-transient-error">
 271               <input>ap/output-pitch-current</input>
 272               <input>-ap/speed-cmd-norm</input>
 273             </summer>
 274
 275             <switch name="ap/speed-trigger">
 276               <default value="0.0"/>
 277               <test value="-1.0">
 278                 ap/pitch-selector == 3
 279               </test>
 280               <test value="-1.0">
 281                 ap/pitch-hold == 0
 282               </test>
 283             </switch>
 284
 285             <pid name="ap/speed-pid-transient">
 286               <input>ap/speed-transient-error</input>
 287               <kp> 0.0 </kp>
 288               <ki> 80.0 </ki>
 289               <kd> 0.0 </kd>
 290               <trigger>ap/speed-trigger</trigger>
 291             </pid>
 292 <!--End transient PID -->
 293             <switch name="ap/speed-error-switched">
 294               <default value="ap/speed-pid-transient"/>
 295               <!--<default value="0.0"/>-->
 296               <test value="ap/speed-error">
 297                 ap/pitch-selector == 3
 298               </test>
 299             </switch>
 300
 301             <pure_gain name="ap/speed-error-corrected">
 302               <input>ap/speed-error-switched</input>
 303               <gain>1.0</gain>
 304             </pure_gain>
 305
 306             <pid name="ap/speed-pid">
 307               <input>ap/speed-error-corrected</input>
 308
 309               <kp> 0.01 </kp>
 310               <ki> 0.001 </ki>
 311               <kd> 0.01 </kd>
 312
 313              <trigger>ap/windup-trigger</trigger>
 314               <clipto>
 315                 <min>-0.3</min>
 316                 <max>0.3</max>
 317               </clipto>
 318
 319             </pid>
 320
 321             <pure_gain name="ap/speed-cmd">
 322               <input>ap/speed-pid</input>
 323               <gain>1.0</gain>
 324               <output>ap/speed-cmd-norm</output>
 325             </pure_gain>
 326
 327         </channel>
 328
 329 <!-- *********************************************************-->
 330         <channel name="Altitude">
 331
 332             <pure_gain name="ap/altitude-error-vfps">
 333               <input>velocities/v-down-fps</input> <!--Feet here-->
 334               <gain>5.0</gain>
 335             </pure_gain>
 336
 337             <summer name="ap/altitude-error">
 338               <input>ap/input-altitude</input>
 339               <input>-position/h-sl-ft</input>
 340               <input>ap/altitude-error-vfps</input>
 341 <!--              <clipto>
 342                 <min>-100</min>
 343                 <max>100</max>
 344               </clipto>-->
 345             </summer>
 346
 347
 348
 349 <!--Transient speed - see air speed PID-->
 350             <summer name="ap/altitude-transient-error">
 351               <input>ap/output-pitch-current</input>
 352               <input>-ap/altitude-cmd-norm</input>
 353             </summer>
 354
 355             <switch name="ap/altitude-trigger">
 356               <default value="0.0"/>
 357               <test value="-1.0">
 358                 ap/pitch-selector == 2
 359               </test>
 360               <test value="-1.0">
 361                 ap/pitch-hold == 0
 362               </test>
 363             </switch>
 364
 365             <pid name="ap/altitude-pid-transient">
 366               <input>ap/altitude-transient-error</input>
 367               <kp> 0.0 </kp>
 368               <ki> 2000.0 </ki>
 369               <kd> 0.0 </kd>
 370               <trigger>ap/altitude-trigger</trigger>
 371             </pid>
 372             <!--End transient PID -->
 373
 374             <switch name="ap/altitude-error-switched">
 375               <default value="ap/altitude-pid-transient"/>
 376               <!--<default value="0.0"/>-->
 377               <test value="ap/altitude-error">
 378                 ap/pitch-selector == 2
 379               </test>
 380             </switch>
 381
 382             <pure_gain name="ap/altitude-error-norm">
 383               <input>ap/altitude-error-switched</input>
 384               <gain>0.001</gain>
 385             </pure_gain>
 386             <!--0.001-->
 387
 388 <!--            <scheduled_gain name="ap/altitude-error-norm">
 389               <input>ap/altitude-error-switched</input>
 390               <table>
 391                 <independentVar> position/h-sl-meters </independentVar>
 392                 <tableData>
 393                   1000            0.001
 394                   10000           0.0003
 395                 </tableData>
 396               </table>
 397             </scheduled_gain>-->
 398
 399
 400             <pid name="ap/altitude-pid">
 401               <input>ap/altitude-error-norm</input>
 402               <kp> 0.5 </kp><!--0.3-->
 403               <ki> 0.1</ki><!--0.04-->
 404               <kd> 0.0</kd><!--0.04-->
 405               <trigger>ap/windup-trigger</trigger>
