A380-autopilot.xml

<?xml version="1.0"?>
 
<!-- Airbus A380 Auto Flight System 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. -->

<!--    Modification History
     Original	Syd Adams	unknown date
     unkown	unknown		made into A380
     Jun 2009	S.Hamilton	added SRS and changes to true-heading-hold
     Apr 2011	S.Hamilton	route elevator through a servo filter
     -->


<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>
  
  <predict-simple>
    <input>instrumentation/ivsi-adc[0]/indicated-speed-fps</input>
    <output>instrumentation/ivsi-adc[0]/predict-speed-fps</output>
    <seconds>5.0</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 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>-1.0</Kp>        <!-- proportional gain --> <!-- was -0.5 SAH 2010-12-11 --> <!-- was -1.0 2011-04-26 -->
      <beta>0.9</beta>     <!-- input value weighing factor -->
      <alpha>0.1</alpha>   <!-- low pass filter weighing factor -->
      <gamma>0.1</gamma>   <!-- input value weighing factor for -->
                           <!-- unfiltered derivative error -->
      <Ti>15.0</Ti>        <!-- integrator time --> <!-- was 20 SAH 2010-12-11 --> <!-- was 30 2011-04-26 -->
      <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 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>/autopilot/internal/target-roll-deg-cmd</prop>
    </output>
    <config>
      <Kp>0.03</Kp>        <!-- was 0.1 2011-04-26 --> <!-- was 0.07 -->
      <beta>1.0</beta>    
      <alpha>0.1</alpha> 
      <gamma>0.0</gamma>  
      <Ti>10.0</Ti>       <!-- was 20 SAH 2010-12-13 -->
      <Td>0.00001</Td>    
      <u_min>-1.0</u_min> 
      <u_max>1.0</u_max> 
    </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 (RouteMgr based) Stage 1</name>
    <debug>false</debug>>
    <enable>
      <condition>
        <and>
          <equals>
            <property>/autopilot/locks/heading</property>
            <value>true-heading-hold</value>
          </equals>
          <greater-than>
            <property>/autopilot/route-manager/wp[0]/dist</property>
            <value>1.5</value>
          </greater-than>
        </and>
      </condition>
    </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>
      <condition>
	<and>
	    <less-than>
	        <property>/instrumentation/airspeed-indicator/indicated-mach</property>
		<value>0.45</value>
	    </less-than>
	    <less-than>
	      <property>/position/altitude-ft</property>
	      <value>10000</value>
	    </less-than>
	  </and>
	</condition>
	<value>-0.2</value>
      </Kp -->
      <Kp>-0.25</Kp>        <!-- proportional gain --> <!-- was -1.45 SAH 2010-12-13 --> <!-- was -1.0 2011-04-26 --> <!-- was -1.7 2011-04-27 -->
      <beta>1.0</beta>     <!-- input value weighing factor -->
      <!-- alpha>0.1</alpha -->   <!-- low pass filter weighing factor -->
      <gamma>0.4</gamma>   <!-- input value weighing factor for -->
                           <!-- unfiltered derivative error -->
      <Ti>20.0</Ti>        <!-- integrator time -->   <!-- was 30 2011-04-26 -->  <!-- was 15 2011-12-23 -->
      <Td>0.1</Td>     <!-- derivator time -->
      <u_min>
        <prop>/instrumentation/afs/limit-bank-angle-min</prop>
      </u_min> <!-- minimum output clamp -->
      <u_max>
        <prop>/instrumentation/afs/limit-bank-angle-max</prop>
      </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>/autopilot/internal/target-roll-deg-cmd</prop>
    </output>
    <config>
      <!-- Kp>
      <condition>
	<and>
	    <less-than>
	        <property>/instrumentation/airspeed-indicator/indicated-mach</property>
		<value>0.45</value>
	    </less-than>
	    <less-than>
	      <property>/position/altitude-ft</property>
	      <value>10000</value>
	    </less-than>
	  </and>
	</condition>
	<value>0.05</value>
      </Kp -->
      <Kp>0.05</Kp>     <!-- was 0.1 2011-04-26 --> <!-- was 0.03 2011-06-19 -->
      <beta>1.0</beta>    
      <!-- alpha>0.1</alpha -->  
      <gamma>0.0</gamma>  
      <Ti>10.0</Ti>       <!-- was 20 SAH 2010-12-13 -->
      <Td>0.00000</Td>    
      <u_min>-1.0</u_min>
      <u_max>1.0</u_max>
    </config>
  </pid-controller>
  
  
  <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>

  <!-- 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-track-error-deg</prop>
    </input>
    <reference>
      <value>0.0</value>
    </reference>
    <output>
      <prop>/autopilot/internal/target-roll-deg</prop>
    </output>
    <config>
      <Kp>-3.0</Kp>        <!-- proportional gain   was -3.0 -->
      <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>35.0</Ti>        <!-- integrator time  was 15.0 --> <!-- was 35.0 -->
      <u_min>-30.0</u_min> <!-- minimum output clamp -->
      <u_max>30.0</u_max>  <!-- maximum output clamp -->
    <!-- 
      <Kp>-0.75</Kp>    
      <beta>1.0</beta>  
      <alpha>0.1</alpha> 
      <gamma>0.0</gamma> 
                          
      <Ti>15.0</Ti>       
      <u_min>-30.0</u_min> 
      <u_max>30.0</u_max>  -->
    </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>/autopilot/internal/target-roll-deg-cmd</prop -->
      <prop>controls/flight/aileron</prop>
    </output>
    <config>
      <Kp>0.1</Kp>        
      <beta>1.0</beta>    
      <alpha>0.1</alpha>  
      <gamma>0.0</gamma>  
      <Ti>10.0</Ti>        <!-- was 20 SAH 2010-12-13 -->
      <Td>0.000000001</Td>   
      <u_min>-1.0</u_min> 
      <u_max>1.0</u_max>
    </config>
  </pid-controller>
  
