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f16-simplified.xml
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f16-simplified.xml
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<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="General Dynamics F-16A" version="2.0" release="PRODUCTION"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> Erik Hofman </author>
<filecreationdate> 2001-12-28 </filecreationdate>
<version> $Revision: 1.93 $ </version>
<license>
<licenseName>GPL (General Public License)</licenseName>
<licenseURL>http://www.gnu.org/licenses/gpl.html</licenseURL>
</license>
<description> Models an F-16A Block-32 (Basic US configuration) </description>
<note>
This model was created using data that is, or has been, publically
available by means of technical reports, textbooks, image graphs or
published code. This aircraft description file is in no way related
to the manufacturer of the real aircraft.
Neither the name of (any of) the authors nor the names of (any of) the
manufacturers may be used to endorse or promote products derived from
this file.
The data is provided ''as is'' and any express or implied
warranties, including, but not limitted to the implied warranties of
merchantability and fitness for a particular purpose are disclaimed.
</note>
<reference refID="ISBN 0-7232-3458-2" author="William Green" title="General Dynamics F-16 Dash-1" date="1987"/>
<reference refID="NASA TP-1538" author="" title="wind tunnel data" date="12/1979"/>
<reference refID="None" author="Richard Murray" title="http://www.cds.caltech.edu/~murray/projects/afosr95-vehicles/models/f16/" date="n/a"/>
<reference refID="H-1999" author="NASA" title="Dynamic ground effects flight test of an F-15 aircraft" date="n/a"/>
<reference refID="H-2177" author="NASA" title="Dynamic ground effect for a Cranked Arrow Wing Airplane" date="n/a"/>
<reference refID="None" author="n/a" title="http://www.codeonemagazine.com/archives/1991/articles/jul_91/july2a_91.html" date="n/a"/>
</fileheader>
<metrics>
<wingarea unit="FT2"> 300 </wingarea>
<wingspan unit="FT"> 30 </wingspan>
<chord unit="FT"> 11.32 </chord>
<htailarea unit="FT2"> 63.7 </htailarea>
<htailarm unit="FT"> 16.46 </htailarm>
<vtailarea unit="FT2"> 54.75 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> -9.5 </x>
<y> 0 </y>
<z> 3.9 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> -156.2 </x>
<y> 0 </y>
<z> 29.5 </z>
</location>
<location name="VRP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 9496 </ixx>
<iyy unit="SLUG*FT2"> 55814 </iyy>
<izz unit="SLUG*FT2"> 63100 </izz>
<ixy unit="SLUG*FT2"> 0 </ixy>
<ixz unit="SLUG*FT2"> -982 </ixz>
<iyz unit="SLUG*FT2"> 0 </iyz>
<emptywt unit="LBS"> 17400 </emptywt>
<location name="CG" unit="IN">
<x> -13 </x>
<y> 0 </y>
<z> -5.1 </z>
</location>
<pointmass name="Pilot">
<weight unit="LBS"> 230 </weight>
<location name="POINTMASS" unit="IN">
<x> -156.2 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</pointmass>
</mass_balance>
<ground_reactions>
<contact type="BOGEY" name="NOSE_LG">
<location unit="M">
<x> -3.02153 </x>
<y> -0.03405 </y>
<z> -1.91735 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 17250 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 4250 </damping_coeff>
<max_steer unit="DEG"> 32 </max_steer><!-- as per manual -->
<brake_group> NONE </brake_group>
<retractable>1</retractable>
</contact>
<contact type="BOGEY" name="LEFT_MLG">
<location unit="M">
<x> 0.56097 </x>
<y> -1.16952 </y>
<z> -1.79705 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 37500 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 7500 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> LEFT </brake_group>
<retractable>1</retractable>
</contact>
<contact type="BOGEY" name="RIGHT_MLG">