 406 <!--              <clipto>
 407                 <min>-0.15</min>
 408                 <max>0.15</max>
 409               </clipto>-->
 410             </pid>
 411
 412             <pure_gain name="ap/altitude-cmd">
 413               <input>ap/altitude-pid</input>
 414               <gain>1.0</gain>
 415               <output>ap/altitude-cmd-norm</output>
 416             </pure_gain>
 417
 418         </channel>
 419
 420 <!-- ************************** STU Glissada *******************************-->
 421
 422         <channel name="Glideslope stab">
 423
 424           <summer name="ap/gs-v-speed">
 425             <input>ap/input-glideslope-speed</input> <!--Feet here-->
 426             <input>ap/input-glideslope-delta</input>
 427             <!--7 m/s max vert speed-->
 428             <clipto>
 429               <min>-23</min>
 430               <max>23</max>
 431             </clipto>
 432           </summer>
 433
 434           <summer name="ap/gs-error">
 435            <input>velocities/v-down-fps</input> <!--Feet here-->
 436             <input>ap/gs-v-speed</input>
 437           </summer>
 438
 439           <switch name="ap/gs-gain-alt">
 440             <default value="1.0"/>
 441             <test value="0.5">
 442               instrumentation/indicated-altitude-m lt 250.0
 443             </test>
 444           </switch>
 445
 446           <pure_gain name="ap/gs-error-corr">
 447             <input>ap/gs-error</input>
 448             <gain>ap/gs-gain-alt</gain>
 449           </pure_gain>
 450
 451           <switch name="ap/gs-limiter">
 452             <default value="0.0"/>
 453             <test value="1.0">
 454               ap/windup-trigger != 0.0 <!--We stop Ki then pitch channel is limited-->
 455             </test>
 456           </switch>
 457
 458           <switch name="ap/gs-trigger">
 459             <default value="-1.0"/>
 460             <test value="ap/gs-limiter">
 461               ap/pitch-selector == 5
 462               ap/gs-error lt 4
 463             </test>
 464           </switch>
 465
 466
 467           <switch name="ap/gs-error-switched">
 468
 469             <default value="0.0"/>
 470             <test value="ap/gs-error-corr">
 471               ap/pitch-selector == 5
 472               ap/posadk == 1
 473             </test>
 474           </switch>
 475
 476
 477           <pid name="ap/gs-pid">
 478             <input>ap/gs-error-switched</input>
 479             <kp> 0.018 </kp>
 480             <ki> 0.006 </ki>
 481             <kd> 0.0135 </kd>
 482             <trigger>ap/gs-trigger</trigger>
 483             <clipto>
 484               <min>-0.14</min>
 485               <max>0.14</max>
 486             </clipto>
 487             <output>ap/glideslope-cmd-norm</output>
 488           </pid>
 489
 490 </channel>
 491
 492 <!--Transient compensation for "AP on" time-->
 493 <channel name="Pitch compensation">
 494
 495             <switch name="ap/pitch-compensed">
 496               <default value="attitude/pitch-rad"/>
 497               <test value="ap/stab-input-pitch-rad">
 498                 ap/pitch-selector == 1
 499               </test>
 500             </switch>
 501
 502         </channel>
 503
 504
 505 <!-- ********************** Pitch stabilizer ***********************************-->
 506         <channel name="Pitch">
 507
 508 <!--              Pitch stab mode selector
 509     ap/pitch-selector state:
 510     0 - pitch damper
 511     1 - stabilize current pitch value
 512     2 - stabilize current altitude by variate pitch
 513     3 - stabilize current airspeed
 514     4 - stabilize current Mach
 515     5 - stabilize glideslope
 516
 517 -->
 518             <switch name="ap/input-pitch-rad">
 519               <default value="ap/pitch-compensed"/>
 520 <!--          <test value="">
 521                 ap/pitch-selector == 1
 522               </test>-->
 523               <test value="ap/altitude-cmd-norm">
 524                 ap/pitch-selector == 2
 525               </test>
 526               <test value="ap/speed-cmd-norm">
 527                 ap/pitch-selector == 3
 528               </test>
 529               <test value="ap/mach-cmd-norm">
 530                 ap/pitch-selector == 4
 531               </test>
 532               <test value="ap/glideslope-cmd-norm">
 533                 ap/pitch-selector == 5
 534                 ap/posadk == 1
 535               </test>
 536 <!--              <clipto>
 537                 <min>-1.0</min>
 538                 <max>1.0</max>
 539               </clipto>-->
 540
 541             </switch>
 542
 543             <lag_filter name="ap/input-pitch-switched">
 544               <input>ap/input-pitch-rad</input>
 545               <c1>0.175</c1><!--0.4-->
 546               <output>ap/output-pitch-current</output><!--For transient procedure support-->
 547             </lag_filter>
 548
