mirror of https://github.com/ArduPilot/ardupilot
768 lines
26 KiB
XML
768 lines
26 KiB
XML
<?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>
|