[原]jsbsim 自动驾驶c310ap文件改写
<?xml version="1.0"?>
<!-- Author: 南水之源
Date: 1 January 2019
Function: A-320 autopilot test file Note: this file represents a test only of the new autopilot
setup in JSBSim. The same components used in the FCS
can also be used in the autopilot section. There are
some new FCS input and output identifiers directly
related to the autopilot: ap/elevator_cmd,
ap/aileron_cmd,
ap/attitude_hold,
ap/altitude_hold,
ap/heading_hold,
ap/altitude_setpoint,
ap/heading_setpoint -->
<autopilot name="A320 Autopilot"> <!-- INTERFACE PROPERTIES --> <property>ap/attitude_hold</property>
<property>ap/altitude_hold</property>
<property>ap/heading_hold</property>
<property>ap/active-waypoint</property>
<property>ap/altitude_setpoint</property>
<property>ap/heading_setpoint</property>
<property>ap/heading-setpoint-select</property>
<property>ap/aileron_cmd</property>
<property>ap/elevator_cmd</property>
<property>ap/airspeed_setpoint</property>
<property>ap/airspeed_hold</property>
<property>ap/throttle-cmd-norm</property> <!-- <property>attitude/sensor/phi-rad</property> --> <!-- SENSOR -->
<!--
<sensor name="attitude/sensor/phi-rad">
<input> attitude/phi-rad </input>
<lag> 0.5 </lag>
<noise variation="PERCENT"> 0.05 </noise>
<quantization name="attitude/sensor/quantized/phi-rad">
<bits> 12 </bits>
<min> -180 </min>
<max> 180 </max>
</quantization>
<bias> 0.001 </bias>
</sensor>
-->
<!--
=====================================================
ROLL CHANNEL
=====================================================
--> <!-- Wing leveler --> <channel name="AP roll wing leveler"> <switch name="fcs/wing-leveler-ap-on-off">
<default value="-1"/>
<test value="0">
ap/attitude_hold == 1
</test>
</switch> <pid name="fcs/roll-ap-error-pid">
<input>attitude/phi-rad</input>
<kp> ap/roll-pid-kp </kp>
<ki> ap/roll-pid-ki </ki>
<kd> ap/roll-pid-kd </kd>
<trigger> fcs/wing-leveler-ap-on-off </trigger>
</pid> <switch name="fcs/roll-ap-autoswitch">
<default value="0.0"/>
<test value="-fcs/roll-ap-error-pid">
ap/attitude_hold == 1
</test>
</switch> <pure_gain name="fcs/roll-ap-aileron-command-normalizer">
<input>fcs/roll-ap-autoswitch</input>
<gain>-1</gain>
</pure_gain> </channel> <!-- Heading hold --> <channel name="AP Roll Heading Hold"> <!-- The heading setpoint selector selects the heading
command (setpoint), which can either be set directly, or
calculated by the specification of waypoint. If the
heading setpoint selector is 0, then the heading setpoint
is used, if the selector is 1, then the heading calculated
from the waypoint is used. -->
<switch name="fcs/heading-setpoint-selector">
<default value="ap/heading_setpoint"/>
<test value="guidance/wp-heading-deg">
ap/heading-setpoint-select == 1
</test>
</switch> <pure_gain name="fcs/heading-true-degrees">
<input>attitude/heading-true-rad</input>
<gain>57.3</gain> <!-- convert to degrees -->
</pure_gain> <summer name="fcs/heading-error">
<input> -fcs/heading-true-degrees</input>
<input> fcs/heading-setpoint-selector </input>
</summer> <switch name="fcs/heading-error-bias-switch">
<default value="0.0"/>
<test value="360.0">
fcs/heading-error lt -180
</test>
<test value="-360.0">
fcs/heading-error gt 180
</test>
</switch> <summer name="fcs/heading-corrected">
<input> fcs/heading-error-bias-switch </input>
<input> fcs/heading-error </input>
<clipto>
<min>-30</min>
<max> 30</max>
</clipto>
</summer> <pure_gain name="fcs/heading-command">
<input> fcs/heading-corrected </input>
<gain> 0.01745 </gain>
</pure_gain> <lag_filter name="fcs/heading-roll-error-lag">
<input> fcs/heading-command </input>
<c1> 0.50 </c1>
</lag_filter> <summer name="fcs/heading-roll-error">
<input> fcs/heading-roll-error-lag </input>