 549 <!--            <summer name="ap/input-pitch-switched">
 550               <input>ap/input-pitch-rad</input>
 551               <bias>0.0</bias>
 552               <clipto>
 553                 <min>-1.0</min>
 554                 <max>1.0</max>
 555               </clipto>
 556               <output>ap/output-pitch-current</output>
 557             </summer>-->
 558
 559
 560             <fcs_function name="ap/bank-compensation">
 561               <description>Abs</description>
 562               <function>
 563                 <product>
 564                   <abs>
 565                     <property>attitude/phi-rad</property>
 566                   </abs>
 567                   <value>0.03</value>
 568                 </product>
 569               </function>
 570             </fcs_function>
 571
 572             <summer name="ap/pitch-error">
 573               <input>ap/input-pitch-switched</input>
 574               <input>ap/bank-compensation</input>
 575               <input>-attitude/pitch-rad</input>
 576               <clipto>
 577                 <min>-0.5</min>
 578                 <max>0.5</max>
 579               </clipto>
 580
 581             </summer>
 582
 583             <switch name="ap/pitch-error-switched">
 584               <default value="0.0"/>
 585               <test value="ap/pitch-error">
 586                 ap/pitch-hold == 1
 587               </test>
 588             </switch>
 589
 590             <switch name="ap/w-t">
 591               <default value="0.0"/>
 592               <test value="-1.0">
 593                 ap/pitch-hold == 0
 594               </test>
 595               <test value="1.0">
 596                 fcs/absu-pitch gt 0.8
 597               </test>
 598               <test value="1.0">
 599                 fcs/absu-pitch lt -0.4
 600               </test>
 601             <output>ap/windup-trigger</output>
 602             </switch>
 603
 604             <pid name="ap/pitch-hold-pid">
 605               <input>ap/pitch-error-switched</input>
 606               <kp> 7.0 </kp>
 607               <ki> 4.0 </ki>
 608               <kd> 0.0 </kd>
 609               <trigger>ap/windup-trigger</trigger>
 610               <clipto>
 611                 <min>-0.8</min>
 612                 <max>0.8</max>
 613               </clipto>
 614
 615             </pid>
 616
 617             <!--Turbulence switch-->
 618             <switch name="ap/pitch-turb">
 619               <default value="-2.0"/>
 620               <test value="-0.5">
 621                 ap/turbulence == 1.0
 622               </test>
 623             </switch>
 624
 625             <pure_gain name="ap/pitch-damper">
 626               <input>velocities/q-aero-rad_sec</input>
 627               <gain>ap/pitch-turb</gain>
 628              <clipto>
 629                 <min>-0.8</min>
 630                 <max>0.8</max>
 631               </clipto>
 632             </pure_gain>
 633
 634             <summer name="ap/pitch-ac">
 635               <input>ap/pitch-hold-pid</input>
 636               <input>ap/pitch-damper</input>
 637             </summer>
 638
 639 <!--             Autopilot or  Pitch Damper only?        -->
 640             <switch name="ap/pitch-inverted">
 641               <default value="ap/pitch-ac"/>
 642               <test value="ap/pitch-damper">
 643                 ap/pitch-hold == 0
 644               </test>
 645             </switch>
 646
 647
 648 <!-- +++++++++++++++++++ SUU ( enchance control system ) ++++++++++++++++++ -->
 649 <!--
 650 There is a system for enchance pitch control. It read pitch trimmer position and adjust gain of pitch channel of yoke control.
 651 -->
 652             <scheduled_gain name="ap/suu">
 653               <input>fcs/elevator-cmd-norm</input>
 654               <table>
 655                 <independentVar> fcs/pitch-trim-cmd-norm </independentVar>
 656                 <tableData>
 657                   -1            -1.2
 658                   0             -0.175
 659                   0.5           0.325
 660                   0.583         0.4
 661                   0.667         0.4
 662                   1             0.4
 663                 </tableData>
 664               </table>
 665             </scheduled_gain>
 666
 667             <switch name="ap/suu-switched">
 668               <default value="0.0"/>
 669               <test value="ap/suu">
 670                 ap/suu-enable == 1
 671               </test>
 672             </switch>
 673
 674             <summer name="ap/pitch-suu">
 675              <input>ap/pitch-inverted</input>
 676              <input>ap/suu-switched</input>
 677               <clipto>
 678                 <min>-1</min>
 679                 <max>1</max>
 680               </clipto>
 681             </summer>
 682
 683 <!-- +++++++++++++++++++ END SUU subsystem  ++++++++++++++++++ -->
 684
 685             <pure_gain name="ap/elevator">
 686               <input>-ap/pitch-suu</input>
