Download zip from Liam on 30-NOV-2009.
[airbus-aircraft:liam-a346.git] / Systems / A340-autopilot.xml
1 <?xml version="1.0"?>\r
2 <PropertyList>\r
3 <!--\r
4 =========\r
5 Roll Axis Modes\r
6 =========\r
7 -->\r
8 \r
9 <!-- go around wing level-->\r
10 \r
11     <pi-simple-controller>\r
12         <name>GA 1</name>\r
13         <debug>false</debug>\r
14         <enable>\r
15             <prop>autopilot/locks/heading</prop>\r
16             <value>TO/GA</value>\r
17         </enable>\r
18         <input>\r
19             <prop>orientation/roll-deg</prop>\r
20         </input>\r
21         <reference>\r
22             <value>0.0</value>\r
23         </reference>\r
24         <output>\r
25             <prop>autopilot/internal/target-roll-deg</prop>\r
26         </output>\r
27         <config>\r
28             <Kp>\r
29                 <value>1.0</value>\r
30             </Kp>\r
31             <Ki>0.0</Ki>\r
32             <u_min>\r
33                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
34             </u_min>\r
35             <u_max>\r
36                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
37             </u_max>\r
38         </config>\r
39     </pi-simple-controller>\r
40 \r
41 <!-- Heading Bug Hold. -->\r
42 \r
43     <pi-simple-controller>\r
44         <name>HDG sel</name>\r
45         <debug>false</debug>\r
46         <enable>\r
47             <prop>autopilot/locks/heading</prop>\r
48             <value>HDG SEL</value>\r
49         </enable>\r
50         <input>\r
51             <prop>autopilot/internal/fdm-heading-bug-error-deg</prop>\r
52         </input>\r
53         <reference>\r
54             <value>0.0</value>\r
55         </reference>\r
56         <output>\r
57             <prop>autopilot/internal/target-roll-deg</prop>\r
58         </output>\r
59         <config>\r
60             <Kp>\r
61                 <value>-1.5</value>\r
62             </Kp>\r
63             <Ki>0.0</Ki>\r
64             <u_min>\r
65                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
66             </u_min>\r
67             <u_max>\r
68                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
69             </u_max>\r
70         </config>\r
71     </pi-simple-controller>\r
72 \r
73     <pi-simple-controller>\r
74         <name>HDG hold</name>\r
75         <debug>false</debug>\r
76         <enable>\r
77             <prop>autopilot/locks/heading</prop>\r
78             <value>HDG HOLD</value>\r
79         </enable>\r
80         <input>\r
81             <prop>autopilot/internal/fdm-heading-bug-error-deg</prop>\r
82         </input>\r
83         <reference>\r
84             <value>0.0</value>\r
85         </reference>\r
86         <output>\r
87             <prop>autopilot/internal/target-roll-deg</prop>\r
88         </output>\r
89         <config>\r
90             <Kp>\r
91                 <value>-1.0</value>\r
92             </Kp>\r
93             <Ki>0.0</Ki>\r
94             <u_min>\r
95                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
96             </u_min>\r
97             <u_max>\r
98                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
99             </u_max>\r
100         </config>\r
101     </pi-simple-controller>\r
102 \r
103 <!-- LNAV (route manager) -->\r
104 \r
105     <pi-simple-controller>\r
106         <name>lnav mode</name>\r
107         <debug>false</debug>\r
108         <enable>\r
109             <prop>autopilot/locks/heading</prop>\r
110             <value>LNAV</value>\r
111         </enable>\r
112         <input>\r
113             <prop>autopilot/internal/true-heading-error-deg</prop>\r
114         </input>\r
115         <reference>\r
116             <value>0.0</value>\r
117         </reference>\r
118         <output>\r
119             <prop>autopilot/internal/target-roll-deg</prop>\r
120         </output>\r
121         <config>\r