<input> -attitude/phi-rad </input>
</summer> <switch name="fcs/heading-roll-error-switch">
<default value="0.0"/>
<test value="fcs/heading-roll-error">
ap/heading_hold == 1
</test>
</switch> <pid name="fcs/heading-pi-controller">
<input> fcs/heading-roll-error-switch </input>
<kp> 6.0 </kp>
<ki> 0.13 </ki>
<kd> 6.0 </kd>
</pid> <switch name="fcs/roll-command-selector">
<default value="0.0"/>
<test value="fcs/heading-pi-controller">
ap/heading_hold == 1
gear/unit[2]/WOW == 0
</test>
<test value="fcs/roll-ap-aileron-command-normalizer">
ap/attitude_hold == 1
gear/unit[2]/WOW == 0
</test>
<output>ap/aileron_cmd</output>
</switch> <switch name="fcs/roll-command-selector-steering">
<default value="0.0"/>
<test value="fcs/heading-pi-controller">
ap/heading_hold == 1
gear/unit/WOW == 1
</test>
<output>fcs/steer-cmd-norm</output>
</switch> </channel> <!--
=====================================================
PITCH CHANNEL
=====================================================
--> <!-- Altitude hold --> <!-- The Altitude Error component below computes the altitude error, subtracting
the desired altitude (altitude_setpoint) from the actual altitude above sea
level (_not_ Above Ground Level). This error signal is interpreted as an
hdot command (hdot is time rate of change of altitude, or rate of climb). As
such it is limited to a maximum absolute value of 12 fps here (720 fpm). The
maximum achievable climb rate depends on altitude. The commanded climb rate
is scheduled in the HDot Command component, below. For the given altitude
(left column in the table), the commanded maaximum climb rate divided by 100
is given in the right column.
--> <channel name="AP Pitch Altitude hold"> <!--
The difference between the desired altitude and the actual altitude
is determined, and limited to 100. The output from this component is
the desired climb rate in percent of maximum.
-->
<summer name="fcs/altitude-error">
<input> ap/altitude_setpoint </input>
<input> -position/h-sl-ft </input>
<clipto>
<min>-100</min>
<max> 100</max>
</clipto>
</summer> <!--
The desired climb rate is lagged slightly for stability.
为了稳定性，所需的爬升率略有滞后
-->
<lag_filter name="fcs/alt-error-lag">
<input> fcs/altitude-error </input>
<c1> 1 </c1>
</lag_filter> <!--
Dependent on altitude, the lagged (and limited) altitude error is multipled
by the gain determined from the function, below. The output from this
component is the absolute expected climb rate in feet/second. For example, if
the desired climb rate is 100 percent of maximum and the current altitude is
1000.0 ft., then the output from this component would be 24.5 ft. sec.
The equation representing climb rate for the C-310 is:
取决于高度，滞后（和有限）高度误差乘以从下面的函数确定的增益。 该组件的输出是以英尺/秒为单位的绝对预期爬升率。 例如，如果所需爬升率为最大值的100％且当前海拔高度为1000.0英尺，则此组件的输出将为24.5英尺秒。
表示C-310爬升率的公式为：
ROC（英尺/秒）= 25.7 - h / 833.33
ROC (ft/sec) = 25.7 - h/833.33
--> <fcs_function name="fcs/hdot-command">
<input>fcs/alt-error-lag</input>
<function>
<quotient>
<difference>
<value>25.70</value>
<quotient>
<property>position/h-sl-ft</property>
<value>833.33</value>
</quotient>
</difference>
<value>100.0</value>
</quotient>
</function>
</fcs_function> <!--
This component calculates the climb rate error, taking the difference between
the commanded climb rate (from the previous component) and actual climb rate
in ft./sec.
该组件计算爬升率误差，取命令爬升率（来自前一个组件）与实际爬升率之间的差值，单位为英尺/秒。
-->
<summer name="fcs/hdot-error">
<input>fcs/hdot-command</input>
<input>-velocities/h-dot-fps</input>
</summer> <!--
If the altitude hold autopilot command is ON, then this switch component will
pass through the climb rate error (from the previous component). Otherwise, it
will pass zero.