 687               <gain>systems/electrical-ok</gain>
 688               <output>fcs/absu-pitch</output>
 689               <clipto>
 690                       <min>-0.6</min>
 691                       <max>0.6</max>
 692               </clipto>
 693             </pure_gain>
 694
 695
 696       </channel>
 697 <!-- +++++++++++++++++++ END Pitch Channels  ++++++++++++++++++ -->
 698
 699 <!-- *********************** Heading channels ************************ -->
 700
 701       <channel name="Heading stab">
 702 <!--
 703         <pure_gain name="ap/heading-true-deg">
 704          <input>attitude/heading-true-rad</input>
 705          <gain>57.3</gain>
 706         </pure_gain>
 707
 708         <summer name="ap/heading-fork">
 709           <input> ap/heading-true-deg </input>
 710           <input> -instrumentation/tks-heading </input>
 711         </summer>-->
 712
 713 <!--******************************* VOR Staff ***************************-->
 714         <summer name="ap/heading-error-pnp">
 715           <input> -instrumentation/pnp-heading </input>
 716           <input> ap/input-heading-pnp </input>
 717           <input> -instrumentation/drift-angle-deg </input>
 718         </summer>
 719 <!--
 720         <switch name="ap/heading-error-vor">
 721           <default value="ap/heading-error-auto"/>
 722           <test value="ap/heading-error-pnp">
 723             ap/delta-deadband ne 0
 724           </test>
 725         </switch>
 726         -->
 727 <!--
 728         <pure_gain name="ap/vor-hdg">
 729           <input> ap/hdg-out </input>
 730           <gain> 0.05 </gain>
 731         </pure_gain>-->
 732
 733 <!--VOR angle stabilizer (epsilon) -->
 734         <pure_gain name="ap/vor-beam-error">
 735 <!--<input> debug/deviation-deg</input>-->
 736          <input> -ap/input-heading-delta </input>
 737          <gain> 2.0 </gain><!--1-->
 738          <clipto>
 739            <min> -5 </min>
 740            <max>  5 </max>
 741          </clipto>
 742         </pure_gain>
 743
 744         <lag_filter name="ap/beam-error-filtered">
 745           <input>ap/vor-beam-error</input>
 746          <c1>5.0</c1>
 747         </lag_filter>
 748
 749         <pure_gain name="ap/beam-error-adjusted">
 750           <input> ap/beam-error-filtered </input>
 751           <gain> 7.0 </gain>
 752         </pure_gain>
 753
 754         <switch name="ap/vor-eps">
 755           <default value="0.0"/>
 756           <test value="ap/beam-error-adjusted">
 757             ap/roll-selector eq 3
 758           </test>
 759         </switch>
 760
 761         <!--******************************* ZK Staff ***************************-->
 762         <summer name="ap/heading-error-zk">
 763 <!--<input> -ap/heading-true-deg </input>-->
 764 <input> -instrumentation/pnp-heading </input>
 765           <input> ap/input-heading-zk </input>
 766         </summer>
 767         <!--******************************* NVU Staff ***************************-->
 768         <pure_gain name="ap/nvu-delta-corr">
 769           <input> ap/input-z </input>
 770           <gain> 0.01 </gain>
 771           <clipto>
 772             <min> -60 </min>
 773             <max>  60 </max>
 774           </clipto>
 775         </pure_gain>
 776
 777         <summer name="ap/heading-error-nvu">
 778           <input> -instrumentation/tks-heading </input>
 779           <input> ap/input-heading-nvu </input>
 780           <input> -ap/nvu-delta-corr </input>
 781           <input> -instrumentation/drift-angle-deg </input>
 782         </summer>
 783
 784 <!--******************************* ILS Staff ***************************-->
 785         <summer name="ap/heading-error-ils">
 786           <input> -instrumentation/pnp-heading </input>
 787           <input> ap/input-heading-pnp </input>
 788           <input> -instrumentation/drift-angle-deg </input>
 789         </summer>
 790
 791         <switch name="ap/ils-error-bias-switch">
 792           <default value="0.0"/>
 793           <test value="360.0">
 794             ap/heading-error-ils lt -180
 795           </test>
 796           <test value="-360.0">
 797             ap/heading-error-ils gt 180
 798           </test>
 799         </switch>
 800
 801         <switch name="ap/ils-beam-ki">
 802           <default value="0.003"/><!--0.003-->
 803           <test value="0.007"><!--0.007-->
 804             instrumentation/indicated-altitude-m lt 250.0
 805           </test>
 806         </switch>
 807
 808         <pure_gain name="ap/ils-beam-error">
 809 <!--<input> -debug/heading-deg</input>-->
 810           <input> ap/ils-epsilon </input><!---10...10-->
 811           <!--<input> ap/ils-angle-deviation </input>-->
 812           <gain> 2.5 </gain><!--25 deg from compass hdg for approach-->
 813           <clipto>
 814             <min> -25 </min>
 815             <max> 25 </max>
 816           </clipto>
 817         </pure_gain>
 818