<location unit="M">
<x> 0.56097 </x>
<y> 1.18118 </y>
<z> -1.79705 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 37500 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 7500 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> RIGHT </brake_group>
<retractable>1</retractable>
</contact>
<contact type="STRUCTURE" name="LEFT_WT">
<location unit="IN">
<x> 58.7 </x>
<y> -189 </y>
<z> 0 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="RIGHT_WT">
<location unit="IN">
<x> 58.7 </x>
<y> 189 </y>
<z> 0 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="TOP_VS">
<location unit="IN">
<x> 152.8 </x>
<y> 0 </y>
<z> 123.2 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="LEFT_VFT">
<location unit="IN">
<x> 82.4 </x>
<y> -24.8 </y>
<z> -52 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="RIGHT_VFT">
<location unit="IN">
<x> 82.4 </x>
<y> 24.8 </y>
<z> -52 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="INTAKE">
<location unit="IN">
<x> -142.4 </x>
<y> 0 </y>
<z> -36.6 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
<contact type="STRUCTURE" name="RADOME">
<location unit="IN">
<x> -306.6 </x>
<y> 0 </y>
<z> -8.7 </z>
</location>
<static_friction> 5.0 </static_friction>
<dynamic_friction> 4.0 </dynamic_friction>
<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 2000 </damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC"> 40000 </damping_coeff_rebound>
</contact>
</ground_reactions>
<external_reactions>
<force name="pushback" frame="BODY">
<location unit="IN">
<x> 177.02 </x>
<y> 0.0 </y>
<z> -1.9683 </z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="hook" frame="BODY">
<location unit="IN">
<x> 280.669 </x>
<y> 0.0 </y>
<z> -28.818 </z>
</location>
<direction>
<x> -0.9995 </x>
<y> 0.0 </y>
<z> 0.01 </z>
</direction>
</force>
</external_reactions>
<propulsion>
<engine file="F100-PW-229">
<location unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0 </pitch>
<yaw> 0 </yaw>
</orient>
<feed>4</feed>
<feed>5</feed>
<thruster file="direct">
<location unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0.0 </pitch>
<yaw> 0.0 </yaw>
</orient>
</thruster>
</engine>
<refuel-rate unit="LBS/MIN"> 6000 </refuel-rate>
<dump-rate unit="LBS/MIN"> 1000 </dump-rate>
<tank type="FUEL"> <!-- FWD Tank F-1 / F-2 -->
<location unit="IN">
<x> -51.5 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 2550.0 </capacity>
<contents unit="LBS"> 2550.0 </contents>
<type>JP-8</type>
<priority> 5 </priority>
</tank>
<tank type="FUEL"> <!-- Left wing tank -->
<location unit="IN">
<x> 8.5 </x>
<y> -80 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 550 </capacity>
<contents unit="LBS"> 550 </contents>
<type>JP-8</type>
<priority> 4 </priority>
</tank>
<tank type="FUEL"> <!-- Right wing tank -->
<location unit="IN">
<x> 8.5 </x>
<y> 80 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 550 </capacity>
<contents unit="LBS"> 550 </contents>
<type>JP-8</type>
<priority> 4 </priority>
</tank>
<tank type="FUEL"> <!-- AFT Tank A-1 -->
<location unit="IN">
<x> 68.5 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 2550.0 </capacity>
<contents unit="LBS"> 2550.0 </contents>
<type>JP-8</type>
<priority> 5 </priority>
</tank>
<tank type="FUEL"> <!-- FWD Reservoir -->
<location unit="IN">
<x> -51.5 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 480.0 </capacity>
<contents unit="LBS"> 480.0 </contents>
<type>JP-8</type>
<priority> 6 </priority>
</tank>
<tank type="FUEL"> <!-- AFT Reservoir -->
<location unit="IN">
<x> 68.5 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<capacity unit="LBS"> 480.0 </capacity>
<contents unit="LBS"> 480.0 </contents>
<type>JP-8</type>
<priority> 6 </priority>
</tank>
<tank type="FUEL"> <!-- Left External Tank -->
<location unit="IN">
<x> -16.5 </x>