如果高度保持自动驾驶仪命令为ON，则此开关组件将通过爬升率误差（来自前一个组件）。 否则，它将传递零
-->
<switch name="fcs/ap-alt-hold-switch">
<default value="0.0"/>
<test value="fcs/hdot-error">
ap/altitude_hold == 1
</test>
</switch> <!--
The windup trigger below assumes the elevator will travel +/-23 degrees. The
elevator, however, does not travel symmetrically. This will need to be addressed
in a fix to the deadband component.
-->
<deadband name="fcs/windup-trigger">
<input> fcs/elevator-pos-deg </input>
<width>46.0</width>
</deadband> <!--
The integrator integrates the hdot error (when the switch component passes that
signal through above when the altitude hold is selected ON). In the situation
where the elevator becomes saturated, the integrator ceases to integrate. The
windup protection is indicated below, with the windup-trigger property being
the trigger to halt integration. When the windup trigger is non-zero (when the
elevator position falls outside the range +/- 23 degrees - a deadband of 46
degrees) then the deadband passes a non-zero value, triggering the anti-windup
logic in the integrator.
-->
<integrator name="fcs/integral">
<input> fcs/ap-alt-hold-switch </input>
<trigger> fcs/windup-trigger </trigger>
<c1> 0.001 </c1>
</integrator> <!--
The proportional component multiplies the error signal by a constant, providing
the proportional control action of this PI altitude hold controller.
-->
<pure_gain name="fcs/proportional">
<input> fcs/ap-alt-hold-switch </input>
<gain> 0.03 </gain>
</pure_gain> <!--
The control summer component sums the proprortional and integral control
signals. It clips the sum to +/- 1.0.
-->
<summer name="fcs/control-summer">
<input> fcs/integral </input>
<input> fcs/proportional </input>
<clipto>
<min>-1.0</min>
<max> 1.0</max>
</clipto>
</summer> <!--
The elevator component flips the sign on the output of the control summer
above and sets the ap/elevator_command property.
-->
<pure_gain name="fcs/elevator">
<input> fcs/control-summer </input>
<gain> -1.0 </gain>
<output> ap/elevator_cmd </output>
</pure_gain> </channel> </autopilot>
A320ap
<?xml version="1.0" encoding="UTF-8"?>
<?xml-stylesheet type="text/xsl" href="http://www.jsbsim.org/JSBSimScript.xsl"?>
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://jsbsim.sf.net/JSBSimScript.xsd"
name="A320 takeoff run">
<description>This run is for testing the 747 model.</description>
<use aircraft="A320" initialize="reset00"/>
<run start="0.0" end="200" dt="0.0083333"> <!-- Initialize with brakes on -->
<property> simulation/notify-time-trigger </property>
<property value="1"> simulation/run_id </property>
<property value="1"> fcs/left-brake-cmd-norm </property>
<property value="1"> fcs/right-brake-cmd-norm </property>
<property value="1"> fcs/center-brake-cmd-norm </property>
<property value="3.49"> guidance/specified-heading-rad </property>
<property value="1"> guidance/heading-selector-switch </property> <event name="engine start">
<description>Start the engine and set roll control to heading hold</description>
<condition> sim-time-sec >= 0.25 </condition>
<set name="fcs/throttle-cmd-norm" value="1.0" action="FG_RAMP" tc ="0.5"/>
<set name="fcs/mixture-cmd-norm" value="1.00" action="FG_RAMP" tc ="0.5"/>
<set name="ap/roll-attitude-mode" value="1"/>
<set name="ap/autopilot-roll-on" value="1"/>
<notify>
<property>simulation/run_id</property>
<property>ap/hdg-roll-err-c1</property>
</notify>
</event> <event name="Begin roll">
<description>Release brakes and get rolling with flaps at 10 degrees. </description>
<condition> sim-time-sec >= 2.0 </condition>
<set name="fcs/left-brake-cmd-norm" value="0"/>
<set name="fcs/right-brake-cmd-norm" value="0"/>
<set name="fcs/center-brake-cmd-norm" value="0"/>
<set name="fcs/flap-cmd-norm" value="0.33"/>
</event> <event name="Rotate">
<description>Set Autopilot for 400 ft and rotate at 49 keas. </description>