 819         <lag_filter name="ap/ils-beam-filtered">
 820           <input>ap/ils-beam-error</input>
 821           <c1>5.0</c1>
 822         </lag_filter>
 823
 824
 825  <!--ILS heading       -->
 826         <summer name="ap/ils-deviation">
 827           <input> ap/ils-error-bias-switch </input>
 828           <input> ap/heading-error-ils </input>
 829           <input> ap/ils-beam-filtered </input>
 830         </summer>
 831
 832         <deadband name="ap/ils-hdg-windup">
 833          <input> ap/ils-deviation </input>
 834          <width> 40.0 </width>
 835         </deadband >
 836
 837         <switch name="ap/ils-hdg-stop-int">
 838                 <default value="-1.0"/>
 839                 <test value="0.0">
 840                         ap/roll-selector == 5
 841                         ap/ils-hdg-windup == 0
 842                 </test>
 843         </switch>
 844
 845         <pid name="ap/ils-hdg-pid">
 846           <input>ap/ils-deviation</input>
 847           <kp> 0.03 </kp><!--0.042-->
 848           <ki> ap/ils-beam-ki </ki><!--0.002 - 0.005-->
 849           <kd> 0.047 </kd><!--0.047-->
 850           <trigger>ap/ils-hdg-stop-int</trigger>
 851         </pid>
 852 <!--
 853         <switch name="ap/ils-hdg-switched">
 854           <default value="0.0"/>
 855           <test value="ap/ils-hdg-pid">
 856             ap/pitch-selector ne 5
 857           </test>
 858         </switch>-->
 859
 860         <summer name="ap/ils-out">
 861 <!--         <input> ap/ils-beam-pid </input>
 862          <input> ap/ils-beam-integrator </input>-->
 863          <input> ap/ils-hdg-pid </input>
 864          <clipto>
 865            <min> -0.38 </min>
 866            <max> 0.38 </max>
 867          </clipto>
 868         </summer>
 869
 870 <!-- ############################## Needles ############################## -->
 871         <pure_gain name="ap/heading-needle-deflection-ils">
 872           <!--<input> ap/ils-angle-deviation </input>-->
 873           <input> ap/ils-epsilon </input>
 874           <gain>0.143</gain><!--0.1-->
 875           <clipto>
 876             <min> -1 </min>
 877             <max>  1 </max>
 878           </clipto>
 879         </pure_gain>
 880
 881         <pure_gain name="ap/heading-needle-deflection-vor">
 882           <input> -ap/input-heading-delta </input>
 883           <gain>0.02</gain>
 884           <clipto>
 885             <min> -1 </min>
 886             <max>  1 </max>
 887           </clipto>
 888         </pure_gain>
 889
 890         <pure_gain name="ap/heading-needle-deflection-nvu">
 891           <input> -ap/input-z </input>
 892           <gain>0.0002</gain>
 893           <clipto>
 894             <min> -1 </min>
 895             <max>  1 </max>
 896           </clipto>
 897         </pure_gain>
 898
 899         <switch name="ap/heading-needle-deflection">
 900           <default value="0.0"/>
 901           <test value="ap/heading-needle-deflection-vor">
 902             ap/roll-selector eq 3
 903             ap/posadk eq 0
 904           </test>
 905           <test value="ap/heading-needle-deflection-nvu">
 906             ap/roll-selector eq 4
 907             ap/posadk eq 0
 908           </test>
 909           <test value="ap/heading-needle-deflection-ils">
 910             <!--ap/roll-selector eq 5-->
 911             ap/posadk eq 1
 912           </test>
 913         </switch>
 914
 915         <pure_gain name="ap/gs-needle-deflection-ils">
 916           <input> ap/input-glideslope-delta </input>
 917           <gain>0.286</gain> <!---GS needle from NAV radio:3.5 ... 3.5-->
 918           <clipto>
 919             <min> -1 </min>
 920             <max>  1 </max>
 921           </clipto>
 922         </pure_gain>
 923
 924         <switch name="ap/gs-needle-deflection">
 925           <default value="0.0"/>
 926           <test value="ap/gs-needle-deflection-ils">
 927             <!--ap/pitch-selector eq 5-->
 928             ap/posadk eq 1
 929           </test>
 930         </switch>
 931 <!--****************************** Heading stabilizer **********************-->
 932 <!--ILS approach (STU Kurs) have own pid. -->
 933 <switch name="ap/heading-error">
 934           <default value="0.0"/>
 935           <test value="ap/heading-error-zk">
 936             ap/roll-selector eq 2
 937           </test>
 938           <test value="ap/heading-error-pnp">
 939             ap/roll-selector eq 3
 940             ap/navigac == 1
 941           </test>
 942           <test value="ap/heading-error-nvu">
 943             ap/roll-selector eq 4
 944             ap/navigac == 1
 945           </test>
 946         </switch>
 947
 948         <switch name="ap/heading-error-bias-switch">
 949          <default value="0.0"/>
 950          <test value="360.0">
 951             ap/heading-error lt -180
 952          </test>
 953          <test value="-360.0">
 954             ap/heading-error gt 180
 955          </test>