<y> -64.129 </y>
<z> -40 </z>
</location>
<capacity unit="LBS"> 3996 </capacity>
<contents unit="LBS"> 0 </contents>
<type>JP-8</type>
<priority> 3 </priority>
</tank>
<tank type="FUEL"> <!-- Right External Tank -->
<location unit="IN">
<x> -16.5 </x>
<y> 64.129 </y>
<z> -40 </z>
</location>
<capacity unit="LBS"> 3996 </capacity>
<contents unit="LBS"> 0 </contents>
<type>JP-8</type>
<priority> 3 </priority>
</tank>
<tank type="FUEL"> <!-- Center External Tank -->
<location unit="IN">
<x> -16.5 </x>
<y> 0 </y>
<z> -50 </z>
</location>
<capacity unit="LBS"> 1998 </capacity>
<contents unit="LBS"> 0 </contents>
<type>JP-8</type>
<priority> 2 </priority>
</tank>
<tank type="FUEL"> <!-- CFT -->
<location unit="IN">
<x> 8.5 </x>
<y> 0 </y>
<z> 8.0 </z>
</location>
<capacity unit="LBS"> 3050 </capacity>
<contents unit="LBS"> 0 </contents>
<type>JP-8</type>
<priority> 2 </priority>
</tank>
</propulsion>
<system file="jsb-pushback">
<property>/sim/model/pushback/kp</property>
<property>/sim/model/pushback/ki</property>
<property>/sim/model/pushback/kd</property>
</system>
<system file="jsb-hook"/>
<system file="jsb-hydraulics"/>
<system file="jsb-electrical"/>
<system file="jsb-misc"/>
<flight_control name="F-16 FC">
<!-- Declare some interface properties -->
<property>fcs/alpha-norm</property>
<property>fcs/hook-engage</property>
<property>fcs/canopy-engage</property>
<property>fcs/fbw-override</property>
<channel name="Flaps">
<switch name="fcs/tef-pos-rad">
<default value="0.0"/>
<test logic="AND" value="0.349">
velocities/vc-kts lt 250
</test>
<test logic="AND" value="-0.0349">
velocities/mach gt 0.9
</test>
</switch>
<pure_gain name="fcs/tef-pos-norm">
<input>fcs/tef-pos-rad</input>
<gain>2.864789</gain>
</pure_gain>
<pure_gain name="fcs/fly-by-wire/tef/tef-pos-norm">
<description>To make simplified compat with non simplified</description>
<input>fcs/tef-pos-norm</input>
<gain>1</gain>
</pure_gain>
<kinematic name="fcs/tef-control">
<input>fcs/tef-pos-norm</input>
<traverse>
<setting>
<position>-1.0</position>
<time>3.0</time>
</setting>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>1.0</position>
<time>3.0</time>
</setting>
</traverse>
</kinematic>
</channel>
<channel name="Roll">
<!-- Calculate the normalized roll-rate -->
<pure_gain name="fcs/roll-rate-norm">
<input>velocities/p-aero-rad_sec</input>
<gain>0.31821</gain>
</pure_gain>
<!--
- Calculate the difference between actual roll-rate and
- commanded roll-rate.
-->
<summer name="fcs/roll-trim-error">
<input>fcs/aileron-cmd-norm</input>
<input>-fcs/roll-rate-norm</input>
</summer>
<!--
- Make sure the PID controller is only active when the aircraft
- has gained some speed. This will prevent bad behaviour when the
- aircraft has been parked for a while.
-->
<switch name="fcs/aileron-pid-trigger">
<default value="1"/>
<test value="0">
velocities/vc-kts lt 20.0
</test>
</switch>
<pid name="fcs/roll-rate-pid">
<trigger>fcs/aileron-pid-trigger</trigger>
<input>fcs/roll-trim-error</input>
<kp> 3.00000 </kp>
<ki> 0.00050 </ki>
<kd> -0.00125 </kd>
</pid>
<summer name="fcs/roll-rate-command">
<input>fcs/roll-rate-pid</input>
<input>fcs/aileron-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<aerosurface_scale name="fcs/aileron-control">
<input>fcs/roll-rate-command</input>
<range>
<min>-0.375</min>
<max>0.375</max>
</range>
<output>fcs/aileron-pos-rad</output>
</aerosurface_scale>
<!--
- FBW override swich
-->
<switch name="fcs/roll-rate-command-switch">
<default value="fcs/roll-rate-command"/>
<test value="fcs/aileron-cmd-norm">
fcs/fbw-override == 1
</test>
</switch>
<kinematic name="fcs/aileron-position">
<input>fcs/roll-rate-command-switch</input>
<traverse>
<setting>
<position>-1</position>
<time>0.3</time>
</setting>
<setting>
<position>1</position>
