jsbsim.js/JSBSim/aircraft/X15/X15ap.xml

JSBSim flight dynamics model ported to JavaScript

<?xml version="1.0"?>
<!--

  Author:   Bertrand Coconnier
  Date:     15 January 2012
  Function: X15 autopilot test file

-->

<autopilot name="John Smith">

  <property> ap/pitch-hold </property>
  <property> ap/altitude-hold </property>
  <property> ap/roll-hold </property>
  <property> ap/pitch-target-deg </property>

  <channel name="Pitch holder">
    <pure_gain name="fcs/pitch-target-rad">
      <input> ap/pitch-target-deg </input>
      <gain> 0.01745329252 </gain> <!-- 180/pi -->
    </pure_gain>

    <summer name="fcs/pitch-error-rad">
      <input> attitude/pitch-rad </input>
      <input> -fcs/pitch-target-rad </input>
    </summer>

    <pid name="fcs/pitch-controller">
      <input> fcs/pitch-error-rad </input>
      <kp> 100.0 </kp>
      <kd> 5.0 </kd>
      <ki> 1.0 </ki>
    </pid>

    <switch name="fcs/pitch-cmd">
      <default value="0.0"/>
      <test value="fcs/pitch-controller">
        ap/pitch-hold == 1
      </test>
    </switch>
  </channel>

  <channel name="Altitude holder">
    <switch name="fcs/altitude-hold-ft">
      <default value="position/h-sl-ft"/>
      <test value="fcs/altitude-hold-ft">
        ap/altitude-hold == 1
      </test>
    </switch>

    <summer name="fcs/altitude-error-ft">
      <input> position/h-sl-ft </input>
      <input> -fcs/altitude-hold-ft </input>
    </summer>

    <pid name="fcs/altitude-controller">
      <input> fcs/altitude-error-ft </input>
      <kp> 0.001 </kp>
      <kd> 0.0005 </kd>
      <ki> 0.0 </ki>
    </pid>

    <switch name="fcs/altitude-cmd">
      <default value="0.0"/>
      <test value="fcs/altitude-controller">
        ap/altitude-hold == 1
      </test>
    </switch>
  </channel>

  <channel name="Elevator Summer">
    <summer name="ap/elevator-cmd">
      <input> fcs/pitch-cmd </input>
      <input> fcs/altitude-cmd </input>
    </summer>
  </channel>

  <channel name="Wing Level holder">
    <pid name="fcs/roll-controller">
      <input> -attitude/roll-rad </input>
      <kp> 5.0 </kp>
      <kd> 2.0 </kd>
      <ki> 0.5 </ki>
    </pid>

    <switch name="ap/aileron-cmd">
      <default value="0.0"/>
      <test value="fcs/roll-controller">
        ap/roll-hold == 1
      </test>
    </switch>
  </channel>
</autopilot>