CVS: data/Aircraft/B-1B/Systems b1b-autopilot.xml, 1.7, 1.8 failures.xml, 1.1, NONE

Update of /var/cvs/FlightGear-0.9/data/Aircraft/B-1B/Systems
In directory baron.flightgear.org:/tmp/cvs-serv7610/Systems

Modified Files:
	b1b-autopilot.xml 
Removed Files:
	failures.xml 
Log Message:

Markus Zojer - B-1B easter update:

- terrain following script rewritten
- guided ordonance system rewritten
- exterior model texture improvenments
- new instruments(IKB + MFD) for WSO position
- cdu-900 prototype for nav/com input/display
- radar now sorts for distance, displays closest


Index: b1b-autopilot.xml
===================================================================
RCS file: /var/cvs/FlightGear-0.9/data/Aircraft/B-1B/Systems/b1b-autopilot.xml,v
retrieving revision 1.7
retrieving revision 1.8
diff -u -r1.7 -r1.8
--- b1b-autopilot.xml	23 Jan 2010 09:51:30 -0000	1.7
+++ b1b-autopilot.xml	30 Mar 2010 21:49:50 -0000	1.8
@@ -426,8 +426,8 @@
     <config>
       <Kp>0.25</Kp>          <!-- proportional gain -->
       <Ki>0.0</Ki>          <!-- integral gain -->
-      <u_min>-16.67</u_min> <!-- minimum output clamp -->
-      <u_max>33.33</u_max>   <!-- maximum output clamp -->
+      <u_min>-33.33</u_min> <!-- minimum output clamp -16.67-->
+      <u_max>33.33</u_max>   <!-- maximum output clamp 33.33-->
     </config>
   </pi-simple-controller>
 
@@ -622,7 +622,7 @@
       <Ti>10.0</Ti>       <!-- integrator time -->
       <Td>0.00001</Td>    <!-- derivator time -->
       <u_min>0.0</u_min>  <!-- minimum output clamp -->
-      <u_max>0.97</u_max>  <!-- maximum output clamp -->
+      <u_max>1.00</u_max>  <!-- maximum output clamp -->
     </config>
   </pid-controller>
 
@@ -685,4 +685,62 @@
     </config>
   </pid-controller>
 
+    <!-- Terrain follow.  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>terrain-follow</value>
+    </enable>
+    <input>
+      <prop>/position/altitude-ft</prop>
+    </input>
+    <reference>
+      <prop>/autopilot/settings/target-follow-altitude-ft</prop>
+    </reference>
+    <output>
+      <prop>/autopilot/internal/target-climb-rate-fps</prop>
+    </output>
+    <config>
+      <Kp>0.25</Kp>          <!-- proportional gain -->
+      <Ki>0.0</Ki>          <!-- integral gain -->
+      <u_min>-120.00</u_min> <!-- minimum output clamp -16.67-->
+      <u_max>300.00</u_max>   <!-- maximum output clamp 33.33-->
+    </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>terrain-follow</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>-0.0025</Kp>      <!-- proportional gain -0.01 -->
+      <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  10.0 -->
+      <Td>0.00001</Td>    <!-- derivator time -->
+      <u_min>-1</u_min> <!-- minimum output clamp -->
+      <u_max>1</u_max>  <!-- maximum output clamp -->
+    </config>
+  </pid-controller>
+
 </PropertyList>

--- "failures.xml" DELETED ---


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