<?xml version="1.0"?> <!-- From Generic Autopilot Configuration --> <PropertyList> <!-- =============================================================== --> <!-- Roll Axis Modes --> <!-- =============================================================== --> <pid-controller> <name>Wing Leveler (Turn Coordinator based)</name> <debug>false</debug> <enable> <condition> <and> <equals> <property>/autopilot/locks/roll</property> <value>wing-leveler</value> </equals> <not> <property>/autopilot/locks/passive-mode</property> </not> </and> </condition> </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> <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>Heading Bug Hold (DG based) Stage 1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/roll</prop> <value>dg-heading-hold</value> </enable> <input> <prop>/autopilot/internal/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> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>10.0</Ti> <Td>0.00001</Td> <u_min>-22.0</u_min> <u_max>22.0</u_max> </config> </pid-controller> <pid-controller> <name>NAV Hold Stage 1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/roll</prop> <value>nav1-hold</value> </enable> <input> <prop>/instrumentation/zkv1000/cdi/course-deflection</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/internal/target-roll-deg</prop> </output> <config> <Kp>-1.0</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>10.0</Ti> <Td>0.00001</Td> <u_min>-22.0</u_min> <u_max>22.0</u_max> </config> </pid-controller> <pid-controller> <name>Approach mode Stage 1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/roll</prop> <value>APR</value> </enable> <input> <prop>/instrumentation/zkv1000/cdi/course-deflection</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/internal/target-roll-deg</prop> </output> <config> <Kp>-1.0</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>10.0</Ti> <Td>0.00001</Td> <u_min>-22.0</u_min> <u_max>22.0</u_max> </config> </pid-controller> <pid-controller> <name>Ailerons control</name> <debug>false</debug> <enable> <condition> <and> <not-equals> <property>/autopilot/locks/roll</property> <value>wing-leveler</value> </not-equals> <not> <property>/autopilot/locks/passive-mode</property> </not> </and> </condition> <honor-passive>true</honor-passive> </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> <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> <!-- =============================================================== --> <!-- Pitch Axis Modes --> <!-- =============================================================== --> <pid-controller> <name>Pitch hold</name> <debug>false</debug> <enable> <condition> <and> <equals> <property>/autopilot/locks/pitch</property> <value>pitch-hold</value> </equals> <not> <property>/autopilot/locks/passive-mode</property> </not> </and> </condition> </enable> <input> <prop>/orientation/pitch-deg</prop> </input> <reference> <prop>/autopilot/internal/target-pitch-deg</prop> </reference> <output> <prop>/controls/flight/elevator-trim</prop> </output> <config> <Kp>-0.05</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>1.0</Ti> <Td>0.00001</Td> <u_min>-1.0</u_min> <u_max>1.0</u_max> </config> </pid-controller> <pid-controller> <name>Altitude Hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>altitude-hold</value> </enable> <input> <prop>/instrumentation/altimeter/indicated-altitude-ft</prop> </input> <reference> <prop>/autopilot/settings/target-altitude-ft</prop> </reference> <output> <prop>/autopilot/internal/target-pitch-deg</prop> </output> <config> <Kp>0.025</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>50.0</Ti> <Td>0.0</Td> <u_min>-20.0</u_min> <u_max>15.0</u_max> </config> </pid-controller> <!--pid-controller> <name>Selected Altitude Hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>ALTS</value> </enable> <input> <prop>/instrumentation/altimeter/indicated-altitude-ft</prop> </input> <reference> <prop>/autopilot/settings/target-altitude-ft</prop> </reference> <output> <prop>/autopilot/internal/target-pitch-deg</prop> </output> <config> <Kp>0.025</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>50.0</Ti> <Td>0.0</Td> <u_min>-20.0</u_min> <u_max>15.0</u_max> </config> </pid-controller--> <pid-controller> <name>Glideslop Hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>glide-slope</value> </enable> <input> <prop>/instrumentation/zkv1000/cdi/gs-deflection</prop> </input> <reference> <value>0.0</value> </reference> <output> <prop>/autopilot/internal/target-pitch-deg</prop> </output> <config> <Kp>-1.5</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>10.0</Ti> <Td>0.0</Td> <u_min>-10</u_min> <u_max>5</u_max> </config> </pid-controller> <pi-simple-controller> <name>Vertical Speed Hold</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>version-speed-hold</value> </enable> <input> <prop>/velocities/vertical-speed-fps</prop> </input> <reference> <prop>/autopilot/settings/vertical-speed-fpm</prop> <scale>0.01667</scale> </reference> <output> <prop>/autopilot/internal/target-pitch-deg</prop> </output> <config> <Kp>0.05</Kp> <Ki>0.1</Ki> <u_min>-20.0</u_min> <u_max>15.0</u_max> </config> </pi-simple-controller> <pid-controller> <name>Flight Change Level (altitude) stage #1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>flight-level-change</value> </enable> <input> <prop>/instrumentation/altimeter/indicated-altitude-ft</prop> </input> <reference> <prop>/autopilot/settings/target-altitude-ft</prop> </reference> <output> <prop>/autopilot/internal/flc-altitude-pitch-deg</prop> </output> <config> <Kp>0.025</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>50.0</Ti> <Td>0.0</Td> <u_min>-20.0</u_min> <u_max>15.0</u_max> </config> </pid-controller> <pid-controller> <name>Flight Change Level (airspeed) stage #1</name> <debug>false</debug> <enable> <prop>/autopilot/locks/pitch</prop> <value>flight-level-change</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/internal/flc-airspeed-pitch-deg</prop> </output> <config> <Kp>-1.0</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>1.0</Ti> <Td>0.00001</Td> <u_min>-15.0</u_min> <u_max>15.0</u_max> </config> </pid-controller> <pid-controller> <name>Elevator Trim Control</name> <debug>false</debug> <enable> <condition> <and> <not-equals> <property>/autopilot/locks/pitch</property> <value>pitch-hold</value> </not-equals> <not> <property>/autopilot/locks/passive-mode</property> </not> </and> </condition> <honor-passive>true</honor-passive> </enable> <input> <prop>/orientation/pitch-deg</prop> </input> <reference> <prop>/autopilot/internal/target-pitch-deg</prop> </reference> <output> <prop>/controls/flight/elevator-trim</prop> </output> <config> <Kp>-0.25</Kp> <beta>1.0</beta> <alpha>0.1</alpha> <gamma>0.0</gamma> <Ti>20.0</Ti> <Td>0.000001</Td> <u_min>-1.0</u_min> <u_max>1.0</u_max> </config> </pid-controller> </PropertyList>