<notify/>
<condition> velocities/vc-kts >= 49 </condition>
<set name="ap/altitude_setpoint" value="400.0"/>
<set name="ap/altitude_hold" value="1"/>
<set name="ap/roll-attitude-mode" value="1"/>
</event> <event name="Set autopilot for 6000 ft.">
<description>Set Autopilot for 6000 ft after a five second delay. </description>
<notify/>
<condition> velocities/vc-kts >= 49 </condition>
<delay>5.0</delay>
<set name="ap/altitude_setpoint" value="6000.0"/>
</event> <event name="Adjust throttle/flaps">
<description>Remove flaps at 50 ft and set heading to 100; acquire heading.</description>
<notify/>
<condition>
position/h-agl-ft >= 2000
</condition>
<set name="fcs/flap-cmd-norm" value="0"/>
<set name="guidance/specified-heading-rad" value="1.75"/>
<set name="ap/roll-attitude-mode" value="1"/>
</event> <event name="Time Notify" persistent="true">
<description>Output message at 1 minute intervals</description>
<notify>
<property>velocities/vc-kts</property>
<property>position/h-agl-ft</property>
<property>position/lat-geod-deg</property>
<property>position/geod-alt-ft</property>
</notify>
<condition> sim-time-sec >= simulation/notify-time-trigger </condition>
<set name="simulation/notify-time-trigger" value="60" type="FG_DELTA"/>
</event> </run>
</runscript>
A320.xml 执行脚本文件
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="A320-200" version="2.0" release="BETA"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd"> <fileheader>
<author> Unknown </author>
<filecreationdate> 2003-01-01 </filecreationdate>
<version> Version </version>
<description> Airbus A320 </description>
</fileheader> <metrics>
<wingarea unit="FT2"> 1317 </wingarea>
<wingspan unit="FT"> 111.3 </wingspan>
<chord unit="FT"> 14.1 </chord>
<htailarea unit="FT2"> 333.6 </htailarea>
<htailarm unit="FT"> 44.4 </htailarm>
<vtailarea unit="FT2"> 231.3 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 672 </x>
<y> 0 </y>
<z> 20 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 80 </x>
<y> -30 </y>
<z> 70 </z>
</location>
<location name="VRP" unit="IN">
<x> 661.1 </x>
<y> 0 </y>
<z> -37 </z>
</location>
</metrics> <mass_balance>
<ixx unit="SLUG*FT2"> 942877 </ixx>
<iyy unit="SLUG*FT2"> 2.78892e+06 </iyy>
<izz unit="SLUG*FT2"> 3.59757e+06 </izz>
<ixy unit="SLUG*FT2"> -0 </ixy>
<ixz unit="SLUG*FT2"> -10000 </ixz>
<iyz unit="SLUG*FT2"> -0 </iyz>
<emptywt unit="LBS"> 111000 </emptywt>
<location name="CG" unit="IN">
<x> 672 </x>
<y> 0 </y>
<z> -40 </z>
</location>
</mass_balance> <ground_reactions>
<contact type="BOGEY" name="NOSE_LG">
<location unit="IN">
<x> 196.1 </x>
<y> 0 </y>
<z> -138.2 </z>
</location>
<static_friction> 0.5 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 100000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
<max_steer unit="DEG"> 5 </max_steer>
<brake_group> NONE </brake_group>
<retractable>1</retractable>
</contact>
<contact type="BOGEY" name="LEFT_MLG">
<location unit="IN">
<x> 688.7 </x>
<y> -144.4 </y>
<z> -142 </z>
</location>
<static_friction> 0.5 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 150000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 12000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> LEFT </brake_group>
<retractable>1</retractable>
</contact>
<contact type="BOGEY" name="RIGHT_MLG">
<location unit="IN">
<x> 688.7 </x>
<y> 144.4 </y>
<z> -142 </z>
</location>
<static_friction> 0.5 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 150000 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 12000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> RIGHT </brake_group>
<retractable>1</retractable>
</contact>
<contact type="BOGEY" name="TAIL_1">
<location unit="IN">
<x> 987 </x>
<y> 0 </y>
<z> -55.7 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="ENG_1">
<location unit="IN">
<x> 515.4 </x>
<y> 226.2 </y>