  <pid-controller>
    <name>Runway Hold Stage 1</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/heading</prop>
      <value>runway-heading</value>
    </enable>
    <input>
      <prop>/autopilot/internal/nav1-track-error-deg</prop>
    </input>
    <reference>
      <value>0.0</value>
    </reference>
    <output>
      <prop>/controls/flight/rudder</prop>
    </output>
    <config>
      <Kp>-0.4</Kp>        <!-- proportional gain   was -3.0 -->
      <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  was 15.0 --> <!-- was 35.0 -->
      <u_min>-1.0</u_min> <!-- minimum output clamp -->
      <u_max>1.0</u_max>  <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
  
  
   <filter>
      <name>filter-heading</name>
      <type>noise-spike</type>
      <debug>false</debug>>
      <feedback-if-disabled>true</feedback-if-disabled>
      <enable>
        <condition>
          <or>
            <equals>
	      <property>/autopilot/locks/heading</property>
	      <value>dg-heading-hold</value>
	    </equals>
	    <equals>
	      <property>/autopilot/locks/heading</property>
	      <value>true-heading-hold</value>
	    </equals>
	    <!-- equals>
	      <property>/autopilot/locks/heading</property>
	      <value>nav1-hold</value>
	    </equals -->
	  </or>
	</condition>
      </enable>
      <input>/autopilot/internal/target-roll-deg-cmd</input>
      <output>/controls/flight/aileron</output>
      <max-rate-of-change>0.2</max-rate-of-change>  <!-- was 0.6 (2/3) now 1.6/5 (0.32), test out 1.6/8 (0.2) -->
      <u_min>-0.8</u_min>   <!-- was -1.0 -->
      <u_max>0.8</u_max>    <!-- was 1.0 -->
    </filter>


 <!-- =============================================================== -->
 <!-- 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>autopilot/internal/elevator-trim-filter</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>0.1</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>

 <!-- 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>autopilot/internal/elevator-trim-filter</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>
  
  <!--  original altitude-hold -->
  <!-- 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>/instrumentation/alitmeter/indicated-altitude-ft</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-altitude-ft</prop>
    </reference>
    <output>
      <prop>/autopilot/internal/target-climb-rate-fps</prop>
      <scale>0.016</scale>
    </output>	
    <config>
      <Kp>0.15</Kp>   
      <Ki>0.01</Ki>      
      <u_min>
        <prop>/instrumentation/afs/limit-min-vs-fps</prop>
      </u_min> 
      <u_max>
        <prop>/instrumentation/afs/limit-max-vs-fps</prop>
      </u_max>  
    </config>
  </pi-simple-controller -->
  
  <!-- Stage #2 drives the elevator-trim filter which is then routed via the servo -->
  <pid-controller>
    <name>Altitude Hold (Altimeter based) Stage 22</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/altitude</prop>
      <value>altitude-hold22</value>
    </enable>
    <input>
      <prop>/velocities/vertical-speed-fps</prop>
      <!-- prop>/instrumentation/ivsi-adc/indicated-speed-fps</prop -->
    </input>
    <reference>
      <prop>/autopilot/internal/target-climb-rate-fps</prop>
    </reference>
    <output>	
      <prop>autopilot/internal/elevator-trim-filter22</prop>
    </output>
    <config>	
      <Ts>0.05</Ts>
      <Kp><prop>autopilot/internal/stage2-kp</prop></Kp>
      <Ki><prop>autopilot/internal/stage2-ki</prop></Ki>
      <beta>1.0</beta>   
      <alpha>0.1</alpha>  
      <gamma>0.0</gamma>  
      <Ti><prop>autopilot/internal/stage2-ti</prop></Ti>       
      <!-- Td>0.00000</Td --> 
      <u_min>-1.0</u_min>
      <u_max>1.0</u_max> 
    </config>	
  </pid-controller>
  


<!--   the main altitude acquire and hold -->
  <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>/autopilot/internal/current-altitude</prop -->
      <!-- property>/instrumentation/altimeter/indicated-altitude-ft</property -->
      <property>/instrumentation/altimeter/radio-altimeter</property>
    </input>
    <reference>
      <property>/autopilot/settings/target-altitude-ft</property>
    </reference>
    <output>
      <property>/autopilot/internal/target-climb-rate-raw</property>
      <scale>0.016</scale>
    </output>
    <config>
        <!-- Ts>0.05</Ts -->
	<Ki><prop>autopilot/internal/stage1-ki</prop></Ki>
	<Kp><prop>autopilot/internal/stage1-kp</prop></Kp>
	<beta>0.8</beta>
	<!-- alpha>0.1</alpha -->
	<gamma>0.5</gamma>
      <u_min>
        <prop>/instrumentation/afs/limit-min-vs-fps</prop>
      </u_min> 
      <u_max>
        <prop>/instrumentation/afs/limit-max-vs-fps</prop>
      </u_max>
    </config>
  </pi-simple-controller>
  
    <filter>
		<name>Altitude hold filter</name>
		<debug>false</debug>>
	        <type>noise-spike</type>
		<!-- enable>
                  <prop>/autopilot/locks/altitude</prop>
                  <value>altitude-hold</value>
		</enable -->
		<max-rate-of-change>5.0</max-rate-of-change>   <!-- fps -->
		<!-- max-rate-of-change>34</max-rate-of-change -->  <!-- fpm -->
	        <feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
		   <property>/autopilot/internal/target-climb-rate-raw</property>
		</input>
                <output>
		  <property>/autopilot/internal/target-climb-rate-fps</property>
		</output>
	      </filter>
  

