737-autopilotV5.xml

<?xml version="1.0"?>
<!--
Autopilot Version 6.1 Configuration for the 737.
-->
<!--
This is still in development, so not all of the controllers are
currently used, or work properly.
-->
<PropertyList>


<!-- =============================================================== -->
<!-- Prediction filters					       -->
<!-- =============================================================== -->

<predict-simple>
  <input>/autopilot/internal/nav1-track-error-deg</input>
  <output>/autopilot/internal/nav1-track-error-lookahead-deg</output>
  <seconds>8.0</seconds>
  <filter-gain>0.0</filter-gain>
</predict-simple>
<!--
===============
Roll Axis Modes
===============
-->
<!-- Wing leveler -->
<pid-controller>
  <name>Wing Leveler (Turn Coordinator based)</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>wing-leveler</value>
  </enable>
  <input>
    <prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/controls/flight/aileron</prop>
  </output>
  <config>
    <Kp>0.5</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Heading Bug Hold.  2 stage cascade controller.
Stage #1 sets target roll based on diff between current heading
and heading bug.
-->
<pid-controller>
  <name>Heading Bug Hold (DG based) Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>dg-heading-hold</value>
  </enable>
  <input>
    <prop>/autopilot/internal/fdm-heading-bug-error-deg</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </output>
  <config>
    <Kp>-1.3</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>40.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-30.0</u_min>
    <!-- minimum output clamp -->
    <u_max>30.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
<pid-controller>
  <name>Heading Bug Hold (DG based) Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>dg-heading-hold</value>
  </enable>
  <input>
    <prop>/orientation/roll-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/aileron</prop>
  </output>
  <config>
    <Kp>0.2</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
True Heading hold.	2 stage cascade controller.
Stage #1 sets target roll based on diff between current heading
and target heading.
-->
<pid-controller>
  <name>True Heading Hold (DG based) Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>true-heading-hold</value>
  </enable>
  <input>
    <prop>/autopilot/internal/true-heading-error-deg</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </output>
  <config>
    <Kp>-1.2</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-20.0</u_min>
    <!-- minimum output clamp -->
    <u_max>20.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
<pid-controller>
  <name>True Heading Hold (DG based) Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>true-heading-hold</value>
  </enable>
  <input>
    <prop>/orientation/roll-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/aileron</prop>
  </output>
  <config>
    <Kp>0.2</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.0001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Nav1 hold.	2 stage cascade controller.
Stage #1 sets target roll based on nav1-heading-error-deg.
-->
<pid-controller>
  <name>Nav1 Hold Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>nav1-hold</value>
  </enable>
  <input>
    <prop>/autopilot/internal/nav1-heading-error-deg</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </output>
  <config>
    <Kp>-1.3</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>40</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-30.0</u_min>
    <!-- minimum output clamp -->
    <u_max>30.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
<pid-controller>
  <name>Nav1 Hold Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>nav1-hold</value>
  </enable>
  <input>
    <prop>/orientation/roll-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/aileron</prop>
  </output>
  <config>
    <Kp>0.2</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>

<!-- =============================================================== -->
<!-- Pitch Axis Modes						      -->
<!-- =============================================================== -->

<!-- Simple pitch hold -->
<pid-controller>
  <name>Pitch hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>pitch-hold</value>
  </enable>
  <input>
    <prop>/orientation/pitch-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-pitch-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.15</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>5.0</Ti>
    <!-- integrator time -->
    <Td>0.1</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple pitch hold with yoke -->
<pid-controller>
  <name>Pitch hold w/ yoke</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>pitch-hold-yoke</value>
  </enable>
  <input>
    <prop>/orientation/pitch-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-pitch-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator</prop>
  </output>
  <config>
    <Kp>-0.05</Kp>
    <!-- proportional gain (was 0.05)-->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>.5</Ti>
    <!-- integrator time (was 1.0) -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple angle of attack hold -->
<pid-controller>
  <name>AOA hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>aoa-hold</value>
  </enable>
  <input>
    <prop>/orientation/alpha-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-aoa-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.05</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>0.5</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Altitude hold.  2 stage cascade controller.
Stage #1 sets target rate of climb based on diff between current alt
and target altitude.
-->


<!-- Stage #1 sets target rate of climb based on diff between current alt -->
<!-- and target altitude. -->
<pi-simple-controller>
  <name>Altitude Hold (Altimeter based) Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>altitude-hold</value>
  </enable>
  <input>
    <!--prop>/position/altitude-ft</prop-->
    <prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-altitude-ft</prop>
  </reference>
  <output>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </output>
  <config>
    <Kp>0.05</Kp>	     <!-- proportional gain -->
    <Ki>0.0</Ki>	    <!-- integral gain -->
    <u_min>-16.67</u_min> <!-- minimum output clamp -->
    <u_max>33.33</u_max>   <!-- maximum output clamp -->
  </config>
</pi-simple-controller>

