Attached is a patch that adds filters to the 777 autopilot's Heading,
LNAV and Altitude
Major bug is LNAV.
The 777 currently doesn't fly on a LNAV/CRS properly.
The aircraft ends up on the correct heading, but with no correction, ie
parallel to predicted path and not correcting. The values in the PID are
completely different to other observed aircraft, so am unsure what the
problem is atmo.
Also this warning message is output below, not sure when it starts but
its goes on forever
Warning: State::drawQuads(0, 58464) too large handle in remapping to
ushort glDrawElements.
Warning: State::drawQuads(0, 58468) too large handle in remapping to
ushort glDrawElements.
Warning: State::drawQuads(0, 58468) too large handle in remapping to
ushort glDrawElements.
Warning: State::drawQuads(0, 58468) too large handle in remapping to
ushort glDrawElements.
regards
pete
<?xml version="1.0"?>
<PropertyList>
<predict-simple>
<input>/autopilot/internal/nav1-track-error-deg</input>
<output>/autopilot/internal/nav1-track-error-lookahead-deg</output>
<seconds>8.0</seconds>
<filter-gain>0.0</filter-gain>
</predict-simple>
<!-- =============================================================== -->
<!-- Roll Axis Modes -->
<!-- =============================================================== -->
<pid-controller>
<name>TO/GA1</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>TO/GA</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>orientation/roll-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/controls/flight/aileron</prop>
</output>
<config>
<Kp>0.20</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>-0.2</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<!-- Heading Hold -->
<pid-controller>
<name>Heading Hold 1</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>HDG SEL</value>
</enable>
<input>
<prop>/autopilot/internal/fdm-heading-bug-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/internal/target-roll-deg</prop>
</output>
<config>
<Kp>-5.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>
<prop>instrumentation/afds/settings/bank-min</prop>
</u_min>
<u_max>
<prop>instrumentation/afds/settings/bank-max</prop>
</u_max>
</config>
</pid-controller>
<filter>
<name>Heading hold spike filter</name>
<debug>false</debug>
<type>noise-spike</type>
<input>/autopilot/internal/target-roll-deg</input>
<output>/autopilot/internal/heading-target-roll-deg-filtered</output>
<max-rate-of-change>8.0</max-rate-of-change>
</filter>
<pid-controller>
<name>Heading Hold 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>HDG SEL</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/heading-target-roll-deg-filtered</prop>
</reference>
<output>
<prop>/controls/flight/aileron</prop>
</output>
<config>
<Kp>0.021</Kp>
<beta>1.2</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.1</Td>
<u_min>-0.5</u_min>
<u_max>0.5</u_max>
</config>
</pid-controller>
<pid-controller>
<name>LNAV FMS</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>LNAV</value>
</enable>
<input>
<prop>instrumentation/afds/settings/lnav-crs</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/internal/target-roll-deg</prop>
</output>
<config>
<Kp>-2.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>
<prop>instrumentation/afds/settings/bank-min</prop>
</u_min>
<u_max>
<prop>instrumentation/afds/settings/bank-max</prop>
</u_max>
</config>
</pid-controller>
<filter>
<name>LNAV spike filter</name>
<debug>false</debug>
<type>noise-spike</type>
<input>/autopilot/internal/target-roll-deg</input>
<output>/autopilot/internal/lnav-target-roll-deg-filtered</output>
<max-rate-of-change>10.0</max-rate-of-change>
</filter>
<pid-controller>
<name>LNAV 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>LNAV</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/lnav-target-roll-deg-filtered</prop>
</reference>
<output>
<prop>/controls/flight/aileron</prop>
</output>
<config>
<Kp>0.03</Kp>
<beta>1.5</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.0</Td>
<u_min>-0.35</u_min>
<u_max>0.35</u_max>
</config>
</pid-controller>
<pid-controller>
<name>LOC Hold 1</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>LOC</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>-2.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>
<prop>instrumentation/afds/settings/bank-min</prop>
</u_min>
<u_max>
<prop>instrumentation/afds/settings/bank-max</prop>
</u_max>
</config>
</pid-controller>