<time>0.3</time>
</setting>
</traverse>
<output>fcs/left-aileron-pos-norm</output>
</kinematic>
<scheduled_gain name="fcs/aileron-speed-compensated">
<input>fcs/left-aileron-pos-norm</input>
<table>
<independentVar>velocities/mach</independentVar>
<tableData>
0.0 1.0
1.0 0.15
</tableData>
</table>
</scheduled_gain>
<summer name="fcs/left-flaperon-norm">
<input>-fcs/tef-control</input>
<input>-fcs/aileron-speed-compensated</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<summer name="fcs/right-flaperon-norm">
<input>fcs/tef-control</input>
<input>-fcs/aileron-speed-compensated</input>
<clipto>
<min>-1.0</min>
<max>1.0</max>
</clipto>
</summer>
<summer name="fcs/flaperon-summer">
<input>fcs/left-flaperon-norm</input>
<input>fcs/right-flaperon-norm</input>
</summer>
<pure_gain name="fcs/flaperon-mix-rad">
<input>fcs/flaperon-summer</input>
<gain>1.4324</gain>
</pure_gain>
<aerosurface_scale name="fcs/left-aileron-control">
<input>fcs/aileron-speed-compensated</input>
<range>
<min>-0.375</min>
<max>0.375</max>
</range>
<output>fcs/left-aileron-pos-rad</output>
</aerosurface_scale>
<aerosurface_scale name="fcs/right-aileron-control">
<input>-fcs/aileron-speed-compensated</input>
<range>
<min>-0.375</min>
<max>0.375</max>
</range>
<output>fcs/right-aileron-pos-rad</output>
</aerosurface_scale>
<pure_gain name="fcs/right-aileron-control-norm">
<input>fcs/right-aileron-control</input>
<gain>2.6649</gain>
<output>fcs/right-aileron-pos-norm</output>
</pure_gain>
</channel>
<channel name="Pitch">
<!--
- accelerations/n-pilot-z-norm has the disadvantage that it
- has an offset of 1G when positioned horizontal (and -1G
- when upside down). To calculate the difference between the
- commanded pitch-rate and actual pitch-rate this offset has
- to be eliminated. The following function calculates an offset
- to compensate for the earth's gravity.
-->
<fcs_function name="fcs/n-pilot-z-correction">
<function>
<product>
<cos><property>attitude/pitch-rad</property></cos>
<cos><property>attitude/roll-rad</property></cos>
</product>
</function>
</fcs_function>
<summer name="fcs/g-load-corrected">
<input>accelerations/n-pilot-z-norm</input>
<input>-fcs/n-pilot-z-correction</input>
</summer>
<!--
- The F-16 has a G limit of 9G positive and 4G negative (44.44%
- of 9G). This section limits the stick output to 100% up and 44%
- down.
-->
<summer name="fcs/elevator-cmd-limiter">
<input>fcs/elevator-cmd-norm</input>
<input>fcs/pitch-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>0.44</max>
</clipto>
</summer>
<!--
- If alpha (the difference between the pitch vector and the
- thrust vector) approaches 30 degrees the Flight Computer will
- command full down elevator deflection to prevent stalling.
- This section reduces pilot command to zero when alpha
- exceeds 28 degrees and approaches 30 degrees.
- (note: JSBSim doesn't extrapolate, so no need to specify
- beyond 30 degrees)
-->
<scheduled_gain name="fcs/elevator-scheduler">
<input>fcs/elevator-cmd-limiter</input>
<table>
<independentVar>aero/alpha-rad</independentVar>
<tableData>
-0.5236 0.0
-0.5 0.11
0.0 1.0
0.5 0.11
0.5236 0.0
</tableData>
</table>
</scheduled_gain>
<!-- Command full pitch down when approaching 30 degrees alpha -->
<pure_gain name="fcs/alpha-limiter-norm">
<input>aero/alpha-rad</input>
<gain>1.0472</gain>
</pure_gain>
<!-- Calculate the normalized current pitch-rate -->
<pure_gain name="fcs/pitch-rate-norm">
<input>velocities/q-aero-rad_sec</input>
<gain>6.2</gain>
</pure_gain>
<!-- Calculate the normalized current pilot g-load -->
<pure_gain name="fcs/g-load-norm">
<input>fcs/g-load-corrected</input>
<gain>0.020</gain>
</pure_gain>
<!--
- Calculated the difference between the commanded pitch-rate
- (elevator-scheduler) and the current pitch-rate and g-load.
