<?xml version="1.0"?> <!-- Generic Autopilot Configuration --> <!-- Each component is evaluated in the order specified. You can make up --> <!-- property names to pass the result of one component on to a subsequent --> <!-- component. --> <PropertyList> <!-- =============================================================== --> <!-- 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>/orientation/roll-deg</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/controls/flight/aileron</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>0.01</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Bank hold --> <pid-controller> <name>Bank Hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/heading</prop> <value>bank-hold</value> </enable> <input> <prop>/orientation/roll-deg</prop> </input> <reference> <prop>/autopilot/settings/target-bank-deg</prop> </reference> <output> <prop>/controls/flight/aileron</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>0.01</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- 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>-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>-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>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>0.05</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>0.01</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- 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>-1.0</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>-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>0.05</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>0.01</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Nav1 hold. 2 stage cascade controller. --> <!-- Stage #1 sets target roll based on diff between current heading --> <!-- and target heading. --> <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>-1.0</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>-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>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>0.05</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>0.01</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- =============================================================== --> <!-- 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>-0.05</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>0.001</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- 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 --> <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>0.001</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- 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>0.001</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Altitude hold. 3 stage cascade controller. --> <!-- 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> </input> <reference> <prop>/autopilot/settings/target-altitude-ft</prop> </reference> <output> <prop>/autopilot/internal/target-climb-rate-fps</prop> </output> <config> <Kp>0.3</Kp> <!-- proportional gain --> <Ki>0.0</Ki> <!-- integral gain --> <u_min>-8.33</u_min> <!-- minimum output clamp --> <u_max>8.33</u_max> <!-- maximum output clamp --> </config> </pi-simple-controller> <!-- Stage #2 drives the target-pitch 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>/autopilot/settings/target-pitch-deg</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>1.0</Ti> <!-- integrator time --> <Td>0.00001</Td> <!-- derivator time --> <u_min>-5.0</u_min> <!-- minimum output clamp --> <u_max>5.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Stage #3 drives the elevator trim to achieve the desired pitch --> <!-- angle --> <pid-controller> <name>Pitch hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/altitude</prop> <value>altitude-hold</value> <honor-passive>true</honor-passive> </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>0.5</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> <!-- 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>1.0</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>25.0</Ti> <!-- integrator time --> <Td>0.000000001</Td> <!-- derivator time --> <u_min>-16.67</u_min> <!-- minimum output clamp --> <u_max>8.33</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>agl-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>-0.05</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>0.001</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- 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-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>0.001</Td> <!-- derivator time --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- =============================================================== --> <!-- Velocity Modes --> <!-- =============================================================== --> <!-- Auto throttle --> <pid-controller> <name>Auto Throttle (5 sec lookahead)</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-throttle</value> </enable> <input> <!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> --> <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> <prop>/controls/engines/engine[6]/throttle</prop> <prop>/controls/engines/engine[7]/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>1.0</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 trim (Two stage cascading controller) --> <pid-controller> <name>Speed hold (vary pitch trim) Stage #1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-pitch-trim</value> </enable> <input> <!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> --> <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>-1.0</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>2.0</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 trim) 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>0.5</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> <!-- Hold speed by varying elevator (2 stage cascading controller)--> <!-- Stage 1, command a forward acceleration rate based on velocity error --> <pi-simple-controller> <name>Speed hold (vary elevator)</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-pitch-yoke</value> </enable> <input> <prop>/velocities/airspeed-kt</prop> </input> <reference> <prop>/autopilot/settings/target-speed-kt</prop> </reference> <output> <prop>/autopilot/settings/target-accel-ktps</prop> </output> <config> <Kp>0.2</Kp> <!-- proportional gain --> <Ki>0.0</Ki> <!-- integral gain --> <u_min>-1.0</u_min> <!-- minimum output clamp --> <u_max>1.0</u_max> <!-- maximum output clamp --> </config> </pi-simple-controller> <!-- Stage 2, command elevator to achieve target acceleration rate --> <pid-controller> <name>Speed hold (vary elevator)</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-pitch-yoke</value> </enable> <input> <prop>/accelerations/airspeed-ktps</prop> </input> <reference> <prop>//autopilot/settings/target-accel-ktps</prop> </reference> <output> <prop>/controls/flight/elevator</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>8.0</Ti> <!-- integrator time --> <Td>0.001</Td> <!-- derivator time --> <u_min>-0.25</u_min> <!-- minimum output clamp --> <u_max>0.25</u_max> <!-- maximum output clamp --> </config> </pid-controller> <!-- Hold speed by varying pitch via yoke (Two stage cascading controller) --> <pid-controller> <name>Speed hold (vary pitch via yoke) Stage #1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-pitch-yoke-pitch</value> </enable> <input> <!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> --> <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>-1.0</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>2.0</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 via yoke) Stage #2</name> <debug>false</debug> <enable> <prop>/autopilot/locks/speed</prop> <value>speed-with-pitch-yoke-pitch</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 --> <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>0.001</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>