122             <Kp>\r
123                 <value>-1.5</value>\r
124             </Kp>\r
125             <Ki>0.0</Ki>\r
126             <u_min>\r
127                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
128             </u_min>\r
129             <u_max>\r
130                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
131             </u_max>\r
132         </config>\r
133     </pi-simple-controller>\r
134 \r
135 <!-- NAV / APPR. -->\r
136 \r
137     <pi-simple-controller>\r
138         <name>localizer hold</name>\r
139         <debug>false</debug>\r
140         <enable>\r
141             <prop>autopilot/locks/heading</prop>\r
142             <value>LOC</value>\r
143         </enable>\r
144         <input>\r
145             <prop>/orientation/heading-deg</prop>\r
146         </input>\r
147         <reference>\r
148             <prop>/instrumentation/nav/radials/target-auto-hdg-deg</prop>\r
149         </reference>\r
150         <output>\r
151             <prop>autopilot/internal/target-roll-deg</prop>\r
152         </output>\r
153         <config>\r
154             <Kp>\r
155                 <value>1.5</value>\r
156             </Kp>\r
157             <Ki>0.0</Ki>\r
158             <u_min>\r
159                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
160             </u_min>\r
161             <u_max>\r
162                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
163             </u_max>\r
164         </config>\r
165     </pi-simple-controller>\r
166 \r
167 <!-- TRK HOLD. -->\r
168 \r
169     <pi-simple-controller>\r
170         <name>trk sel</name>\r
171         <debug>false</debug>\r
172         <enable>\r
173             <prop>autopilot/locks/heading</prop>\r
174             <value>TRK SEL</value>\r
175         </enable>\r
176         <input>\r
177             <prop>autopilot/internal/true-heading-error-deg</prop>\r
178         </input>\r
179         <reference>\r
180             <value>0.0</value>\r
181         </reference>\r
182         <output>\r
183             <prop>autopilot/internal/target-roll-deg</prop>\r
184         </output>\r
185         <config>\r
186             <Kp>\r
187                 <value>0.5</value>\r
188             </Kp>\r
189             <Ki>0</Ki>\r
190             <u_min>\r
191                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
192             </u_min>\r
193             <u_max>\r
194                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
195             </u_max>\r
196         </config>\r
197     </pi-simple-controller>\r
198 \r
199     <pi-simple-controller>\r
200         <name>trk hold</name>\r
201         <debug>false</debug>\r
202         <enable>\r
203             <prop>autopilot/locks/heading</prop>\r
204             <value>TRK HOLD</value>\r
205         </enable>\r
206         <input>\r
207             <prop>autopilot/internal/true-heading-error-deg</prop>\r
208         </input>\r
209         <reference>\r
210             <value>0.0</value>\r
211         </reference>\r
212         <output>\r
213             <prop>autopilot/internal/target-roll-deg</prop>\r
214         </output>\r
215         <config>\r
216             <Kp>\r
217                 <value>0.5</value>\r
218             </Kp>\r
219             <Ki>0</Ki>\r
220             <u_min>\r
221                 <prop>instrumentation/flightdirector/bank-limit-min</prop>\r
222             </u_min>\r
223             <u_max>\r
224                 <prop>instrumentation/flightdirector/bank-limit-max</prop>\r
225             </u_max>\r
226         </config>\r
227     </pi-simple-controller>\r
228 \r
229 <!-- AILERON CONTROL -->\r
230 \r
231     <pid-controller>\r
232         <name>Aileron control</name>\r
233         <debug>false</debug>\r
234         <enable>\r
235             <prop>/autopilot/locks/pitch-engaged</prop>\r
236             <value>true</value>\r