- The difference has to be compensated for straight flight.
-->
<summer name="fcs/pitch-trim-error">
<input>fcs/elevator-scheduler</input>
<input>fcs/pitch-rate-norm</input>
<input>-fcs/g-load-norm</input>
</summer>
<!--
- Make sure the PID controller is only active when the aircraft
- has gained some speed. This will prevent bad behaviour when the
- aircraft has been parked for a while.
-->
<switch name="fcs/elevator-pid-trigger">
<default value="1"/>
<test value="0">
velocities/vc-kts lt 5.0
</test>
</switch>
<pid name="fcs/g-load-pid">
<trigger>fcs/elevator-pid-trigger</trigger>
<input>fcs/pitch-trim-error</input>
<kp> 0.3000 </kp>
<ki> 0.0250 </ki>
<kd> 0.0000 </kd>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</pid>
<!--
- Calculate the difference between the current pitch-rate and
- the one requested for. Compensate for too high alpha values.
-->
<summer name="fcs/pitch-scheduler">
<input>fcs/elevator-scheduler</input>
<input>fcs/alpha-limiter-norm</input>
<input>fcs/g-load-pid</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<!--
- FBW override swich
-->
<switch name="fcs/pitch-scheduler-switch">
<default value="fcs/pitch-scheduler"/>
<test value="fcs/elevator-cmd-limiter">
fcs/fbw-override == 1
</test>
</switch>
<kinematic name="fcs/elevator-position-normalized">
<input>fcs/pitch-scheduler-switch</input>
<traverse>
<setting>
<position>-1</position>
<time>0.3</time>
</setting>
<setting>
<position>1</position>
<time>0.3</time>
</setting>
</traverse>
<!--<output>fcs/elevator-pos-norm</output>-->
</kinematic>
<aerosurface_scale name="fcs/elevator-position">
<input>fcs/elevator-position-normalized</input>
<range>
<min>-0.436</min>
<max>0.436</max>
</range>
<output>fcs/elevator-pos-rad</output>
</aerosurface_scale>
<summer name="fcs/dht-left-pos-rad">
<input>-fcs/elevator-pos-rad</input>
<input>-fcs/left-aileron-pos-rad</input>
<clipto>
<min>-0.436</min>
<max>0.436</max>
</clipto>
<output>fcs/elevator-pos-norm</output>
</summer>
<summer name="fcs/dht-right-pos-rad">
<input>fcs/elevator-pos-rad</input>
<input>fcs/right-aileron-pos-rad</input>
<clipto>
<min>-0.436</min>
<max>0.436</max>
</clipto>
<output>/sim/multiplay/generic/float[4]</output>
</summer>
</channel>
<channel name="Yaw">
<!-- Calculate the normalized yaw-rate -->
<scheduled_gain name="fcs/yaw-rate-norm">
<input>velocities/r-aero-rad_sec</input>
<table>
<independentVar>velocities/vg-fps</independentVar>
<tableData>
80.0 0.0
100.0 15.0
150.0 100.0
</tableData>
</table>
</scheduled_gain>
<!-- Calculate the normalized yaw-load -->
<pure_gain name="fcs/yaw-load-norm">
<input>accelerations/n-pilot-y-norm</input>
<gain>0.25</gain>
</pure_gain>
<!--
- Calculate the difference between the current yaw-rate
- and the one requiested for.
-->
<summer name="fcs/yaw-trim-error">
<input>fcs/rudder-cmd-norm</input>
<input>fcs/yaw-rate-norm</input>
<input>fcs/yaw-load-norm</input>
</summer>
<!--
- Make sure the PID controller is only active when the aircraft
- has gained some speed. This will prevent bad behaviour when the
- aircraft has been parked for a while.
