On Wed, 2007-02-07 at 07:36 +0100, woodyst wrote:
> Looking at the KAP140.xml file I have found this line:
>
> <prop>/autopilot/internal/heading-bug-error-deg</prop> -->
>
> The "-->" is in the file, line 114. I think it may be a bug (I
> suspect it may be a mistake with keyboard, copy and paste, or
> something similar). Please, confirm it and fix in CVS.
>
This is a typo or edit error that originated in the c172p KAP140.xml and
propagated to other AC that used this file as a starting point for their
autopilot configuration. There are 3 such configuration versions in
use; all in /Aircraft/"aircraft_name"/Systems/. I just fixed them on my
system and will submit a patch to update cvs.
> Thanks.
>
> Some time ago I initiated a discussion about the KAP140 autopilot and
> the yoke's interaction with it. I have been very busy at work, but now
> I was trying to see if anyone has changed it, because I would be
> interested in solving this question.
>
The yoke interaction issue occurs because both the joystick and the
autopilot are trying to control the yoke position/movement. There is an
arrow in the KAP140TwoAxisAlt display that flashes which way to trim so
that the yoke and autopilot pitch inputs will agree. If you make these
pitch trim corrections, the jitter is minimized. If you don't, the
jitter is not the only problem. For should you disengage the auto pilot
with the trim significantly different from the autopilot, you can have
your hands full staying in control. I posted a link to NPR of such a
situation ([Flightgear-devel] OT - trim and autopilot Hell - for real).
I believe what happened was the electric trim stuck and drove the trim
to full down. When the autopilot was disengaged, the pilot was shocked
to encounter a nose dive. He assumed the autopilot did not disengage
and was malfunctioning.
> Last time I saw the code the KAP140 was controlled by KAP140.xml and
> kap140.nas files, but now I see it seems changed.
>
> Please, anyone can tell me what is the actual state of the KAP140
> autopilot's implementation and what files in flightgear are related to
> it?
>
> Thanks in advance.
There have been changes in several areas.
1. Roy Vegard Oveson made kap140.nas so it used "bool" variables which
updated its nasal significantly. Since this file is the logic engine
that responds to these "bool" variables that are set via several
KAP140TwoAxisAlt.xml "actions", these files needed to be updated also to
use "bool" variables.
2. Dave Perry had added logic to the original kap140.nas file to check
for autopilot power so that the KAP140 would respond correctly to the
master switch and the avionics master switch in the pa24-250.
3. It was decided via list discussion to merge 1 and 2 above. Roy and
Dave communicated off-list to achieve this. With this update,
kap140.nas was moved to Aircraft/Generic/, and any local-to-AC copies of
kap140.nas were removed. Entries in the -set.xml files pointing to
kap140.nas were updated accordingly.
Related File locations:
Aircraft/Generic/kap140.nas -- KAP140 logic engine
Aircraft/Instruments/KAP140TwoAxis.xml and
Aircraft/Instruments/KAP140TwoAxisAlt.xml -- 2d KAP140 Instruments
including actions
Aircraft/"AC_name"/Systems/KAP140.nas -- AC unique configs
Regards,
Dave
--
Dave Perry
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