<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
  <name>Altitude Hold (Altimeter based) Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>altitude-hold</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator</prop>
  </output>
  <config>
    <Kp>-0.01</Kp>	  <!-- proportional gain -->
    <beta>1.0</beta>	  <!-- input value weighing factor -->
    <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>  <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>	  <!-- integrator time -->
    <Td>0.00001</Td>	  <!-- derivator time -->
    <u_min>-1.0</u_min> <!-- minimum output clamp -->
    <u_max>1.0</u_max>  <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
AGL hold.  2 stage cascade controller.
Stage #1 sets target rate of climb based on diff between current agl
and target agl.
-->
<pid-controller>
  <name>AGL Hold (Altimeter based) Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>agl-hold</value>
  </enable>
  <input>
    <prop>/position/altitude-agl-ft</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-agl-ft</prop>
  </reference>
  <output>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </output>
  <config>
    <Kp>0.3</Kp>
    <!-- proportional gain -->
    <Ki>0.0</Ki>
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <u_min>-33.33</u_min>
    <!-- minimum output clamp -->
    <u_max>33.33</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
  <name>Altitude Hold (Altimeter based) Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>afl-hold</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.001</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>

<!-- Glideslope hold. -->

<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
  <name>Glideslop Hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>gs1-hold</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator</prop>
  </output>
  <config>
    <Kp>-0.01</Kp>	  <!-- proportional gain -->
    <beta>1.0</beta>	  <!-- input value weighing factor -->
    <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>  <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>	  <!-- integrator time -->
    <Td>0.00001</Td>	  <!-- derivator time -->
    <u_min>-1.0</u_min> <!-- minimum output clamp -->
    <u_max>1.0</u_max>  <!-- maximum output clamp -->
  </config>
</pid-controller>


<!-- vertical speed hold -->

<pid-controller>
  <name>Vertical Speed Hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>vertical-speed-hold</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/vertical-speed-fpm</prop>
    <scale>0.01667</scale>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.007</Kp>
    <beta>1.0</beta>
    <alpha>0.1</alpha>
    <gamma>0.0</gamma>