    <pid-controller>
    <name>Altitude Hold Stage 2</name>
    <debug>false</debug>
    <enable>
      <prop>/autopilot/locks/altitude</prop>
      <value>altitude-hold</value>
    </enable>
    <input>
      <property>/velocities/vertical-speed-fps</property>
      <scale>60</scale>
      <!-- property>/instrumentation/ivsi-adc[0]/indicated-speed-fps</property -->
    </input>
    <reference>
      <property>autopilot/internal/target-climb-rate-fps</property>
      <scale>60</scale>
    </reference>
    <output>
      <property>/autopilot/internal/target-pitch-deg</property>
    </output>
    <config>
      <!-- Kp>
	<condition>
	  <greater-than>
	    <property>/instrumentation/altimeter/radio-altimeter</property>
            <value>20000</value>
	  </greater-than>
	</condition>
        <value>0.001</value>
      </Kp -->
      <Ts>0.1</Ts>
      <Kp>   <!-- 0.0035 -->
        <prop>autopilot/internal/stage2-kp</prop>
      </Kp>      <!-- proportional gain -->
      <Ki>   <!-- 0.1 -->
        <prop>autopilot/internal/stage2-ki</prop>
      </Ki>
      <beta>0.9</beta>    <!-- input value weighing factor -->
      <!-- alpha>0.1</alpha -->  <!-- low pass filter weighing factor -->
      <gamma>0.1</gamma>  <!-- input value weighing factor for -->
                          <!-- unfiltered derivative error -->
      <Ti>  <!-- 20.0 -->
        <prop>autopilot/internal/stage2-ti</prop>
      </Ti>       <!-- integrator time -->
      <Td>
	<prop>autopilot/internal/stage2-td</prop>
      </Td>    <!-- derivator time -->
      <u_min>-8.0</u_min> <!-- minimum output clamp -->
      <u_max>8.0</u_max>  <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
  <!-- Stage #2 drives the elevator-trim filter which is then routed via the servo -->
  <pid-controller>
    <name>Altitude Hold (Altimeter based) Stage 22</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/altitude</prop>
      <value>altitude-hold22</value>
    </enable>
    <input>
      <prop>/velocities/vertical-speed-fps</prop>
      <!-- prop>/instrumentation/ivsi-adc/indicated-speed-fps</prop -->
    </input>
    <reference>
      <prop>/autopilot/internal/target-climb-rate-fps</prop>
    </reference>
    <output>
      <prop>autopilot/internal/elevator-trim-filter22</prop>
    </output>
    <config>
      <Ts>0.05</Ts>
      <Ki><prop>autopilot/internal/stage2-ki</prop></Ki>
      <Kp><property>autopilot/internal/stage2-kp</property></Kp>
      <beta>1.0</beta>
      <alpha>0.1</alpha>
      <gamma>0.0</gamma>
      <Ti><property>autopilot/internal/stage2-ti</property></Ti>
      <Td><property>autopilot/internal/stage2-td</property></Td>   
      <u_min>-1.0</u_min> 
      <u_max>1.0</u_max>
    </config>
  </pid-controller>
  
  
  <pid-controller>
    <name>Elevator Pre-Control</name>
    <debug>false</debug>
    <enable>
      <condition>
        <or>
	  <equals>
            <property>/autopilot/locks/altitude</property>
            <value>altitude-hold</value>       
	  </equals>
	  <equals>
	    <property>/autopilot/locks/speed</property>
            <value>speed-reference-system</value>
	  </equals>
	  <equals>
            <property>/autopilot/locks/altitude</property>
            <value>vertical-speed-hold</value>       
	  </equals>
        </or>
      </condition>
    </enable>
    <input>
      <property>/orientation/pitch-deg</property>
    </input>
    <reference>
      <property>/autopilot/internal/target-pitch-deg</property>
    </reference>
    <output>
      <property>autopilot/internal/elevator-trim-filter</property>
    </output>
    <config>
      <!-- Ki>0.0001</Ki -->
      <Kp>-0.02</Kp>
      <Ti>5.0</Ti>   <!-- 2.0 -->
      <Td>0.01</Td>
      <beta>0.8</beta>
      <alpha>0.1</alpha>
      <gamma>0.2</gamma>
      <u_min>
        <value>-0.8</value>
      </u_min>
      <u_max>
        <value>0.8</value>
      </u_max>
    </config>
  </pid-controller>
  
  <!-- pi-simple-controller>
    <name>Altitude Hold Stage 33</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/altitude</prop>
      <value>altitude-hold33</value>
    </enable>
    <input>
      <property>/velocities/vertical-speed-fps</property>
    </input>
    <reference>
      <property>/autopilot/internal/target-climb-rate-fps</property>
    </reference>
    <output>
      <property>autopilot/internal/elevator-trim-filter33</property>
    </output>
    <config>
      <Ts>0.05</Ts>
      <Ki><prop>autopilot/internal/stage2-ki</prop></Ki>
      <Kp><prop>autopilot/internal/stage2-kp</prop></Kp>
      <beta>1.0</beta>
      <alpha>0.1</alpha>
      <gamma>0.0</gamma>
      <u_min>-1.0</u_min> 
      <u_max>1.0</u_max>
    </config>
  </pi-simple-controller -->
  

        <!-- filter>
		<name>Elevator control filter</name>
		<debug>false</debug>>
	        <type>noise-spike</type>
		<enable>
                  <prop>/autopilot/locks/altitude</prop>
                  <value>altitude-hold</value>
		</enable>
		<max-rate-of-change>
		 <condition>
			<greater-than>
				<property>/instrumentation/airspeed-indicator/indicated-mach</property>
				<value>0.85</value>
			</greater-than>
		   </condition>
		   <value>0.05</value>
		</max-rate-of-change>
		<max-rate-of-change>
		    <condition>
			<greater-than>
			    <property>/instrumentation/airspeed-indicator/indicated-mach</property>
			    <value>0.666</value>
			</greater-than>
		    </condition>
		    <value>0.1</value>
		</max-rate-of-change>
		<max-rate-of-change>
		    <condition>
			<greater-than>
			    <property>/instrumentation/airspeed-indicator/indicated-mach</property>
		            <value>0.5</value>
			</greater-than>
		    </condition>
	            <value>0.15</value>
		</max-rate-of-change>
		<max-rate-of-change>0.2</max-rate-of-change>
	        <feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
		   <property>/autopilot/internal/elevator-trim-filter33</property>
		</input>
                <output>/controls/flight/elevator-trim</output>
	</filter -->
  