237             <honor-passive>true</honor-passive>\r
238         </enable>\r
239         <input>\r
240             <prop>orientation/roll-deg</prop>\r
241         </input>\r
242         <reference>\r
243             <prop>autopilot/internal/target-roll-deg</prop>\r
244         </reference>\r
245         <output>\r
246             <prop>controls/flight/aileron</prop>\r
247         </output>\r
248         <config>\r
249             <Kp>\r
250                 <value>1.5</value>\r
251             </Kp>\r
252             <beta>1.0</beta>\r
253             <alpha>0.1</alpha>\r
254             <gamma>0.0</gamma>\r
255             <Ti>\r
256                 <value>1.0</value>\r
257             </Ti>\r
258             <Td>\r
259                 <value>0.0</value>\r
260             </Td>\r
261             <u_min>\r
262                 <value>-1.0</value>\r
263             </u_min>\r
264             <u_max>\r
265                 <value>1.0</value>\r
266             </u_max>\r
267         </config>\r
268     </pid-controller>\r
269 \r
270 <!--\r
271 ==========================\r
272                 Pitch Axis Modes\r
273 ==========================\r
274 -->\r
275 \r
276 <!-- GO AROUND -->\r
277 \r
278     <pi-simple-controller>\r
279         <name>GA</name>\r
280         <debug>false</debug>\r
281         <enable>\r
282             <prop>autopilot/locks/altitude</prop>\r
283             <value>TO/GA</value>\r
284         </enable>\r
285         <input>\r
286             <prop>position/altitude-ft</prop>\r
287         </input>\r
288         <reference>\r
289             <prop>instrumentation/flightdirector/FP-alt</prop>\r
290         </reference>\r
291         <output>\r
292             <prop>autopilot/internal/target-pitch-deg</prop>\r
293         </output>\r
294         <config>\r
295             <Kp>\r
296                 <value>0.005</value>\r
297             </Kp>\r
298             <Ki>0.0</Ki>\r
299             <u_min>\r
300                 <value>-9.9</value>\r
301             </u_min>\r
302             <u_max>\r
303                 <value>9.9</value>\r
304             </u_max>\r
305         </config>\r
306     </pi-simple-controller>\r
307 \r
308 <!-- Flight Path Angle -->\r
309 \r
310     <pi-simple-controller>\r
311         <name>FPA </name>\r
312         <debug>false</debug>\r
313         <enable>\r
314             <prop>autopilot/locks/altitude</prop>\r
315             <value>FPA</value>\r
316         </enable>\r
317         <input>\r
318             <prop>orientation/alpha-deg</prop>\r
319         </input>\r
320         <reference>\r
321             <prop>instrumentation/flightdirector/FP-angle</prop>\r
322         </reference>\r
323         <output>\r
324             <prop>autopilot/internal/target-pitch-deg</prop>\r
325         </output>\r
326         <config>\r
327             <Kp>\r
328                 <value>1.0</value>\r
329             </Kp>\r
330             <Ki>0.0</Ki>\r
331             <u_min>\r
332                 <value>-9.9</value>\r
333             </u_min>\r
334             <u_max>\r
335                 <value>9.9</value>\r
336             </u_max>\r
337         </config>\r
338     </pi-simple-controller>\r
339 \r
340 <!-- Alt hold -->\r
341 \r
342     <pi-simple-controller>\r
343         <name>Inst Altitude Hold</name>\r
344         <debug>false</debug>\r
345         <enable>\r
346             <prop>autopilot/locks/altitude</prop>\r
347             <value>ALT</value>\r
348         </enable>\r
349         <input>\r
350             <prop>/position/altitude-ft</prop>\r
351         </input>\r
352         <reference>\r
353             <prop>/autopilot/settings/target-altitude-ft</prop>\r
354         </reference>\r
355         <output>\r
356             <prop>/autopilot/internal/target-pitch-deg</prop>\r
357         </output>\r
358         <config>\r
359             <Kp>\r
360                 <value>0.2</value>\r