 956         </switch>
 957
 958         <summer name="ap/heading-deviation">
 959          <input> ap/heading-error-bias-switch </input>
 960          <input> ap/heading-error </input>
 961          <input> ap/vor-eps </input>
 962        </summer>
 963
 964        <pid name="ap/heading-pid">
 965           <input>ap/heading-deviation</input>
 966           <kp> 0.05 </kp>
 967           <ki> 0.0 </ki>
 968           <kd> 0.025 </kd><!--1.3-->
 969           <output>ap/heading-cmd-norm</output>
 970         </pid>
 971
 972       </channel>
 973
 974 <!-- *********************** Wing leveler  ************************ -->
 975     <channel name="Roll">
 976 <!--              Roll stab mode selector
 977     ap/roll-selector state:
 978     0 - roll damper
 979     1 - stabilize current roll value
 980     2 - stabilize current heading by variate roll
 981     3 - VOR
 982     4 - NVU
 983     5 - ILS (STU kurs)
 984
 985 -->
 986             <switch name="ap/roll-trigger">
 987               <default value="-1.0"/>
 988               <test value="0.0">
 989                 ap/roll-hold ne 0
 990               </test>
 991             </switch>
 992
 993             <switch name="ap/input-roll-rad">
 994               <!--All automatic stabilizer exclude ILS use it-->
 995               <default value="ap/heading-cmd-norm"/>
 996               <test value="0.0">
 997                 ap/roll-selector == 0 <!--Roll damper only-->
 998               </test>
 999
1000               <test value="ap/stab-input-roll-rad">
1001                 ap/roll-selector == 1 <!--Roll wheel-->
1002               </test>
1003
1004               <test value="ap/ils-out">
1005                 ap/roll-selector == 5 <!--ILS (STU Kurs) pid-->
1006                 ap/posadk == 1
1007               </test>
1008             </switch>
1009
1010             <lag_filter name="ap/input-roll-rad-clipped">
1011               <input>ap/input-roll-rad</input>
1012               <c1>0.7</c1>
1013               <clipto>
1014                 <min>-0.43</min>
1015                 <max>0.43</max>
1016               </clipto>
1017             </lag_filter>
1018
1019             <summer name="ap/roll-error">
1020               <input>ap/input-roll-rad-clipped</input>
1021               <input>-attitude/roll-rad</input>
1022             </summer>
1023
1024             <pid name="ap/roll-hold-pid">
1025               <input>ap/roll-error</input>
1026               <kp> 9.0 </kp>
1027               <ki> 0.1 </ki>
1028               <kd> 0.0 </kd>
1029               <trigger>ap/roll-trigger</trigger>
1030               <clipto>
1031                 <min>-1.0</min>
1032                 <max>1.0</max>
1033               </clipto>
1034             </pid>
1035 <!--             Autopilot or  Roll Damper only?        -->
1036             <switch name="ap/roll-pid-switched">
1037               <default value="0.0"/>
1038               <test value="ap/roll-hold-pid">
1039                 ap/roll-hold ne 0
1040               </test>
1041             </switch>
1042
1043             <pid name="ap/roll-damper">
1044               <input>-attitude/roll-rad</input>
1045               <kp> 0.0 </kp>
1046               <ki> 0.0 </ki>
1047               <kd> 1.0 </kd>
1048               <clipto>
1049                 <min>-1.0</min>
1050                 <max>1.0</max>
1051               </clipto>
1052             </pid>
1053 <!--
1054             <lag_filter name="ap/roll-lf">
1055               <input>fcs/aileron-cmd-norm</input>
1056               <c1>2.5</c1>
1057             </lag_filter>
1058
1059             <pure_gain name="ap/roll-suu">
1060               <input>ap/roll-lf</input>
1061               <gain>0.3</gain>
1062             </pure_gain>-->
1063
1064 <!--Output-->
1065             <summer name="ap/roll-out">
1066               <input>ap/roll-damper</input>
1067               <input>ap/roll-pid-switched</input>
1068 <!--<input>ap/roll-suu</input>-->
1069               <clipto>
1070                 <min>-1</min>
1071                 <max>1</max>
1072               </clipto>
1073             </summer>
1074
1075             <!--Turbulence switch-->
1076             <scheduled_gain name="ap/roll-turb">
1077               <input>ap/roll-out</input>
1078               <table>
1079                 <independentVar> ap/turbulence </independentVar>
1080                 <tableData>
1081                   0             1.0
1082                   1             0.5
1083                 </tableData>
1084               </table>
1085             </scheduled_gain>
1086
1087             <pure_gain name="ap/aileron">
1088               <input>ap/roll-turb</input>
1089               <gain>1.0</gain>
1090               <output>fcs/absu-roll</output>
1091             </pure_gain>
1092       </channel>
1093
1094 <!--******************************** Yaw control *****************************-->
1095       <channel name="Yaw">
1096
1097         <!--Yaw damper-->
