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=== Tuning and Configuration === | === Tuning and Configuration === | ||
Below is listed each area of the IT-AUTOFLIGHT Config Module, and what it is used for. We will also discuss how to tune IT-AUTOFLIGHT efficiently. | |||
<syntaxhighlight lang="xml"> | |||
<it-autoflight> | |||
<config> | |||
<roll> | |||
<umin>-0.50</umin> | |||
<umax>0.50</umax> | |||
<kp>0.05</kp> | |||
<kp-vloc>0.09</kp-vloc> | |||
<ti>10.0</ti> | |||
<td>0.00001</td> | |||
<kp-cws>0.09</kp-cws> | |||
</roll> | |||
<pitch> | |||
<umin>-0.50</umin> | |||
<umax>0.50</umax> | |||
<kp>-0.08</kp> | |||
<ti>10.0</ti> | |||
<td>0.0001</td> | |||
<kp-cws>-0.07</kp-cws> | |||
</pitch> | |||
<cmd> | |||
<roll-kp>-1.9</roll-kp> | |||
<roll-scale>1.5</roll-scale> | |||
<vorloc>-5.0</vorloc> | |||
<alt>0.03</alt> | |||
<vs>0.10</vs> | |||
<fpa>0.30</fpa> | |||
<flch>-4.0</flch> | |||
<gs>0.11</gs> | |||
</cmd> | |||
<autoland> | |||
<kp-roll>0.10</kp-roll> | |||
<kp-pitch>0.07</kp-pitch> | |||
<kp-rudder>-0.3</kp-rudder> | |||
</autoland> | |||
</config> | |||
<settings> | |||
<default-bank-limit>30</default-bank-limit> <!-- Set the Default Bank Limit --> | |||
<enable-cws>0</enable-cws> <!-- Enable/Disable CWS --> | |||
<flare-altitude>30</flare-altitude> <!-- Autoland Flare AGL --> | |||
<land-enable>0</land-enable> <!-- Enable/Disable Autoland --> | |||
<land-flap>0.7</land-flap> <!-- Minimum Flap used for Landing --> | |||
<retard-ft>40</retard-ft> <!-- Enable Thrust Retard --> | |||
<retard-enable>0</retard-enable> <!-- AGL to Thrust Retard --> | |||
<togaspd>170</togaspd> <!-- V2 + 10kts --> | |||
<lat-agl-ft>200</lat-agl-ft> <!-- Set to 999999 if you do not want T/O to change automatically to HDG, or LNAV --> | |||
<reduc-agl-ft>1500</reduc-agl-ft> <!-- Set to 999999 if you do not want TOGA to change automatically to FLCH --> | |||
</settings> | |||
</it-autoflight> | |||
</syntaxhighlight> | |||
This area is for the tuning of the PID controllers used. These are not hard coded, so users can update IT-AUTOFLIGHT without needing to edit any files. You can also adjust these in the property browser, and they take affect immediately, without needing to reload anything. | |||
===== config/roll ===== | |||
These adjust the parameters for the Aileron PID Controller. | |||
* '''umin''': Adjust the u_min. | |||
* '''umax''': Adjust the u_max. | |||
* '''kp''': Adjust the Kp in HDG and LNAV modes. | |||
* '''kp-vloc''': Adjust the Kp in VOR/LOC mode. | |||
* '''ti''': Adjust the Ti. | |||
* '''td''': Adjust the Td. | |||
* '''kp-cws''': Adjust the Kp in CWS mode. | |||
===== config/pitch ===== | |||
These adjust the parameters for the Elevator PID Controller. You cannot adjust the Elevator Trim Controller at this time. | |||
* '''umin''': Adjust the u_min. | |||
* '''umax''': Adjust the u_max. | |||
* '''kp''': Adjust the Kp. | |||
* '''ti''': Adjust the Ti. | |||
* '''td''': Adjust the Td. | |||
* '''kp-cws''': Adjust the Kp in CWS mode. | |||
===== config/cmd ===== | |||
These adjust the parameters for the Command PID Controllers. | |||
* '''roll-kp''': Adjust the Kp for HDG/LNAV PID. | |||
* '''roll-scale''': Adjust the Gain Scale for the HDG/LNAV PID Input. | |||
* '''vorloc''': Adjust the Kp for the VORLOC PID. | |||
* '''alt''': Adjust the Kp for the ALT CAP/HLD PID. | |||
* '''vs''': Adjust the Kp for the FPM/FPS PID. (V/S) | |||
* '''fpa''': Adjust the Kp for the FPA PID. | |||
* '''flch''': Adjust the Kp for the FLCH PID. (Tune FPM/FPS PID FIRST!) | |||
* '''gs''': Adjust the Kp for the G/S PID. | |||
===== config/autoland ===== | |||
These adjust the parameters for the PIDs uses for Autoland. Tune the Roll, Pitch, and CMD first. | |||
* '''kp-roll''': Adjust the Kp for the Aileron PID when it is in ALIGN Mode. (Wings Level) | |||
* '''kp-pitch''': Adjust the Kp for the LAND 3/FLARE PID Controller. (Feeds into PITCH) | |||
* '''kp-rudder''': Adjust the Kp for the Rudder VOR/LOC PID Controller. | |||
==== settings ==== | |||
* '''default-bank-limit''': Adjust the default bank limit. (15 - 30) | |||
* '''enable-cws''': Disable (0) or Enable (1) CWS. | |||
* '''flare-altitude''': Adjust the altitude for when Autoland Flares the aircraft. | |||
* '''land-enable''': Disable (0) or Enable (1) the Autoland System. | |||
* '''land-flap''': This defines the landing flap for the aircraft. If the flaps are set to less than this, Autoland will not work. (0 - 1) | |||
* '''retard-ft''': Adjust the altitude for when the Autothrottle goes into RETARD mode. | |||
* '''retard-enable''': Disable (0) or Enable (1) Autothrottle RETARD. | |||
* '''togaspd''': Define the V2+15 Speed for T/O CLB SPD by Pitch. | |||
* '''lat-agl-ft''': Define the altitude when the roll mode changes from T/O to HDG or LNAV, whichever is armed. | |||
* '''reduc-agl-ft''': Define the altitude when the pitch mode changes from T/O CLB to SPD CLB or VNAV if it is armed, and when the thrust should be reduced to CLB thrust. | |||
== SDK == | == SDK == | ||