<z> -104.3 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="ENG_2">
<location unit="IN">
<x> 515.4 </x>
<y> -226.2 </y>
<z> -104.3 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="WING_TIP_1">
<location unit="IN">
<x> 846.1 </x>
<y> -667.6 </y>
<z> -37.4 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="WING_TIP_2">
<location unit="IN">
<x> 846.1 </x>
<y> 667.6 </y>
<z> -37.4 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="NOSE_TIP">
<location unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="NOSE_TOP">
<location unit="IN">
<x> 131.6 </x>
<y> 0 </y>
<z> 92.6 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="TAIL_TOP">
<location unit="IN">
<x> 1382.6 </x>
<y> 0 </y>
<z> 340 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="TAIL_TIP">
<location unit="IN">
<x> 1476.7 </x>
<y> 0 </y>
<z> 58.9 </z>
</location>
<static_friction> 0.2 </static_friction>
<dynamic_friction> 0.2 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction>
<spring_coeff unit="LBS/FT"> 1.5e+06 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<propulsion>
<engine file="CFM56_5">
<location unit="IN">
<x> 540 </x>
<y> -200 </y>
<z> -45 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0 </pitch>
<yaw> 0 </yaw>
</orient>
<feed>0</feed>
<thruster file="direct">
<location unit="IN">
<x> 670 </x>
<y> -200 </y>
<z> -45 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0.0 </pitch>
<yaw> 0.0 </yaw>
</orient>
</thruster>
</engine>
<engine file="CFM56_5">
<location unit="IN">
<x> 540 </x>
<y> 200 </y>
<z> -45 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0 </pitch>
<yaw> 0 </yaw>
</orient>
<feed>1</feed>
<thruster file="direct">
<location unit="IN">
<x> 670 </x>
<y> 200 </y>
<z> -45 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0.0 </pitch>
<yaw> 0.0 </yaw>
</orient>
</thruster>
</engine>
<tank type="FUEL"> <!-- Tank number 0 -->
<location unit="IN">
<x> 600 </x>
<y> -90 </y>
<z> -20 </z>
</location>
<capacity unit="LBS"> 23940 </capacity>
<contents unit="LBS"> 15000 </contents>
</tank>
<tank type="FUEL"> <!-- Tank number 1 -->
<location unit="IN">
<x> 600 </x>
<y> 90 </y>
<z> -20 </z>
</location>
<capacity unit="LBS"> 23940 </capacity>
<contents unit="LBS"> 15000 </contents>
</tank>
</propulsion> <system name="Navigation">
<channel name="Heading">
<sensor name="navigation/actual-heading-rad">
<input> attitude/heading-true-rad </input>
<!-- <lag> 2500 </lag> -->
<!-- <noise variation="PERCENT"> .02 </noise> -->
<bias> 0.003 </bias>
</sensor>
</channel>
</system> <system name="Mixture control">
<!--
E = 1.3 * Mixture * P_std / P_amb Mixture = P_amb / P_std
-->
<channel name="Automatic Mixture Control">
<fcs_function name="systems/mixture-pos-norm">
<function>
<table>
<independentVar lookup="row">atmosphere/P-psf</independentVar>
<tableData>
0 0.0
2117 1.0
</tableData>
</table>
</function>
<output>fcs/mixture-cmd-norm</output>
</fcs_function>
</channel>
</system> <system file="GNCUtilities"/> <system file="Autopilot">
<property value="0.523"> guidance/roll-angle-limit </property>
<property value="0.174"> guidance/roll-rate-limit </property>
</system> <autopilot file="c172ap"/> <flight_control name="FCS: A320">
<channel name="Pitch">
<summer name="Pitch Trim Sum">
<input>ap/elevator_cmd</input>
<input>fcs/elevator-cmd-norm</input>
<input>fcs/pitch-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer> <aerosurface_scale name="Elevator Control">
<input>fcs/pitch-trim-sum</input>
<gain>0.018</gain>
<range>
<min>-25</min>
<max>35</max>
</range>
<output>fcs/elevator-pos-rad</output>
</aerosurface_scale> <aerosurface_scale name="Elevator position normalized">
<input>fcs/elevator-pos-deg</input>
<domain>
<min>-25</min>
<max>35</max>
</domain>
<range>
<min>-1</min>
<max>1</max>
</range>
<output>fcs/elevator-pos-norm</output>
</aerosurface_scale>
</channel>
<channel name="Roll">
<summer name="Roll Trim Sum">