1098         <washout_filter name="ap/yaw-wf">
1099           <input>velocities/r-aero-rad_sec</input>
1100           <c1>0.4</c1>
1101         </washout_filter>
1102
1103         <pure_gain name="ap/yaw-damper">
1104           <input>ap/yaw-wf</input>
1105           <gain>8.0</gain><!--8-->
1106         </pure_gain>
1107
1108         <!--Slip stabilizer-->
1109         <switch name="ap/beta-rad-switched">
1110           <default value="0.0"/>
1111           <test value="aero/beta-rad">
1112             ap/roll-hold ne 0
1113           </test>
1114         </switch>
1115
1116         <pid name="ap/yaw-pid">
1117           <input>ap/beta-rad-switched</input>
1118           <kp> 1.0 </kp>
1119           <ki> 1.0 </ki>
1120           <kd> 0.0 </kd>
1121           <clipto>
1122             <min>-0.5</min>
1123             <max>0.5</max>
1124           </clipto>
1125         </pid>
1126         <!--             Autopilot or  Yaw Damper only?        -->
1127         <switch name="ap/yaw-pid-switched">
1128           <default value="0.0"/>
1129           <test value="ap/yaw-pid">
1130             ap/roll-hold ne 0
1131           </test>
1132         </switch>
1133
1134         <!--Output-->
1135         <summer name="ap/yaw-out">
1136           <input>ap/yaw-damper</input>
1137           <!--<input>ap/yaw-suu</input>-->
1138           <input>-ap/yaw-pid-switched</input>
1139           <clipto>
1140             <min>-1</min>
1141             <max>1</max>
1142           </clipto>
1143         </summer>
1144             <!--Turbulence switch-->
1145         <scheduled_gain name="ap/yaw-turb">
1146            <input>ap/yaw-out</input>
1147              <table>
1148                 <independentVar> ap/turbulence </independentVar>
1149                 <tableData>
1150                   0             1.0
1151                   1             0.5
1152              </tableData>
1153            </table>
1154         </scheduled_gain>
1155
1156         <pure_gain name="ap/rudder">
1157           <input>ap/yaw-turb</input>
1158           <gain>1.0</gain>
1159           <output>fcs/absu-yaw</output>
1160         </pure_gain>
1161
1162       </channel>
1163 <!-- ***************************** Reverser ******************************* -->
1164 <channel name="Reverser">
1165
1166         <switch name="fcs/rev-1-left-cmd">
1167           <default value="0.0"/>
1168           <test value="1.0">
1169             fcs/revers-by-key gt 0.5
1170           </test>
1171           <test value="fcs/revers-by-joy">
1172             fcs/throttle-cmd-norm[0] lt fcs/revers-1-limit
1173           </test>
1174         </switch>
1175         <switch name="fcs/rev-1-right-cmd">
1176           <default value="0.0"/>
1177           <test value="1.0">
1178             fcs/revers-by-key gt 0.5
1179           </test>
1180           <test value="fcs/revers-by-joy">
1181             fcs/throttle-cmd-norm[2] lt fcs/revers-1-limit
1182           </test>
1183         </switch>
1184         <switch name="fcs/rev-2-left-cmd">
1185           <default value="0.0"/>
1186           <test value="1.0">
1187             fcs/revers-by-key gt 0.5
1188           </test>
1189           <test value="fcs/revers-by-joy">
1190             fcs/throttle-cmd-norm[0] lt fcs/revers-2-limit
1191           </test>
1192         </switch>
1193         <switch name="fcs/rev-2-right-cmd">
1194           <default value="0.0"/>
1195           <test value="1.0">
1196             fcs/revers-by-key gt 0.5
1197           </test>
1198           <test value="fcs/revers-by-joy">
1199             fcs/throttle-cmd-norm[2] lt fcs/revers-2-limit
1200           </test>
1201         </switch>
1202
1203         <kinematic name="fcs/reverser-lever-left">
1204           <input>fcs/rev-1-left-cmd</input>
1205           <traverse>
1206             <setting>
1207               <position>0</position>
1208               <time>0</time>
1209             </setting>
1210             <setting>
1211               <position>2.35</position>
1212               <time>2</time>
1213             </setting>
1214           </traverse>
1215           <output>propulsion/engine[0]/reverser-angle-rad</output>
1216         </kinematic>
1217
1218         <kinematic name="fcs/reverser-lever-right">
1219           <input>fcs/rev-1-right-cmd</input>
1220           <traverse>
1221             <setting>
1222               <position>0</position>
1223               <time>0</time>
1224             </setting>
1225             <setting>
1226               <position>2.35</position>
1227               <time>2</time>
1228             </setting>
1229           </traverse>
1230           <output>propulsion/engine[2]/reverser-angle-rad</output>
1231         </kinematic>
1232
1233         <kinematic name="fcs/reverser-throttle-left">
1234           <input>fcs/rev-2-left-cmd</input>
1235           <traverse>
1236             <setting>
1237               <position>0</position>
1238               <time>0</time>