  <!-- 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>2.0</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>0.000001</Td>    <!-- derivator time -->
      <u_min>-16.67</u_min> <!-- minimum output clamp -->
      <u_max>32.33</u_max> <!-- maximum output clamp -->
    </config>
  </pid-controller>

  <!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
  <pid-controller>
    <name>AGL 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 -->
      <property>/instrumentation/ivsi-adc/indicated-speed-fps</property>
    </input>
    <reference>
      <prop>/autopilot/internal/target-climb-rate-fps</prop>
    </reference>
    <output>
      <prop>/controls/flight/elevator-trim</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>15.0</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. -->
    <pid-controller>
        <name>Glideslope Hold</name>
        <debug>false</debug>>
        <enable> 
	    <prop>/autopilot/locks/altitude</prop>
            <value>gs1-hold</value>
        </enable>
        <input>
            <!-- property>velocities/vertical-speed-fps</property -->
	    <property>/instrumentation/ivsi-adc[0]/indicated-speed-fps</property>
        </input>
        <reference>
            <prop>instrumentation/nav[0]/gs-rate-of-climb</prop>
        </reference>
        <output>
            <prop>autopilot/internal/elevator-filter</prop>
        </output>
        <config>
	  <Kp>-0.005</Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.00</Td>
            <u_min>-1.0</u_min>
            <u_max>1.0</u_max>
        </config>
    </pid-controller>
    
    <filter>
      <name>GS Filter</name>
      <debug>false</debug>>
      <enable> 
        <prop>/autopilot/locks/altitude</prop>
        <value>gs1-hold99</value>
      </enable>
      <type>exponential</type>
      <filter-time>0.08</filter-time>
      <input>autopilot/internal/elevator-filter</input>
      <output>/controls/flight/elevator</output>
    </filter>

    
    
    <filter>
      <name>SERVO-DRIVER elevator</name>
      <debug>false</debug>>
      <feedback-if-disabled>true</feedback-if-disabled>
      <enable>
        <condition>
          <or>
	    <equals>
              <property>/autopilot/locks/altitude</property>
              <value>altitude-hold</value>
            </equals>
            <equals>
              <property>/autopilot/locks/altitude</property>
              <value>vertical-speed-hold</value>
            </equals>
            <equals>
	      <property>/autopilot/locks/altitude</property>
              <value>pitch-hold</value>
            </equals>
            <equals>
              <property>/autopilot/locks/altitude</property>
              <value>aoa-hold</value>
            </equals>
            <equals>
              <property>/autopilot/locks/speed</property>
              <value>speed-with-pitch-trim</value>
            </equals>
            <equals>
              <property>/autopilot/locks/speed</property>
              <value>mach-with-pitch-trim</value>
            </equals>
	    <equals>
	      <property>/autopilot/locks/altitude</property>
              <value>gs1-hold</value>
	    </equals>
	    <equals>
	      <property>/autopilot/locks/speed</property>
              <value>speed-reference-system</value>
	    </equals>
	  </or>
	</condition>
      </enable>
      <input>/autopilot/internal/elevator-trim-filter</input>
      <output>/controls/flight/elevator-trim</output>
      <type>noise-spike</type>
      <!-- max-rate-of-change>0.56</max-rate-of-change --> <!-- over 3.5 seconds -->
      <max-rate-of-change>2</max-rate-of-change>   <!-- 2.5 seconds -->
      <!-- type>gain</type>
      <gain>1.0</gain -->
    </filter>


  <!-- 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>
      <property>/velocities/vertical-speed-fps</property>
      <!-- property>/instrumentation/ivsi-adc[0]/indicated-speed-fps</property -->
    </input>
    <reference>
      <prop>/autopilot/settings/vertical-speed-fpm</prop>
      <scale>0.01667</scale>
    </reference>
    <output>
      <!-- prop>autopilot/internal/elevator-trim-filter</prop -->
      <prop>autopilot/internal/target-pitch-deg</prop>
    </output>
    <config>
      <!-- Kp>-0.0025</Kp -->      <!-- proportional gain -->
      <Kp>0.02</Kp>
      <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>0.000000</Td>    <!-- derivator time -->
      <u_min>-10.0</u_min> <!-- minimum output clamp -->
      <u_max>10.0</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>/instrumentation/airspeed-indicator/indicated-speed-kt</prop -->
    </input>
    <reference>
      <prop>/autopilot/settings/target-speed-kt</prop>
    </reference>
    <output>
      <prop>/autopilot/internal/throttle-pos</prop>
    </output>
    <config>
      <Kp>0.05</Kp>        <!-- proportional gain --> <!-- was 0.1 SAH 2010-06-06 -->
      <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 -->  <!-- was 10.0 SAH 2010-06-06 -->
      <Td>0.00001</Td>    <!-- derivator time --> <!-- was 0.00001 SAH 2010-06-06 --> 
      <u_min>0.01</u_min>  <!-- minimum output clamp -->
      <u_max>1.0</u_max>  <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
  <filter>
    <name>Speed Trend computer</name>
    <debug>false</debug>>
    <type>gain</type>
    <gain>1.0</gain>
    <input>
      <expression>
	<dif>
	  <property>/autopilot/internal/lookahead-10-sec-airspeed-kt</property>
	  <property>/velocities/airspeed-kt</property>
	</dif>
      </expression>
    </input>
    <output>
      <property>/autopilot/internal/speed-trend-kt</property>
    </output>
  </filter>
  
  <filter>
    <name>Speed Trend Norm</name>
    <debug>false</debug>>
    <type>gain</type>
    <gain>1.0</gain>
    <input>
      <expression>
	<product>
	  <property>/autopilot/internal/speed-trend-kt</property>
	  <value>0.01</value>
	</product>
      </expression>
    </input>
    <output>
      <property>/autopilot/internal/speed-trend-norm</property>
      <max>
	<value>1.0</value>
      </max>
      <min>
	<value>-1.0</value>
      </min>
    </output>
  </filter>
  