361             </Kp>\r
362             <Ki>0.0</Ki>\r
363             <u_min>\r
364                 <value>-9.9</value>\r
365             </u_min>\r
366             <u_max>\r
367                 <value>9.9</value>\r
368             </u_max>\r
369         </config>\r
370     </pi-simple-controller>\r
371 \r
372 <!-- VNAV ALT  hold -->\r
373 \r
374     <pi-simple-controller>\r
375         <name>VNAV Alt Hold</name>\r
376         <debug>false</debug>\r
377         <enable>\r
378             <prop>autopilot/locks/altitude</prop>\r
379             <value>VNAV ALT</value>\r
380         </enable>\r
381         <input>\r
382             <prop>instrumentation/altimeter/indicated-altitude-ft</prop>\r
383         </input>\r
384         <reference>\r
385             <prop>instrumentation/flightdirector/FP-alt</prop>\r
386         </reference>\r
387         <output>\r
388             <prop>autopilot/internal/target-pitch-deg</prop>\r
389         </output>\r
390         <config>\r
391             <Kp>\r
392                 <value>0.025</value>\r
393             </Kp>\r
394             <Ki>0.0</Ki>\r
395             <u_min>\r
396                 <value>-9.9</value>\r
397             </u_min>\r
398             <u_max>\r
399                 <prop>instrumentation/flightdirector/FP-angle</prop>\r
400             </u_max>\r
401         </config>\r
402     </pi-simple-controller>\r
403 \r
404 <!-- Glideslope hold. -->\r
405 \r
406     <pi-simple-controller>\r
407         <name>Glideslope1</name>\r
408         <debug>false</debug>\r
409        <enable>\r
410             <prop>autopilot/locks/altitude</prop>\r
411             <value>G/S</value>\r
412         </enable>\r
413         <input>\r
414             <prop>/instrumentation/nav/gs-needle-deflection</prop>\r
415         </input>\r
416         \r
417         <output>\r
418             <prop>autopilot/internal/target-pitch-deg</prop>\r
419         </output>\r
420         <config>\r
421             <Kp>\r
422                 <value>2.0</value>\r
423             </Kp>\r
424             <Ki>0.1</Ki>\r
425             <u_min>\r
426                 <value>-6.0</value>\r
427             </u_min>\r
428             <u_max>\r
429                 <value>0.0</value>\r
430             </u_max>\r
431         </config>\r
432     </pi-simple-controller>\r
433 \r
434 <!-- V/S hold -->\r
435 \r
436     <pid-controller>\r
437         <name>Vertical Speed Hold</name>\r
438         <debug>false</debug>\r
439         <enable>\r
440             <prop>autopilot/locks/altitude</prop>\r
441             <value>V/S</value>\r
442         </enable>\r
443         <input>\r
444             <prop>velocities/vertical-speed-fps</prop>\r
445         </input>\r
446         <reference>\r
447             <prop>autopilot/settings/vertical-speed-fpm</prop>\r
448             <scale>0.01667</scale>\r
449         </reference>\r
450         <output>\r
451             <prop>autopilot/settings/target-pitch-deg</prop>\r
452         </output>\r
453         <config>\r
454             <Kp>\r
455                 <value>-0.01</value>\r
456             </Kp>\r
457             <beta>1.0</beta>\r
458             <alpha>0.1</alpha>\r
459             <gamma>0.0</gamma>\r
460             <Ti>\r
461                 <value>10.0</value>\r
462             </Ti>\r
463             <Td>\r
464                 <value>0.00001</value>\r
465             </Td>\r
466             <u_min>\r
467                 <value>-9.9</value>\r
468             </u_min>\r
469             <u_max>\r
470                 <value>9.9</value>\r
471             </u_max>\r
472         </config>\r
473     </pid-controller>\r
474 \r
475 <!-- Elevator Control -->\r
476 \r
477     <pid-controller>\r
478         <name>elevator ctl</name>\r
479         <debug>false</debug>\r
480         <enable>\r
481             <prop>autopilot/locks/pitch-engaged</prop>\r
482             <value>true</value>\r