1239             </setting>
1240             <setting>
1241               <position>0.6</position>
1242               <time>1</time>
1243             </setting>
1244           </traverse>
1245         </kinematic>
1246
1247         <kinematic name="fcs/reverser-throttle-right">
1248           <input>fcs/rev-2-right-cmd</input>
1249           <traverse>
1250             <setting>
1251               <position>0</position>
1252               <time>0</time>
1253             </setting>
1254             <setting>
1255               <position>0.6</position>
1256               <time>1</time>
1257             </setting>
1258           </traverse>
1259         </kinematic>
1260
1261 </channel>
1262 <!-- ***************************** Autothrottle ******************************* -->
1263       <channel name="At">
1264
1265         <summer name="ap/at-error">
1266           <input>-ap/input-at</input>
1267           <input>velocities/vc-fps</input>
1268           <clipto>
1269             <min>-30</min>
1270             <max>30</max>
1271           </clipto>
1272         </summer>
1273
1274 <!--Transient compensation -->
1275         <summer name="ap/at-transient-error">
1276           <input>fcs/throttle-cmd-norm[0]</input>
1277           <input>-ap/at-pid-output</input>
1278         </summer>
1279
1280         <switch name="ap/at-tr-err-switched">
1281           <default value="0.0"/>
1282           <test value="-ap/at-transient-error">
1283             ap/at-podg == 1
1284           </test>
1285         </switch>
1286
1287         <pure_gain name="ap/at-transient-compensator">
1288           <input>ap/at-tr-err-switched</input>
1289           <gain>20.0</gain>
1290         </pure_gain>
1291
1292         <!--End transient procedure -->
1293 <!--Helpers-->
1294         <switch name="ap/at-hold">
1295           <default value="0.0"/>
1296           <test value="1">
1297             ap/at-hold-0 == 1
1298           </test>
1299           <test value="1">
1300             ap/at-hold-1 == 1
1301           </test>
1302           <test value="1">
1303             ap/at-hold-2 == 1
1304           </test>
1305         </switch>
1306
1307         <switch name="ap/at-trigger">
1308           <default value="0.0"/>
1309           <test value="-1.0">
1310             ap/at-podg == 0
1311           </test>
1312           <test value="-1.0">
1313             ap/at-hold == 0
1314           </test>
1315           <test value="1.0">
1316             ap/at-error > 0.0
1317             ap/at-pid-output > 0.9
1318           </test>
1319           <test value="1.0">
1320             ap/at-error lt 0.0
1321             ap/at-pid-output lt 0.1
1322           </test>
1323
1324         </switch>
1325
1326         <switch name="ap/at-error-switched">
1327           <default value="ap/at-transient-compensator"/>
1328           <test value="ap/at-error">
1329             ap/at-hold == 1
1330           </test>
1331         </switch>
1332
1333         <switch name="ap/at-pid-ki">
1334           <default value="0.1"/>
1335           <test value="0.001">
1336             ap/at-hold == 1
1337           </test>
1338         </switch>
1339         <switch name="ap/at-pid-kd">
1340           <default value="0.0"/>
1341           <test value="0.1">
1342             ap/at-hold == 1
1343           </test>
1344         </switch>
1345
1346         <pid name="ap/at-pid">
1347           <input>-ap/at-error-switched</input>
1348           <kp> 0.04 </kp>
1349           <ki> ap/at-pid-ki </ki>
1350           <kd> ap/at-pid-kd </kd>
1351           <trigger>ap/at-trigger</trigger>
1352           <clipto>
1353             <min>0.0</min>
1354             <max>1.0</max>
1355           </clipto>
1356           <output>ap/at-pid-output</output>
1357         </pid>
1358
1359        <switch name="ap/at-thr-switched-0">
1360          <default value="fcs/throttle-cmd-norm[0]"/>
1361          <test value="fcs/reverser-throttle-left">
1362            fcs/reverser-throttle-left gt 0
1363          </test>
1364           <test value="ap/at-pid">
1365             ap/at-hold-0 == 1
1366           </test>
1367           <output>fcs/at-throttle-cmd-norm[0]</output>
1368         </switch>
1369
1370         <switch name="ap/at-thr-switched-1">
1371           <default value="fcs/throttle-cmd-norm[1]"/>
1372           <test value="ap/at-pid">
1373             ap/at-hold-1 == 1
1374           </test>
1375           <output>fcs/at-throttle-cmd-norm[1]</output>
1376         </switch>
1377
1378         <switch name="ap/at-thr-switched-2">
1379           <default value="fcs/throttle-cmd-norm[2]"/>
1380           <test value="fcs/reverser-throttle-right">
1381             fcs/reverser-throttle-right gt 0
1382           </test>
1383           <test value="ap/at-pid">
1384             ap/at-hold-2 == 1
1385           </test>
1386           <output>fcs/at-throttle-cmd-norm[2]</output>
1387         </switch>
1388
1389       </channel>
1390
1391 </autopilot>