<input>ap/roll-cmd-norm-output</input>
<input>fcs/aileron-cmd-norm</input>
<input>fcs/roll-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer> <aerosurface_scale name="Left Aileron Control">
<input>fcs/roll-trim-sum</input>
<gain>0.02</gain>
<range>
<min>-20</min>
<max>15</max>
</range>
<output>fcs/left-aileron-pos-rad</output>
</aerosurface_scale> <aerosurface_scale name="Right Aileron Control">
<input>-fcs/roll-trim-sum</input>
<gain>0.02</gain>
<range>
<min>-20</min>
<max>15</max>
</range>
<output>fcs/right-aileron-pos-rad</output>
</aerosurface_scale> <aerosurface_scale name="Left Aileron position normalized">
<input>fcs/left-aileron-pos-deg</input>
<domain>
<min>-20</min>
<max>15</max>
</domain>
<range>
<min>-0.75</min>
<max>1</max>
</range>
<output>fcs/left-aileron-pos-norm</output>
</aerosurface_scale> <aerosurface_scale name="Right Aileron position normalized">
<input>fcs/right-aileron-pos-deg</input>
<domain>
<min>-20</min>
<max>15</max>
</domain>
<range>
<min>-0.75</min>
<max>1</max>
</range>
<output>fcs/right-aileron-pos-norm</output>
</aerosurface_scale>
</channel>
<channel name="Yaw">
<pure_gain name="Yaw Damper Rate">
<input>velocities/r-rad_sec</input>
<gain>2</gain>
</pure_gain> <pure_gain name="Yaw Damper Beta">
<input>aero/beta-rad</input>
<gain>-5</gain>
</pure_gain> <summer name="Yaw Trim Sum">
<input>fcs/rudder-cmd-norm</input>
<input>fcs/yaw-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer> <summer name="Rudder Sum">
<input>fcs/yaw-trim-sum</input>
<input>fcs/yaw-damper-rate</input>
<input>fcs/yaw-damper-beta</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer> <aerosurface_scale name="Rudder Control">
<input>fcs/rudder-sum</input>
<gain>0.01745</gain>
<range>
<min>-25</min>
<max>25</max>
</range>
<output>fcs/rudder-pos-rad</output>
</aerosurface_scale> <aerosurface_scale name="Rudder position normalized">
<input>fcs/rudder-pos-deg</input>
<domain>
<min>-25</min>
<max>25</max>
</domain>
<range>
<min>-1</min>
<max>1</max>
</range>
<output>fcs/rudder-pos-norm</output>
</aerosurface_scale>
</channel>
<channel name="Flaps">
<kinematic name="Flaps Control">
<input>fcs/flap-cmd-norm</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>1</position>
<time>4</time>
</setting>
<setting>
<position>2</position>
<time>4</time>
</setting>
<setting>
<position>5</position>
<time>3</time>
</setting>
<setting>
<position>10</position>
<time>3</time>
</setting>
<setting>
<position>15</position>
<time>3</time>
</setting>
<setting>
<position>25</position>
<time>3</time>
</setting>
<setting>
<position>30</position>
<time>2</time>
</setting>
<setting>
<position>40</position>
<time>2</time>
</setting>
</traverse>
<output>fcs/flap-pos-deg</output>
</kinematic> <aerosurface_scale name="Flap position normalized">
<input>fcs/flap-pos-deg</input>
<domain>
<min>0</min>
<max>40</max>
</domain>
<range>
<min>0</min>
<max>1</max>
</range>
<output>fcs/flap-pos-norm</output>
</aerosurface_scale>
</channel>
<channel name="Landing Gear">
<kinematic name="Gear Control">
<input>gear/gear-cmd-norm</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>1</position>
<time>5</time>
</setting>
</traverse>
<output>gear/gear-pos-norm</output>
</kinematic>
</channel>
<channel name="Speedbrake">
<kinematic name="Speedbrake">
<input>fcs/speedbrake-cmd-norm</input>
<traverse>
<setting>
<position>0</position>
<time>0</time>
</setting>
<setting>
<position>1</position>
<time>2</time>
</setting>
</traverse>
<output>fcs/speedbrake-pos-norm</output>
</kinematic>
</channel>
</flight_control>
<aerodynamics> <axis name="DRAG">
<function name="aero/coefficient/CDo">
<description>Drag_at_zero_lift</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<value>0.016</value>
</product>
</function>
<function name="aero/coefficient/CDalpha">
<description>Drag_due_to_alpha</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<table>