<pid-controller>
<name>LOC 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/roll-mode</prop>
<value>LOC</value>
<honor-passive>true</honor-passive>
</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>0.05</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.00001</Td>
<u_min>-0.5</u_min>
<u_max>0.5</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Yaw Damper</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/yaw-damper</prop>
<value>1</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/target-roll-deg</prop>
</reference>
<output>
<prop>/controls/flight/rudder</prop>
</output>
<config>
<Kp>0.25</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.000000001</Td>
<u_min>-0.25</u_min>
<u_max>0.25</u_max>
</config>
</pid-controller>
<!-- =============================================================== -->
<!-- Pitch Axis Modes -->
<!-- =============================================================== -->
<pi-simple-controller>
<name>TO/GA</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>TO/GA</value>
</enable>
<input>
<prop>instrumentation/altimeter/indicated-altitude-ft</prop>
</input>
<reference>
<value>10000</value>
</reference>
<output>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>0.3</Kp>
<Ki>0.0</Ki>
<u_min>-16.67</u_min>
<u_max>33.33</u_max>
</config>
</pi-simple-controller>
<pid-controller>
<name>Altitude Hold (Altimeter based) Stage 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>TO/GA</value>
<honor-passive>true</honor-passive>
</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>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>-0.2</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<pi-simple-controller>
<name>Altitude Stage 1</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>ALT</value>
</enable>
<input>
<prop>instrumentation/altimeter/indicated-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>
<Ki>0.0</Ki>
<u_min>-16.67</u_min>
<u_max>33.33</u_max>
</config>
</pi-simple-controller>
<filter>
<name>Altitude hold spike filter</name>
<debug>false</debug>
<type>noise-spike</type>
<input>/autopilot/internal/target-climb-rate-fps</input>
<output>/autopilot/internal/target-climb-rate-fps-filtered</output>
<max-rate-of-change>10.0</max-rate-of-change>
</filter>
<pid-controller>
<name>Altitude Hold (Altimeter based) Stage 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>ALT</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/internal/target-climb-rate-fps-filtered</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>-0.015</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>-0.2</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<pi-simple-controller>
<name>VNAV Altitude Stage 1</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>VNAV ALT</value>
</enable>
<input>
<prop>instrumentation/altimeter/indicated-altitude-ft</prop>
</input>
<reference>
<prop>/instrumentation/afds/settings/vnav-alt</prop>
</reference>
<output>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>0.3</Kp>
<Ki>0.0</Ki>
<u_min>-16.67</u_min>
<u_max>33.33</u_max>
</config>
</pi-simple-controller>
<pid-controller>
<name>Altitude Hold (Altimeter based) Stage 2</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>VNAV ALT</value>
<honor-passive>true</honor-passive>
</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>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>-0.2</u_min>
<u_max>0.2</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Glideslop Hold</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>G/S</value>
<honor-passive>true</honor-passive>
</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>-0.02</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>-0.5</u_min>
<u_max>0.5</u_max>
</config>
</pid-controller>
<!-- vertical speed hold -->
<pid-controller>
<name>Vertical Speed Hold</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>V/S</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/settings/vertical-speed-fpm</prop>
<scale>0.01666666</scale>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>-0.015</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.00001</Td>
<u_min>-0.35</u_min>
<u_max>0.35</u_max>
</config>
</pid-controller>
<!-- vertical speed hold -->
<pid-controller>
<name>Flight Path Hold</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/pitch-mode</prop>
<value>FPA</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>autopilot/internal/fpa</prop>
