<?xml version="1.0"?>
<!-- Generic 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                                                 -->
	<!-- =============================================================== -->
	<!-- Wing leveler -->
	<pid-controller>
		<name>Wing Leveler (Turn Coordinator based)</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>wing-leveler</value>
		</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>
			<!-- 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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Heading Bug Hold.  2 stage cascade controller. -->
	<!-- Stage #1 sets target roll based on diff between current heading -->
	<!-- and heading bug. -->
	<pid-controller>
		<name>Heading Bug Hold (DG based) Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</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>
			<!-- 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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-20.0</u_min>
			<!-- minimum output clamp -->
			<u_max>20.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
	<pid-controller>
		<name>Heading Bug Hold (DG based) Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>dg-heading-hold</value>
		</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>
			<!-- 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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- True Heading hold.  2 stage cascade controller. -->
	<!-- Stage #1 sets target roll based on diff between current heading -->
	<!-- and target heading. -->
	<pid-controller>
		<name>True Heading Hold (DG based) Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>true-heading-hold</value>
		</enable>
		<input>
			<prop>/autopilot/internal/true-heading-error-deg</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/internal/target-roll-deg</prop>
		</output>
		<config>
			<Kp>-1.0</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-20.0</u_min>
			<!-- minimum output clamp -->
			<u_max>20.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
	<pid-controller>
		<name>True Heading Hold (DG based) Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>true-heading-hold</value>
		</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>
			<!-- 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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Nav1 hold.  2 stage cascade controller. -->
	<!-- Stage #1 sets target roll based on diff between current heading -->
	<!-- and target heading. -->
	<pid-controller>
		<name>Nav1 Hold Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>nav1-hold</value>
		</enable>
		<input>
			<prop>/autopilot/internal/nav1-heading-error-deg</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/internal/target-roll-deg</prop>
		</output>
		<config>
			<Kp>-1.0</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-20.0</u_min>
			<!-- minimum output clamp -->
			<u_max>20.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
	<pid-controller>
		<name>Nav1 Hold Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>nav1-hold</value>
		</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>
			<!-- 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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- =============================================================== -->
	<!-- Pitch Axis Modes                                                -->
	<!-- =============================================================== -->
	<!-- Simple pitch hold -->
	<pid-controller>
		<name>Pitch hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>pitch-hold</value>
		</enable>
		<input>
			<prop>/orientation/pitch-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-pitch-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</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>1.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Simple angle of attack hold -->
	<pid-controller>
		<name>AOA hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>aoa-hold</value>
		</enable>
		<input>
			<prop>/orientation/alpha-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-aoa-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</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>0.5</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Altitude hold.  2 stage cascade controller. -->
	<!-- Stage #1 sets target rate of climb based on diff between current alt -->
	<!-- and target altitude. -->
	<pi-simple-controller>
		<name>Altitude Hold (Altimeter based) Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>altitude-hold</value>
		</enable>
		<input>
			<prop>/position/altitude-ft</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-altitude-ft</prop>
		</reference>
		<output>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</output>
		<config>
			<Kp>0.3</Kp>
			<!-- proportional gain -->
			<Ki>0.0</Ki>
			<!-- integral gain -->
			<u_min>-16.67</u_min>
			<!-- minimum output clamp -->
			<u_max>8.33</u_max>
			<!-- maximum output clamp -->
		</config>
	</pi-simple-controller>
	<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
	<pid-controller>
		<name>Altitude Hold (Altimeter based) Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>altitude-hold</value>
		</enable>
		<input>
			<prop>/velocities/vertical-speed-fps</prop>
		</input>
		<reference>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.01</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- AGL hold.  2 stage cascade controller. -->
	<!-- Stage #1 sets target rate of climb based on diff between current agl -->
	<!-- and target agl. -->
	<pi-simple-controller>
		<name>AGL Hold (Altimeter based) Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>agl-hold</value>
		</enable>
		<input>
			<prop>/position/altitude-agl-ft</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-agl-ft</prop>
		</reference>
		<output>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</output>
		<config>
			<Kp>0.3</Kp>
			<!-- proportional gain -->
			<Ki>0.0</Ki>
			<!-- integral gain -->
			<u_min>-16.67</u_min>
			<!-- minimum output clamp -->
			<u_max>8.33</u_max>
			<!-- maximum output clamp -->
		</config>
	</pi-simple-controller>
	<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
	<pid-controller>
		<name>AGL Hold (Altimeter based) Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>agl-hold</value>
		</enable>
		<input>
			<prop>/velocities/vertical-speed-fps</prop>
		</input>
		<reference>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.01</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Glideslope hold. -->
	<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
	<pid-controller>
		<name>Glideslop Hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>gs1-hold</value>
		</enable>
		<input>
			<prop>/velocities/vertical-speed-fps</prop>
		</input>
		<reference>
			<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.01</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- vertical speed hold -->
	<pid-controller>
		<name>Vertical Speed Hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>vertical-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>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.01</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- =============================================================== -->
	<!-- Velocity Modes                                                  -->
	<!-- =============================================================== -->
	<!-- Auto throttle -->
	<pid-controller>
		<name>Auto Throttle (5 sec lookahead)</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>speed-with-throttle</value>
		</enable>
		<input>
			<!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> -->
			<prop>/velocities/airspeed-kt</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-speed-kt</prop>
		</reference>
		<output>
			<prop>/controls/engines/engine[0]/throttle</prop>
			<prop>/controls/engines/engine[1]/throttle</prop>
			<prop>/controls/engines/engine[2]/throttle</prop>
			<prop>/controls/engines/engine[3]/throttle</prop>
			<prop>/controls/engines/engine[4]/throttle</prop>
			<prop>/controls/engines/engine[5]/throttle</prop>
			<prop>/controls/engines/engine[6]/throttle</prop>
			<prop>/controls/engines/engine[7]/throttle</prop>
		</output>
		<config>
			<Kp>0.1</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>10.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>0.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Hold speed by varying pitch trim (Two stage cascading controller) -->
	<pid-controller>
		<name>Speed hold (vary pitch trim) Stage #1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>speed-with-pitch-trim</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/settings/target-pitch-deg</prop>
		</output>
		<config>
			<Kp>-0.25</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>0.4</Ti>
			<!-- integrator time -->
			<Td>0.05000</Td>
			<!-- derivator time -->
			<u_min>-15.0</u_min>
			<!-- minimum output clamp -->
			<u_max>15.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<pid-controller>
		<name>Speed hold (vary pitch trim) Stage #2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>speed-with-pitch-trim</value>
		</enable>
		<input>
			<prop>/orientation/pitch-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-pitch-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-1.0</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>100000.0</Ti>
			<!-- integrator time -->
			<Td>0.00000</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
</PropertyList>