-->
<switch name="fcs/rudder-pid-trigger">
<default value="1"/>
<test value="0">
velocities/vc-kts lt 10.0
</test>
</switch>
<pid name="fcs/yaw-load-pid">
<trigger>fcs/rudder-pid-trigger</trigger>
<input>fcs/yaw-trim-error</input>
<kp> 0.105500 </kp>
<ki> 0.000010 </ki>
<kd> 0.00005 </kd>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
<output>fcs/rudder-pos-norm</output>
</pid>
<summer name="fcs/yaw-scheduler">
<input>fcs/rudder-cmd-norm</input>
<input>fcs/yaw-trim-cmd-norm</input>
<input>fcs/yaw-load-pid</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<kinematic name="fcs/rudder-position">
<input>fcs/yaw-scheduler</input>
<traverse>
<setting>
<position>-1</position>
<time>0.4</time>
</setting>
<setting>
<position>1</position>
<time>0.4</time>
</setting>
</traverse>
<output>fcs/rudder-pos-norm</output>
</kinematic>
<aerosurface_scale name="fcs/rudder-control">
<input>fcs/rudder-pos-norm</input>
<range>
<min>-0.524</min>
<max>0.524</max>
</range>
<output>fcs/rudder-pos-rad</output>
</aerosurface_scale>
</channel>
<channel name="Landing Gear">
<switch name="fcs/gear-wow">
<default value="0"/>
<test logic="AND" value="1">
gear/unit[1]/WOW eq 1
gear/unit[2]/WOW eq 1
</test>
</switch>
<kinematic name="fcs/gear-control">
<input>gear/gear-cmd-norm</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>1</position>
<time>5</time>
</setting>
</traverse>
<output>gear/gear-pos-norm</output>
</kinematic>
<scheduled_gain name="fcs/scheduled-steer-pos-deg">
<input>fcs/steer-cmd-norm</input>
<table>
<independentVar>velocities/vg-fps</independentVar>
<tableData>
10.0 80.0
50.0 15.0
150.0 2.0
</tableData>
</table>
<output>fcs/steer-pos-deg</output>
</scheduled_gain>
</channel>
<channel name="Leading Edge Flap">
<switch name="fcs/lef-pos-rad">
<default value="0.0"/>
<test logic="AND" value="-0.0349">
fcs/gear-wow eq 1
gear/gear-pos-norm gt 0
</test>
<test logic="AND" value="0.436">
gear/gear-pos-norm eq 0
aero/alpha-rad gt 0.2618
</test>
<test logic="AND" value="0.262">
fcs/gear-wow eq 0
aero/alpha-rad gt 0.0873
</test>
<test logic="AND" value="-0.0349">
velocities/mach gt 0.9
</test>
</switch>
<pure_gain name="fcs/lef-pos-norm">
<input>fcs/lef-pos-rad</input>
<gain>2.293578</gain>
</pure_gain>
<kinematic name="fcs/lef-control">
<input>fcs/lef-pos-norm</input>
<traverse>
<setting>
<position>-1.0</position>
<time>3.0</time>
</setting>
<setting>
<position>1.0</position>
<time>3.0</time>
</setting>
</traverse>
</kinematic>
<aerosurface_scale name="fcs/lef-pos-deg">
<input>fcs/lef-control</input>
<domain>
<min>-1.0</min>
<max>1.0</max>
</domain>
<range>
<min>-25</min>
<max>25</max>
</range>
</aerosurface_scale>
</channel>
<channel name="Throttle">
<pure_gain name="fcs/throttle1">
<input>fcs/throttle-cmd-norm</input>
<gain>2</gain>
<output>fcs/throttle-pos-norm</output>
</pure_gain>
<pure_gain name="fcs/fly-by-wire/throttle/pos-norm">
<description>To make simplified compat with non simplified</description>
<input>fcs/throttle-cmd-norm</input>
<gain>1</gain>
</pure_gain>
</channel>
<channel name="Speedbrake">
<!--
- To prevent deep stall the Flight Computer commands speedbrake
- deflection at high angle of attack (alpha) and low speeds. This
- will provide just enough pitch down moment to keep the aircraft
- under control.
-->
<switch name="fcs/speedbrake-alpha-limiter">
<default value="0"/>
<test logic="AND" value="1">
aero/alpha-deg ge 53
velocities/v-fps le 18
</test>
</switch>
<switch name="fcs/speedbrake-initiate">
<default value="0"/>
<test logic="OR" value="1">
fcs/speedbrake-alpha-limiter eq 1
fcs/speedbrake-cmd-norm eq 1
</test>
</switch>
<!--
- Speedbrake deflection is limited to 43 degrees (instead of 60