  <!--    Idle Thrust  -->
  <filter>
     <type>gain</type>
     <gain>-0.05</gain>
     <name>idle thrust</name>
     <enable>
       <condition>
         <and>
         <equals>
           <property>instrumentation/flightdirector/spd</property>
           <value>8</value>  <!-- SPD_THRIDL -->
         </equals>
         <greater-than>
           <property>controls/engines/engine[0]/throttle</property>
           <value>0</value>
         </greater-than>
         </and>
       </condition>
     </enable>
     <input>
       <property>controls/engines/engine[0]/throttle</property>
     </input>
     <output>
       <property>autopilot/internal/throttle-pos</property>
     </output>
  </filter>

 <!-- 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-trim</value>
    </enable>
    <input>
      <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-speed-kt</prop>
    </reference>
    <output>
      <prop>/autopilot/settings/target-pitch-deg</prop>
    </output>
    <config>
      <Kp>-0.05</Kp>       <!-- proportional gain -->  <!-- was -0.5 -->
      <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>15.0</Ti>        <!-- integrator time --> <!-- was 40 2011-04-30 -->
      <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>Mach hold (vary pitch) Stage #1</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>mach-with-pitch-trim</value>
    </enable>
    <input>
      <prop>/instrumentation/airspeed-indicator/indicated-mach</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-speed-mach</prop>
    </reference>
    <output>
      <prop>/autopilot/settings/target-pitch-deg</prop>
    </output>
    <config>
      <Kp>-0.01</Kp>       <!-- proportional gain -->  <!-- was -0.5 -->
      <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 -->  <!-- was 40 2011-04-30 -->
      <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>
      <condition>
        <or>
          <equals>
            <property>/autopilot/locks/speed</property>
            <value>speed-with-pitch-trim</value>
          </equals>
          <equals>
            <property>/autopilot/locks/speed</property>
            <value>mach-with-pitch-trim</value>
          </equals>
        </or>
      </condition>
    </enable>
    <input>
      <prop>/orientation/pitch-deg</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-pitch-deg</prop>
    </reference>
    <output>
      <prop>controls/flight/elevator-trim-filter2</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>5.0</Ti>        <!-- integrator time -->
      <Td>0.00001</Td>    <!-- derivator time -->
      <u_min>-0.4</u_min> <!-- minimum output clamp  was -1.0 SAH 10-JUN-09 -->
      <u_max>0.2</u_max>  <!-- maximum output clamp  was 1.0 SAH 10-JUN-09 -->
    </config>
  </pid-controller>


 <!-- Hold speed by varying pitch (Two stage cascading controller) --> 
 <pid-controller>
    <name>Speed Reference System (vary pitch) Stage #1</name>
    <debug>true</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>speed-reference-system</value>
    </enable>
    <input>
      <property>/autopilot/internal/lookahead-10-sec-airspeed-kt</property>
    </input>
    <reference>
      <property>/autopilot/settings/target-speed-kt</property>
    </reference>
    <output>
      <property>/autopilot/internal/srs-pitch-deg</property>
      <!-- property>/autopilot/internal/target-pitch-deg</property -->
    </output>
    <config>
      <Ts>0.05</Ts>
      <Kp>-0.07</Kp> <!--  0.003  -0.004 -->
	<!-- Ki>0.0</Ki -->
	<beta>0.9</beta>
	<alpha>0.1</alpha>
	<gamma>0.2</gamma>
	<Ti>5.0</Ti>    <!-- 30 -->
	<Td>0.01</Td>
      <u_min>-5.0</u_min> <!-- minimum output clamp -->
      <u_max>5.0</u_max> <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
<filter>
    <name>SERVO-DRIVER:srs</name>
    <debug>false</debug>>
    <feedback-if-disabled>true</feedback-if-disabled>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>speed-reference-system</value>
    </enable>
    <input>/autopilot/internal/srs-pitch-deg</input>
    <!-- output>/controls/flight/elevator</output -->
    <output>/autopilot/internal/target-pitch-deg</output>
    <type>noise-spike</type>
    <max-rate-of-change>1.0</max-rate-of-change>
    <!-- max-rate-of-change>0.16</max-rate-of-change -->
    <!-- type>gain</type>
    <gain>0.8</gain -->
</filter>

 <!-- Hold speed by varying pitch (Two stage cascading controller)
       NOT USED ANY MORE    --> 
 <pid-controller>
    <name>Speed Reference System2 (vary pitch) Stage #1</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>speed-reference-system2</value>
    </enable>
    <input>
      <prop>/autopilot/internal/lookahead-10-sec-airspeed-kt</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-speed-kt</prop>
    </reference>
    <output>
      <prop>/autopilot/settings/target-pitch-deg</prop>
    </output>
    <config>
      <Kp>-0.1</Kp>       <!-- proportional gain  was -0.5 SAH 2010-10-19 -->
      <beta>1.0</beta>    <!-- input value weighing factor -->
      <alpha>0.1</alpha>  <!-- low pass filter weighing factor was 0.1 SAH 2010-10-19 --><!-- was 0.3 SAH 2010-11-16 -->
      <gamma>0.0</gamma>  <!-- input value weighing factor for -->
                          <!-- unfiltered derivative error -->
      <Ti>40.0</Ti>        <!-- integrator time -->  <!-- was 40.0 SAH 2010-06-06 --> <!-- was 30 SAH 2010-10-19 -->
      <Td>0.00001</Td>    <!-- derivator time -->
      <u_min>-1.0</u_min><!-- minimum output clamp -->
      <u_max>18.0</u_max> <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
 <pid-controller>
    <name>Speed Reference System (vary pitch) Stage #2</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>speed-reference-system2</value>
    </enable>
    <input>
      <prop>/orientation/pitch-deg</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-pitch-deg</prop>
    </reference>
    <output>
      <prop>/autopilot/internal/srs-pitch-deg</prop>
    </output>
    <config>
      <Kp>1.0</Kp>      <!-- proportional gain --><!-- was -0.1 SAH 2010-11-16 -->
      <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>-0.4</u_min> <!-- minimum output clamp  was -1.0 SAH 10-JUN-09 -->
      <u_max>0.25</u_max>  <!-- maximum output clamp  was 1.0 SAH 10-JUN-09 -->
    </config>
  </pid-controller>
  