    <Ti>40.0</Ti>
    <Td>0.000001</Td>
    <u_min>-2.0</u_min>
    <u_max>2.0</u_max>
  </config>
</pid-controller>
<!--
==============
Velocity Modes
==============
-->
<!-- Simple Auto throttle -->
<pid-controller>
  <name>Auto Throttle</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/speed</prop>
    <value>speed-with-throttle</value>
  </enable>
  <input>
    <prop>/velocities/airspeed-kt</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-speed-kt</prop>
  </reference>
  <output>
    <prop>/controls/engines/engine[0]/throttle</prop>
    <prop>/controls/engines/engine[1]/throttle</prop>
    <prop>/controls/engines/engine[2]/throttle</prop>
    <prop>/controls/engines/engine[3]/throttle</prop>
    <prop>/controls/engines/engine[4]/throttle</prop>
    <prop>/controls/engines/engine[5]/throttle</prop>
  </output>
  <config>
    <Kp>0.1</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.001</Td>
    <!-- derivator time -->
    <u_min>0.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Hold speed by varying pitch (Two stage cascading controller) -->
<pid-controller>
  <name>Speed hold (vary pitch) Stage #1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/speed</prop>
    <value>speed-with-pitch</value>
  </enable>
  <input>
    <prop>/velocities/airspeed-kt</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-speed-kt</prop>
  </reference>
  <output>
    <prop>/autopilot/settings/target-pitch-deg</prop>
  </output>
  <config>
    <Kp>.05</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>0.2</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-15.0</u_min><!-- minimum output clamp -->
    <u_max>15.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<pid-controller>
  <name>Speed hold (vary pitch) Stage #2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/speed</prop>
    <value>speed-with-pitch-trim</value>
  </enable>
  <input>
    <prop>/orientation/pitch-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-pitch-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.05</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>1.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- ==========================================================-->
<!-- Custom Controllers -->
<!-- ==========================================================-->
<!-- Modified pitch hold for take-offs -->
<pid-controller>
  <name>T-O Pitch hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>take-off</value>
  </enable>
  <input>
    <prop>/orientation/pitch-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/take-off-pitch-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.8</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>8.0</Ti>
    <!-- integrator time -->
    <Td>0.1</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Modified pitch hold for initial climb-out -->
<pid-controller>
  <name>Climb Out Pitch hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>climb-out</value>
  </enable>
  <input>
    <prop>/orientation/pitch-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/climb-out-pitch-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.06</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.01</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Auto throttle (Mach Hold)-->
<pid-controller>
  <name>Auto Throttle (Mach Hold)</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/speed</prop>
    <value>mach-with-throttle</value>
  </enable>
  <input>
    <prop>/velocities/mach</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-mach</prop>
  </reference>
  <output>
    <prop>/controls/engines/engine[0]/throttle</prop>
    <prop>/controls/engines/engine[1]/throttle</prop>
    <prop>/controls/engines/engine[2]/throttle</prop>
    <prop>/controls/engines/engine[3]/throttle</prop>
    <prop>/controls/engines/engine[4]/throttle</prop>
    <prop>/controls/engines/engine[5]/throttle</prop>
  </output>
  <config>
    <Kp>20.0</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>0.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Mach Climb Hold.
Two stage controller based on modified Altitude hold.
Stage #1 sets target rate of climb based on diff between
current mach and target mach.
-->
<pid-controller>
  <name>Mach Lock Climb Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>mach-climb</value>
  </enable>
  <input>
    <prop>/autopilot/settings/target-mach</prop>
  </input>
  <reference>
    <prop>/velocities/mach</prop>
  </reference>
  <output>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </output>
  <config>
    <Kp>1600.0</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.01</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>40.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>50.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
  <name>Mach lock Climb Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>mach-climb</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.008</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Modified AGL hold for autopilot landing - 2 stage cascade controller.
Stage #1 sets target rate of climb based on diff between current agl
and target (zero) agl
-->
<pid-controller>
  <name>Auto Landing Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>Touch Down</value>
  </enable>
  <input>
    <prop>/position/altitude-agl-ft</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </output>
  <config>
    <Kp>0.051</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.001</Td>
    <!-- derivator time -->
    <u_min>-12.0</u_min>
    <!-- minimum output clamp -->
    <u_max>-0.10</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
  <name>Auto Landing Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>Touch Down</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-climb-rate-fps</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.02</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>2.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple Ground Roll Rudder Heading Hold -->
<pid-controller>
  <name>Ground Roll Rudder hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/rudder-control</prop>
    <value>rudder-hold</value>
  </enable>
  <input>
    <prop>/orientation/heading-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/ground-roll-heading-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/rudder</prop>
  </output>
  <config>
    <Kp>0.5</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>5.0</Ti>
    <!-- integrator time -->
    <Td>0.1</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple AoA-by-speed Hold -->
<pid-controller>
  <name>AoA-by-speed Hold</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/AoA-lock</prop>
    <value>Engaged</value>
  </enable>
  <input>
    <prop>/orientation/alpha-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/AoA-deg</prop>
  </reference>
  <output>
    <prop>/autopilot/settings/target-speed-kt</prop>
  </output>
  <config>
    <Kp>-3.0</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.001</Td>
    <!-- derivator time -->
    <u_min>90.0</u_min>
    <!-- minimum output clamp -->
    <u_max>160.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple Flap Control -->
<pid-controller>
  <name>Simple Flap Control</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/auto-flap-control</prop>
    <value>Engaged</value>
  </enable>
  <input>
    <prop>/orientation/alpha-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/auto-flap-target-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/flaps</prop>
  </output>
  <config>
    <Kp>-0.1</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>10.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>0</u_min>
    <!-- minimum output clamp -->
    <u_max>1</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!--
Nav1 hold - Final approach.	 2 stage cascade controller.
Stage #1 sets target roll based on heading-needle-deflection.
-->
<pid-controller>
  <name>Nav1 Hold Stage 1</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>nav1-hold-fa</value>
  </enable>
  <input>
    <prop>/instrumentation/nav[0]/heading-needle-deflection</prop>
  </input>
  <reference>
    <value>0.0</value>
  </reference>
  <output>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </output>
  <config>
    <Kp>-10.0</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>60</Ti>
    <!-- integrator time -->
    <Td>4.0</Td>
    <!-- derivator time -->
    <u_min>-6.0</u_min>
    <!-- minimum output clamp -->
    <u_max>6.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
<pid-controller>
  <name>Nav1 Hold Stage 2</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/heading</prop>
    <value>nav1-hold-fa</value>
  </enable>
  <input>
    <prop>/orientation/roll-deg</prop>
  </input>
  <reference>
    <prop>/autopilot/internal/target-roll-deg</prop>
  </reference>
  <output>
    <prop>/controls/flight/aileron</prop>
  </output>
  <config>
    <Kp>0.6</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>4.0</Ti>
    <!-- integrator time -->
    <Td>0.00001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
<!-- Simple VFPS hold (low-speed) -->
<pid-controller>
  <name>VFPS Hold (low-speed)</name>
  <debug>false</debug>
  <enable>
    <prop>/autopilot/locks/altitude</prop>
    <value>vfps-hold-ls</value>
  </enable>
  <input>
    <prop>/velocities/vertical-speed-fps</prop>
  </input>
  <reference>
    <prop>/autopilot/settings/target-vfps</prop>
  </reference>
  <output>
    <prop>/controls/flight/elevator-trim</prop>
  </output>
  <config>
    <Kp>-0.018</Kp>
    <!-- proportional gain -->
    <beta>1.0</beta>
    <!-- input value weighing factor -->
    <alpha>0.1</alpha>
    <!-- low pass filter weighing factor -->
    <gamma>0.0</gamma>
    <!-- input value weighing factor for -->
    <!-- unfiltered derivative error -->
    <Ti>6.0</Ti>
    <!-- integrator time -->
    <Td>0.001</Td>
    <!-- derivator time -->
    <u_min>-1.0</u_min>
    <!-- minimum output clamp -->
    <u_max>1.0</u_max>
    <!-- maximum output clamp -->
  </config>
</pid-controller>
</PropertyList>