<independentVar lookup="row">aero/alpha-rad</independentVar>
<independentVar lookup="column">fcs/flap-pos-deg</independentVar>
<tableData>
0.0000 1.0000 25.0000 40.0000
-0.0873 0.0041 0.0000 0.0005 0.0014
-0.0698 0.0013 0.0004 0.0025 0.0041
-0.0524 0.0001 0.0023 0.0059 0.0084
-0.0349 0.0003 0.0057 0.0108 0.0141
-0.0175 0.0020 0.0105 0.0172 0.0212
0.0000 0.0052 0.0168 0.0251 0.0399
0.0175 0.0099 0.0248 0.0346 0.0502
0.0349 0.0162 0.0342 0.0457 0.0621
0.0524 0.0240 0.0452 0.0583 0.0755
0.0698 0.0334 0.0577 0.0724 0.0904
0.0873 0.0442 0.0718 0.0881 0.1068
0.1047 0.0566 0.0874 0.1053 0.1248
0.1222 0.0706 0.1045 0.1240 0.1443
0.1396 0.0860 0.1232 0.1442 0.1654
0.1571 0.0962 0.1353 0.1573 0.1790
0.1745 0.1069 0.1479 0.1708 0.1930
0.1920 0.1180 0.1610 0.1849 0.2075
0.2094 0.1298 0.1746 0.1995 0.2226
0.2269 0.1424 0.1892 0.2151 0.2386
0.2443 0.1565 0.2054 0.2323 0.2564
0.2618 0.1727 0.2240 0.2521 0.2767
0.2793 0.1782 0.2302 0.2587 0.2835
0.2967 0.1716 0.2227 0.2507 0.2753
0.3142 0.1618 0.2115 0.2388 0.2631
0.3316 0.1475 0.1951 0.2214 0.2451
0.3491 0.1097 0.1512 0.1744 0.1966
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/CDde">
<description>Drag_due_to_elevator_Deflection</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>fcs/mag-elevator-pos-rad</property>
<value>0.0500</value>
</product>
</function>
<function name="aero/coefficient/CDbeta">
<description>Drag_due_to_sideslip</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>aero/mag-beta-rad</property>
<value>0.2000</value>
</product>
</function>
<function name="aero/coefficient/CDgear">
<description>Drag_due_to_landing_gear</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>gear/gear-pos-norm</property>
<value>0.0400</value>
</product>
</function>
<function name="aero/coefficient/CDspeedbrake">
<description>Drag_due_to_speedbrake</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>fcs/speedbrake-pos-norm</property>
<value>0.0400</value>
</product>
</function>
</axis> <axis name="SIDE">
<function name="aero/coefficient/CYb">
<description>Side_force_due_to_beta</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<table>
<independentVar>aero/beta-rad</independentVar>
<tableData>
-0.3500 0.5000
0.0000 0.0000
0.3500 -0.5000
</tableData>
</table>
</product>
</function>
</axis> <axis name="LIFT">
<function name="aero/coefficient/CLalpha">
<description>Lift_due_to_alpha</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<table>
<independentVar lookup="row">aero/alpha-rad</independentVar>
<independentVar lookup="column">fcs/flap-pos-deg</independentVar>
<tableData>
0.0000 1.0000 9.0000 10.0000 40.0000
-0.0900 -0.2200 -0.2200 -0.1200 -0.1200 0.3200
0.0000 0.2500 0.2500 0.3500 0.3500 0.7500
0.0900 0.7300 0.7300 0.8300 0.8300 1.2300
0.1000 0.8300 0.8300 0.9300 0.9300 1.3300
0.1200 0.9200 0.9200 1.0200 1.0200 1.4200
0.1400 1.0200 1.0200 1.1200 1.1200 1.5200
0.1600 1.0800 1.0800 1.1800 1.1800 1.5800
0.1700 1.1300 1.1300 1.2300 1.2300 1.6300
0.1900 1.1900 1.1900 1.2900 1.2900 1.6900
0.2100 1.2500 1.2500 1.3500 1.3500 1.7700
0.2400 1.3500 1.3700 1.4700 1.4800 1.9300
0.2600 1.4400 1.4700 1.5700 1.6200 2.1200
0.2800 1.4700 1.5100 1.6100 1.7800 2.4000
0.3000 1.5000 1.5600 1.6600 1.9000 2.3000
0.3200 1.4700 1.6100 1.6000 1.7000 2.0300
0.3400 1.3500 1.5000 1.4100 1.5000 1.5300
0.3600 1.1500 1.2000 1.2000 1.2000 1.2000
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/CLDe">
<description>Lift_due_to_Elevator_Deflection</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>fcs/elevator-pos-rad</property>
<value>0.1930</value>
</product>
</function>
</axis> <axis name="ROLL">
<function name="aero/coefficient/Clb">
<description>Roll_moment_due_to_beta</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<table>
<independentVar>aero/beta-rad</independentVar>
<tableData>
-0.3500 0.0100
0.0000 0.0000