483             <honor-passive>true</honor-passive>\r
484         </enable>\r
485         <input>\r
486             <prop>orientation/pitch-deg</prop>\r
487         </input>\r
488         <reference>\r
489             <prop>autopilot/internal/target-pitch-deg</prop>\r
490         </reference>\r
491         <output>\r
492             <prop>controls/flight/elevator-trim</prop>\r
493         </output>\r
494         <config>\r
495             <Kp>\r
496                 <value>-0.25</value>\r
497             </Kp>\r
498             <beta>1.0</beta>\r
499             <alpha>0.1</alpha>\r
500             <gamma>0.0</gamma>\r
501             <Ti>\r
502                 <value>20.0</value>\r
503             </Ti>\r
504             <Td>\r
505                 <value>0.0</value>\r
506             </Td>\r
507             <u_min>\r
508                 <value>-1.0</value>\r
509             </u_min>\r
510             <u_max>\r
511                 <value>1.0</value>\r
512             </u_max>\r
513         </config>\r
514     </pid-controller>\r
515 \r
516 <!--\r
517 ===================\r
518            Velocity Modes\r
519 ===================\r
520 -->\r
521 \r
522 <!-- IAS hold-->\r
523 \r
524     <pid-controller>\r
525         <name>IAS HOLD</name>\r
526         <debug>false</debug>\r
527         <enable>\r
528             <prop>autopilot/locks/speed</prop>\r
529             <value>SPD</value>\r
530             <honor-passive>true</honor-passive>\r
531         </enable>\r
532         <input>\r
533             <prop>velocities/airspeed-kt</prop>\r
534         </input>\r
535         <reference>\r
536             <prop>autopilot/settings/target-speed-kt</prop>\r
537         </reference>\r
538         <output>\r
539             <prop>/controls/engines/engine[0]/throttle</prop>\r
540             <prop>/controls/engines/engine[1]/throttle</prop>\r
541         </output>\r
542         <config>\r
543             <Kp>\r
544                 <value>0.1</value>\r
545             </Kp>\r
546             <beta>1.0</beta>\r
547             <alpha>0.1</alpha>\r
548             <gamma>0.0</gamma>\r
549             <Ti>\r
550                 <value>10.0</value>\r
551             </Ti>\r
552             <Td>\r
553                 <value>0.001</value>\r
554             </Td>\r
555             <u_min>\r
556                 <value>0</value>\r
557             </u_min>\r
558             <u_max>\r
559                 <value>1</value>\r
560             </u_max>\r
561         </config>\r
562     </pid-controller>\r
563 \r
564 <!-- MACH hold-->\r
565 \r
566     <pid-controller>\r
567         <name>MACH HOLD</name>\r
568         <debug>false</debug>\r
569         <enable>\r
570             <prop>autopilot/locks/speed</prop>\r
571             <value>mach-hold</value>\r
572             <honor-passive>true</honor-passive>\r
573         </enable>\r
574         <input>\r
575             <prop>velocities/mach</prop>\r
576         </input>\r
577         <reference>\r
578             <prop>autopilot/settings/target-speed-mach</prop>\r
579         </reference>\r
580         <output>\r
581             <prop>controls/engines/engine[0]/throttle</prop>\r
582             <prop>controls/engines/engine[1]/throttle</prop>\r
583         </output>\r
584         <config>\r
585             <Kp>\r
586                 <value>2.0</value>0\r
587             </Kp>\r
588             <beta>1.0</beta>\r
589             <alpha>0.1</alpha>\r
590             <gamma>0.0</gamma>\r
591             <Ti>\r
592                 <value>10.0</value>\r
593             </Ti>\r
594             <Td>\r
595                 <value>0.001</value>\r
596             </Td>\r
597             <u_min>\r
598                 <value>0</value>\r
599             </u_min>\r
600             <u_max>\r
601                 <value>1</value>\r
602             </u_max>\r
603         </config>\r
604     </pid-controller>\r
605 \r
606 </PropertyList>