  
  
  <!-- Auto throttle  mach--> 
 <pid-controller>
    <name>Auto Throttle (MACH)</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>mach-with-throttle</value>
    </enable>
    <input>
      <prop>/instrumentation/airspeed-indicator/indicated-mach</prop>
    </input>
    <reference>
      <prop>/autopilot/settings/target-speed-mach</prop>
    </reference>
    <output>
      <prop>/autopilot/internal/throttle-pos</prop>
    </output>
    <config>
      <Kp>10.0</Kp>        <!-- proportional gain --> <!-- was 0.1 SAH 2010-06-06 --><!-- was 0.05 SAH 2010-11-13 -->
      <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>15.0</Ti>       <!-- integrator time -->  <!-- was 10.0 SAH 2010-06-06 -->
      <Td>0.00001</Td>    <!-- derivator time --> <!-- was 0.00001 SAH 2010-06-06 --> 
      <u_min>-1.0</u_min>  <!-- minimum output clamp -->
      <u_max>1.0</u_max>  <!-- maximum output clamp -->
    </config>
  </pid-controller>
  
  
  <filter>
    <name>SERVO-DRIVER:throttle</name>
    <debug>false</debug>>
    <feedback-if-disabled>true</feedback-if-disabled>
    <enable>
      <condition>
        <or>
        <equals>
          <property>/autopilot/locks/speed</property>
          <value>mach-with-throttle</value>
        </equals>
        <equals>
          <property>/autopilot/locks/speed</property>
          <value>speed-with-throttle</value>
        </equals>
        </or>
      </condition>
    </enable>
    <input>/autopilot/internal/throttle-pos</input>
    <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>
    </output>
    <type>noise-spike</type>
    <!-- max-rate-of-change>0.22</max-rate-of-change -->
    <max-rate-of-change>0.15</max-rate-of-change>
</filter>

  <pid-controller>
    <name>THR CL Balance elevator</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>acquire_cl_adjust</value>
    </enable>
    <input>
      <prop>/orientation/pitch-deg</prop>
    </input>
    <reference>
       <value>0.0</value>
    </reference>
    <output>
      <prop>/controls/flight/elevator</prop>
    </output>
    <config>
      <Kp>-0.1</Kp>
      <beta>1.0</beta>
      <alpha>0.1</alpha>
      <gamma>0.0</gamma>
      <Ti>40</Ti>
      <Td>0.00001</Td>
      <u_min>-0.01</u_min>
      <u_max>0.01</u_max>
    </config>
  </pid-controller>

  <pid-controller>
    <name>THR CL Acquire speed</name>
    <debug>false</debug>>
    <enable>
      <prop>/autopilot/locks/speed</prop>
      <value>acquire_cl_adjust</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>0.5</Kp>
      <beta>1.0</beta>
      <alpha>0.1</alpha>
      <gamma>0.0</gamma>
      <Ti>40</Ti>
      <Td>0.00001</Td>
      <u_min>-0.1</u_min>
      <u_max>0.1</u_max>
    </config>
  </pid-controller>
  
  <!-- Track hold.  2 stage cascade controller. -->
  
  <!-- Stage #1 sets target roll based on diff between current heading -->
  <!-- and target heading. -->
  <pid-controller>
	  <name>Track Hold Stage 1</name>
	  <debug>false</debug>>
	  <enable>
		  <prop>/autopilot/locks/heading</prop>
		  <value>track-hold</value>
	  </enable>
	  <input>
		  <prop>/instrumentation/flightdirector/curr-intrcpt-hdg-err</prop>
	  </input>
	  <reference>
		  <value>0</value>
	  </reference>
	  <output>
		  <prop>/autopilot/internal/target-roll-deg</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>0.00001</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>Track Hold Stage 2</name>
	  <debug>false</debug>>
	  <enable>
		  <prop>/autopilot/locks/heading</prop>
		  <value>track-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>0.1</Kp>        <!-- proportional gain -->
		  <beta>1.0</beta>    <!-- input value weighing factor -->
		  <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
		  <gamma>0.1</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>
  
  <!-- logic>
    <name>check turn co-ord enabled</name>
    <input>
      <and>
      <or>
	<greater-than>
	  <property>autopilot/internal/target-roll-deg</property>
	  <value>15</value>
	</greater-than>
	<less-than>
	  <property>autopilot/internal/target-roll-deg</property>
	  <value>-15</value>
	</less-than>
      </or>
      <property>instrumentation/flightdirector/autopilot-on</property>
      <value>1</value>
    </and>
    </input>
    <output>
      <property>autopilot/settings/turn-coord-enabled</property>
    </output>
  </logic>
  
  <pid-controller>
    <name>rudder turn co-ordinator left</name>
    <debug>false</debug>>
    <enable>
      <condition>
	  <greater-than>
	    <property>autopilot/internal/target-roll-deg</property>
	    <value>15</value>
	</greater-than>
    </condition>
    </enable>
    <input>
      <expression>
	<dif>
	  <property>autopilot/internal/target-roll-deg</property>
	  <value>15</value>
	</dif>
      </expression>
    </input>
    <reference>
      <value>0.0</value>
    </reference>
    <output>
      <property>autopilot/internal/target-rudder-rate-deg</property>
    </output>
    <config>
		  <Kp>-0.01</Kp>   
		  <beta>1.0</beta> 
		  <alpha>0.1</alpha> 
		  <gamma>0.0</gamma>
		  <Ti>10.0</Ti>     
		  <Td>0.00001</Td> 
		  <u_min>-1.0</u_min>
		  <u_max>1.0</u_max> 
	  </config>
  </pid-controller>
  