</input>
<reference>
<prop>/autopilot/settings/flight-path-angle</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>-0.15</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.0</Td>
<u_min>-0.25</u_min>
<u_max>0.25</u_max>
</config>
</pid-controller>
<!-- =============================================================== -->
<!-- Velocity Modes -->
<!-- =============================================================== -->
<!-- Auto throttle -->
<pid-controller>
<name>Auto Throttle1 ias</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/throttle[0]</prop>
<value>ias</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/airspeed-kt</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-kt</prop>
</reference>
<output>
<prop>/controls/engines/engine[0]/throttle</prop>
</output>
<config>
<Kp>0.15</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>20.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>1.0</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Auto Throttle2 ias</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/throttle[1]</prop>
<value>ias</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/airspeed-kt</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-kt</prop>
</reference>
<output>
<prop>/controls/engines/engine[1]/throttle</prop>
</output>
<config>
<Kp>0.15</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>20.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>1.0</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Auto Throttle1 mach</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/throttle[0]</prop>
<value>mach</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/mach</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-mach</prop>
</reference>
<output>
<prop>/controls/engines/engine[0]/throttle</prop>
</output>
<config>
<Kp>20.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>1.0</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Auto Throttle2 mach</name>
<debug>false</debug>
<enable>
<prop>instrumentation/afds/ap-modes/throttle[1]</prop>
<value>mach</value>
<honor-passive>true</honor-passive>
</enable>
<input>
<prop>/velocities/mach</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-mach</prop>
</reference>
<output>
<prop>/controls/engines/engine[1]/throttle</prop>
</output>
<config>
<Kp>20.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>10.0</Ti>
<Td>0.00001</Td>
<u_min>0.0</u_min>
<u_max>1.0</u_max>
</config>
</pid-controller>
</PropertyList>
? .git
? ap.patch.txt
Index: Systems/777-autopilot.xml
===================================================================
RCS file:
/var/cvs/FlightGear-0.9/data/Aircraft/777-200/Systems/777-autopilot.xml,v
retrieving revision 1.11
diff -r1.11 777-autopilot.xml
45a46,47
> <!-- Heading Hold -->
>
77a80,88
> <filter>
> <name>Heading hold spike filter</name>
> <debug>false</debug>
> <type>noise-spike</type>
> <input>/autopilot/internal/target-roll-deg</input>
> <output>/autopilot/internal/heading-target-roll-deg-filtered</output>
> <max-rate-of-change>8.0</max-rate-of-change>
> </filter>
>
90c101
< <prop>/autopilot/internal/target-roll-deg</prop>
---
> <prop>/autopilot/internal/heading-target-roll-deg-filtered</prop>
96,97c107,108
< <Kp>1.0</Kp>
< <beta>1.0</beta>
---
> <Kp>0.021</Kp>
> <beta>1.2</beta>
101c112
< <Td>0.0</Td>
---
> <Td>0.1</Td>
138a150,159
> <filter>
> <name>LNAV spike filter</name>
> <debug>false</debug>
> <type>noise-spike</type>
> <input>/autopilot/internal/target-roll-deg</input>
> <output>/autopilot/internal/lnav-target-roll-deg-filtered</output>
> <max-rate-of-change>10.0</max-rate-of-change>
> </filter>
>
>
151c172
< <prop>/autopilot/internal/target-roll-deg</prop>
---
> <prop>/autopilot/internal/lnav-target-roll-deg-filtered</prop>
157,158c178,179
< <Kp>0.5</Kp>
< <beta>1.0</beta>
---
> <Kp>0.03</Kp>
> <beta>1.5</beta>
218c239
< <Kp>0.25</Kp>
---
> <Kp>0.05</Kp>
340a362,370
> <filter>
> <name>Altitude hold spike filter</name>
> <debug>false</debug>
> <type>noise-spike</type>
> <input>/autopilot/internal/target-climb-rate-fps</input>
> <output>/autopilot/internal/target-climb-rate-fps-filtered</output>
> <max-rate-of-change>10.0</max-rate-of-change>
> </filter>
>
353c383
< <prop>/autopilot/internal/target-climb-rate-fps</prop>
---
> <prop>/autopilot/internal/target-climb-rate-fps-filtered</prop>
359c389
< <Kp>-0.01</Kp>
---
> <Kp>-0.015</Kp>
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