<?xml version="1.0"?>
<!-- KAP 140 Autopilot 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. -->
<PropertyList>
	<!-- =============================================================== -->
	<!-- Roll Axis Modes                                                 -->
	<!-- =============================================================== -->
	<!-- Nav hold (NAV) Mode-->
	<pid-controller>
		<name>Nav hold (NAV) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/nav-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/instrumentation/nav/heading-needle-deflection</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-intercept-angle</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>15.0</Ti>
			<!-- integrator time -->
			<Td>0.0</Td>
			<!-- derivator time -->
			<u_min>-45.0</u_min>
			<!-- minimum output clamp -->
			<u_max>45.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Approach hold (APR) Mode-->
	<pid-controller>
		<name>Approach hold (APR) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/apr-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/instrumentation/nav/heading-needle-deflection</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-intercept-angle</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>15.0</Ti>
			<!-- integrator time -->
			<Td>0.001</Td>
			<!-- derivator time -->
			<u_min>-45.0</u_min>
			<!-- minimum output clamp -->
			<u_max>45.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Backcourse hold (REV) Mode-->
	<pid-controller>
		<name>Backcourse hold (REV) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/rev-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/instrumentation/nav/heading-needle-deflection</prop>
			<scale>-1.0</scale>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-intercept-angle</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>15.0</Ti>
			<!-- integrator time -->
			<Td>0.0</Td>
			<!-- derivator time -->
			<u_min>-45.0</u_min>
			<!-- minimum output clamp -->
			<u_max>45.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Heading Select (HDG) Mode -->
	<pid-controller>
		<name>Heading Select (HDG) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/hdg-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/autopilot/internal/heading-bug-error-deg</prop>
			<!--      <prop>/instrumentation/gps/true-bug-error-deg</prop> -->
		</input>
		<reference>
			<prop>/autopilot/KAP140/settings/target-intercept-angle</prop>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-turn-rate</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>15.0</Ti>
			<!-- integrator time -->
			<Td>0.0</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Wing leveler (ROL) Mode -->
	<pid-controller>
		<name>Wing Leveler (ROL) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/roll-axis</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
		</input>
		<reference>
			<prop>/autopilot/KAP140/settings/target-turn-rate</prop>
		</reference>
		<output>
			<prop>/controls/flight/aileron</prop>
		</output>
		<config>
			<Kp>0.15</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>0.0</Td>
			<!-- derivator time -->
			<u_min>-0.25</u_min>
			<!-- minimum output clamp -->
			<u_max>0.25</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- =============================================================== -->
	<!-- Pitch Axis Modes                                                -->
	<!-- =============================================================== -->
	<!-- Altitude Hold (ALT) Mode -->
	<pid-controller>
		<name>Altitude Hold (ALT) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/alt-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/systems/static[0]/pressure-inhg[0]</prop>
		</input>
		<reference>
			<prop>/autopilot/KAP140/settings/target-alt-pressure</prop>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
		</output>
		<config>
			<Kp>0.125</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>12.0</Ti>
			<!-- integrator time -->
			<Td>0.0</Td>
			<!-- derivator time -->
			<u_min>-0.007</u_min>
			<!-- minimum output clamp -->
			<u_max>0.007</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Glideslope Hold (GS) Mode -->
	<pid-controller>
		<name>Glideslope Hold (GS) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/gs-hold</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/instrumentation/nav/gs-needle-deflection</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
		</output>
		<config>
			<Kp>0.025</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>0.0</Td>
			<!-- derivator time -->
			<u_min>-0.001</u_min>
			<!-- minimum output clamp -->
			<u_max>0.017</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<filter>
		<name>pressure-rate-filter</name>
		<debug>false</debug>
		<type>double-exponential</type>
		<input>/autopilot/internal/pressure-rate</input>
		<output>/autopilot/internal/filtered-pressure-rate</output>
		<filter-time>0.1</filter-time>
	</filter>
	<!-- Vertical Speed (VS) Mode -->
	<pid-controller>
		<name>Vertical Speed (VS) Mode</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/KAP140/locks/pitch-axis</prop>
			<value type="bool">true</value>
		</enable>
		<input>
			<prop>/autopilot/internal/filtered-pressure-rate</prop>
		</input>
		<reference>
			<prop>/autopilot/KAP140/settings/target-pressure-rate</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator</prop>
		</output>
		<config>
			<Kp>5.0</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>4.0</Ti>
			<!-- integrator time -->
			<Td>0.0</Td>
			<!-- derivator time -->
			<u_min>-0.5</u_min>
			<!-- minimum output clamp -->
			<u_max>0.5</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
</PropertyList>