  
  <pid-controller>
    <name>rudder turn co-ordinator right</name>
    <debug>false</debug>>
    <enable>
      <condition>
	  <less-than>
	    <property>autopilot/internal/target-roll-deg</property>
	    <value>0</value>
	</less-than>
    </condition>
    </enable>
    <input>
      <expression>
	<sum>
	  <property>autopilot/internal/target-roll-deg</property>
	  <value>15</value>
	</sum>
      </expression>
    </input>
    <reference>
      <value>0.0</value>
    </reference>
    <output>
      <property>autopilot/internal/target-rudder-rate-deg</property>
    </output>
    <config>
		  <Kp>0.1</Kp>        
		  <beta>1.0</beta>    
		  <alpha>0.1</alpha>   
		  <gamma>0.0</gamma>   
		  <Ti>10.0</Ti>       
		  <Td>0.00001</Td>   
		  <u_min>-1.0</u_min> 
		  <u_max>1.0</u_max>
	  </config>
  </pid-controller -->
  
  
  <!-- filter>
    <name>SERVO-DRIVER:rudder co-ord</name>
    <debug>false</debug>>
    <feedback-if-disabled>false</feedback-if-disabled>
    <enable>
      <property>autopilot/settings/turn-coord-enabled</property>
    </enable>
    <input>/autopilot/internal/target-rudder-rate-deg</input>
    <output>
      <prop>/controls/flight/rudder</prop>
    </output>
    <type>noise-spike</type>
    <max-rate-of-change>0.15</max-rate-of-change>
</filter -->
  
  <logic>
    <name>check tc true</name>
    <input>
      <and>
          <less-than>
            <property>instrumentation/gps/odometer</property>
            <value>200</value>
          </less-than>
          <property>autopilot/route-manager/airborne</property>
          <not-equals>
            <property>instrumentation/flightdirector/vnav</property>
            <value>7</value>
          </not-equals>
        </and>
    </input>
    <output>
      <property>instrumentation/afs/calc-tc</property>
    </output>
  </logic>
  
  <logic>
    <name>flare mode</name>
    <input>
      <and>
	<equals>
	  <property>instrumentation/afs/flight-control-law</property>
	  <value>normal</value>
	</equals>
	<equals>
	  <property>/instrumentation/ecam/flight-mode</property>
	  <value>9</value>
	</equals>
	<less-than>
	  <property>position/ground-elev-ft</property>
	  <value>100</value>
	</less-than>
      </and>
    </input>
    <output>
      <property>instrumentation/afs/flight-control-flare-mode</property>
    </output>
  </logic>
  
  <logic>
    <name>ground mode</name>
    <input>
      <and>
	<equals>
	  <property>instrumentation/afs/flight-control-law</property>
	  <value>normal</value>
	</equals>
	<or>
	  <less-than>
	    <property>/instrumentation/ecam/flight-mode</property>
	    <value>5</value>
	  </less-than>
	  <greater-than>
	    <property>/instrumentation/ecam/flight-mode</property>
	    <value>9</value>
	  </greater-than>
        </or>
      </and>
    </input>
    <output>
      <property>instrumentation/afs/flight-control-ground-mode</property>
    </output>
  </logic>
  
  <logic>
    <name>flight mode</name>
    <input>
      <and>
	<equals>
	  <property>instrumentation/afs/flight-control-law</property>
	  <value>normal</value>
	</equals>
	<not>
	  <property>instrumentation/afs/flight-control-ground-mode</property>
	</not>
	<greater-than>
	  <property>/instrumentation/ecam/flight-mode</property>
	  <value>5</value>
	</greater-than>
	<less-than>
	    <property>/instrumentation/ecam/flight-mode</property>
	    <value>10</value>
	  </less-than>
      </and>
    </input>
    <output>
      <property>instrumentation/afs/flight-control-flight-mode</property>
    </output>
  </logic>
  
  <filter>
    <name>calc fpm</name>
    <type>gain</type>
    <gain>60</gain>
    <input>
      <property>velocities/vertical-speed-fps</property>
    </input>
    <output>
      <property>instrumentation/vertical-speed-indicator[1]/indicated-speed-fpm</property>
    </output>
  </filter>
  
<filter>
  <name>calc angle of climb</name>
  <type>gain</type>
  <gain>1.0</gain>
  <enable>
    <property>instrumentation/afs/calc-tc</property>
  </enable>
  <input>
    <!-- convert all distances to metres -->
    <expression>
      <atan>
        <div>
          <product>
            <property>position/altitude-ft</property>
            <value>0.3048</value>
          </product>
          <product>
            <property>instrumentation/gps/odometer</property>
            <value>1852</value>
            <!-- value>6076</  nm2ft value -->
          </product>
        </div>
      </atan>
    </expression>
  </input>
  <output>
    <property>instrumentation/afs/avg-climb-angle-rad</property>
  </output>
</filter>

<filter>
  <debug>false</debug>>
  <name>calc distance to TC</name>
  <type>gain</type>
  <gain>1.0</gain>
  <enable>
    <property>instrumentation/afs/calc-tc</property>
  </enable>
  <input>
    <expression>
     <product>
      <div>
        <property>instrumentation/afs/thrust-cruise-alt</property>
        <tan>
          <property>instrumentation/afs/avg-climb-angle-rad</property>
        </tan>
      </div>
      <value>0.000164578834</value>
     </product>
    </expression>
  </input>
  <output>
    <property>instrumentation/afs/top-of-climb-dist-nm</property>
  </output>
</filter>

<filter>
  <debug>false</debug>>
  <type>gain</type>
  <gain>1.0</gain>
  <input>
    <expression>
      <product>
        <property>velocities/Vso</property>
        <property>velocities/vls-factor</property>
      </product>
    </expression>
  </input>
  <output>
    <property>velocities/Vls</property>
  </output>
</filter>

<filter>
  <debug>false</debug>>
  <type>gain</type>
  <gain>1.0</gain>
  <input>
    <expression>
      <div>
        <dif>
          <property>instrumentation/airspeed-indicator/indicated-speed-kt</property>
          <property>velocities/Vls</property>
        </dif>
        <value>120</value>
      </div>
    </expression>
  </input>
  <output>
    <property>instrumentation/airspeed-indicator/vls-pos-norm</property>
  </output>
  <min>0.0</min>
    <max>1.0</max>
</filter>



<flipflop>
   <type>JK</type>
   <J>
     <property>controls/engines/engine[1]/starter</property>
   </J>
   <K>
     <property>controls/engines/engine[1]/ignition</property>
   </K>
   <clock>
       <property>controls/engines/engine[1]/starter</property>
   </clock>
   <output>controls/engines/engine[1]/flipJK</output>
 </flipflop>
 
 <flipflop>
   <type>SR</type> <!-- or SR -->
   <S>
     <property>controls/engines/engine[1]/starter</property>
   </S>
   <R>
     <property>controls/engines/engine[1]/ignition</property>
   </R>
   <output>controls/engines/engine[1]/flipRS</output>
 </flipflop>
 
<flipflop>
   <name>Test mf</name>
   <type>monostable</type>
   <time>
     <value>10</value>
   </time>
   <J>
     <property>controls/engines/engine[1]/starter</property>
   </J>
   <K>
     <property>controls/engines/engine[1]/ignition</property>
   </K>
   <clock>
     <property>/controls/engines/engine[1]/master</property>
   </clock>
   <output>controls/engines/engine[1]/flipMF</output>
 </flipflop>
 
 <!--  engine starter volume control -->
 <!-- engine 0 -->
 <filter>
   <type>gain</type>
   <enable>
     <condition>
       <property>controls/engines/engine[0]/starter</property>
     </condition>
   </enable>
   <input>
     <expression>
     <table>
                    <property>/engines/engine[0]/n2</property>
                    <entry><ind>0</ind><dep>0</dep></entry>
                    <entry><ind>5</ind><dep>0.6</dep></entry>
                    <entry><ind>30</ind><dep>1</dep></entry>
                    <entry><ind>40</ind><dep>0</dep></entry>
                    <entry><ind>60</ind><dep>0</dep></entry>
                </table>

     </expression>
   </input>
   <gain>
     <value>1.0</value>
   </gain>
   <output>
     <property>controls/engines/engine[0]/starter-sound</property>
   </output>
 </filter>
 <!-- engine 1 -->
 <filter>
   <type>gain</type>
   <enable>
     <condition>
       <property>controls/engines/engine[1]/starter</property>
     </condition>
   </enable>
   <input>
     <expression>
     <table>
                    <property>/engines/engine[1]/n2</property>
                    <entry><ind>0</ind><dep>0</dep></entry>
                    <entry><ind>5</ind><dep>0.6</dep></entry>
                    <entry><ind>30</ind><dep>1</dep></entry>
                    <entry><ind>40</ind><dep>0</dep></entry>
                    <entry><ind>60</ind><dep>0</dep></entry>
                </table>

     </expression>
   </input>
   <gain>
     <value>1.0</value>
   </gain>
   <output>
     <property>controls/engines/engine[1]/starter-sound</property>
   </output>
 </filter>
 <!-- engine 2 -->
 <filter>
   <type>gain</type>
   <enable>
     <condition>
       <property>controls/engines/engine[2]/starter</property>
     </condition>
   </enable>
   <input>
     <expression>
     <table>
                    <property>/engines/engine[2]/n2</property>
                    <entry><ind>0</ind><dep>0</dep></entry>
                    <entry><ind>5</ind><dep>0.6</dep></entry>
                    <entry><ind>30</ind><dep>1</dep></entry>
                    <entry><ind>40</ind><dep>0</dep></entry>
                    <entry><ind>60</ind><dep>0</dep></entry>
                </table>

     </expression>
   </input>
   <gain>
     <value>1.0</value>
   </gain>
   <output>
     <property>controls/engines/engine[2]/starter-sound</property>
   </output>
 </filter>
 <!-- engine 3 -->
 <filter>
   <type>gain</type>
   <enable>
     <condition>
       <property>controls/engines/engine[3]/starter</property>
     </condition>
   </enable>
   <input>
     <expression>
     <table>
                    <property>/engines/engine[3]/n2</property>
                    <entry><ind>0</ind><dep>0</dep></entry>
                    <entry><ind>5</ind><dep>0.6</dep></entry>
                    <entry><ind>30</ind><dep>1</dep></entry>
                    <entry><ind>40</ind><dep>0</dep></entry>
                    <entry><ind>60</ind><dep>0</dep></entry>
                </table>

     </expression>
   </input>
   <gain>
     <value>1.0</value>
   </gain>
   <output>
     <property>controls/engines/engine[3]/starter-sound</property>
   </output>
 </filter>
 
 <filter>
   <type>gain</type>
   <name>metric target altitude</name>
   <input>
     <property>instrumentation/afs/target-altitude-ft</property>
   </input>
   <gain>
     <value>0.3048</value>
   </gain>
   <output>
     <property>instrumentation/afs/target-altitude-metre</property>
   </output>
 </filter>
 
 <filter>
   <type>gain</type>
   <name>metric current altitude</name>
   <input>
     <property>position/altitude-ft</property>
   </input>
   <gain>
     <value>0.3048</value>
   </gain>
   <output>
     <property>position/altitude-m</property>
   </output>
 </filter>
 
 <filter>
   <type>gain</type>
   <name>copy altitude</name>
   <input>
     <property>position/altitude-ft</property>
   </input>
   <gain>
     <value>1.0</value>
   </gain>
   <output>
     <property>/instrumentation/altimeter/radio-altimeter</property>
   </output>
 </filter>
 
 
   <logic>
    <name>slat control</name>
    <input>
      <greater-than>
	  <property>controls/flaps</property>
	  <value>0.0</value>
      </greater-than>
    </input>
    <output>
      <property>controls/slats-cmd</property>
    </output>
  </logic>
 

 

</PropertyList>