0.3500 -0.0100
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/Clp">
<description>Roll_moment_due_to_roll_rate_(roll_damping)</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>aero/bi2vel</property>
<property>velocities/p-aero-rad_sec</property>
<value>-0.5000</value>
</product>
</function>
<function name="aero/coefficient/Clr">
<description>Roll_moment_due_to_yaw_rate</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>aero/bi2vel</property>
<property>velocities/r-aero-rad_sec</property>
<value>0.0050</value>
</product>
</function>
<function name="aero/coefficient/Clda">
<description>Roll_moment_due_to_aileron</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>fcs/left-aileron-pos-rad</property>
<value>0.2000</value>
</product>
</function>
<function name="aero/coefficient/Cldr">
<description>Roll_moment_due_to_rudder</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>fcs/rudder-pos-rad</property>
<value>0.0050</value>
</product>
</function>
</axis> <axis name="PITCH">
<function name="aero/coefficient/Cmo">
<description>Pitching_moment_at_zero_alpha</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/cbarw-ft</property>
<table>
<independentVar>fcs/flap-pos-deg</independentVar>
<tableData>
0.0000 0.0400
40.0000 -0.1000
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/Cmalpha">
<description>Pitch_moment_due_to_alpha</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/cbarw-ft</property>
<property>aero/alpha-rad</property>
<value>-4.0000</value>
</product>
</function>
<function name="aero/coefficient/CmDe">
<description>Pitch_moment_due_to_elevator_Deflection</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/cbarw-ft</property>
<property>fcs/elevator-pos-rad</property>
<value>-1.5000</value>
</product>
</function>
<function name="aero/coefficient/Cmq">
<description>Pitch_moment_due_to_pitch_rate</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/cbarw-ft</property>
<property>aero/ci2vel</property>
<property>velocities/q-aero-rad_sec</property>
<value>-10.0000</value>
</product>
</function>
<function name="aero/coefficient/Cmadot">
<description>Pitch_moment_due_to_alpha_rate</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/cbarw-ft</property>
<property>aero/ci2vel</property>
<property>aero/alphadot-rad_sec</property>
<value>-12.0000</value>
</product>
</function>
</axis> <axis name="YAW">
<function name="aero/coefficient/Cnr">
<description>Yaw_moment_due_to_yaw_rate</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>aero/bi2vel</property>
<property>velocities/r-aero-rad_sec</property>
<value>-0.0400</value>
</product>
</function>
<function name="aero/coefficient/Cnb">
<description>Yaw_moment_due_to_beta</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>aero/beta-rad</property>
<value>0.2000</value>
</product>
</function>
<function name="aero/coefficient/Cndr">
<description>Yaw_moment_due_to_rudder</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<property>metrics/bw-ft</property>
<property>fcs/rudder-pos-rad</property>
<value>-0.5000</value>
</product>
</function>
</axis>
</aerodynamics>
<input port="8019">
</input> <output name="127.0.0.1" port="8018" type="otVREarthSim" rate="30">
<property> position/long-gc-deg </property>
<property> position/lat-gc-deg </property>
<property> position/h-sl-ft </property>
<property> attitude/roll-rad </property>
<property> attitude/pitch-rad </property>
<property> attitude/heading-true-rad </property> <property> velocities/vc-kts </property>
<property> velocities/h-dot-fps </property>
<property> attitude/theta-deg </property>
<property> attitude/phi-deg </property> <property> velocities/v-north-fps </property>
<property> velocities/v-east-fps </property>
<property> velocities/v-down-fps </property> <property> fcs/throttle-pos-norm </property>
<property> fcs/elevator-pos-deg </property>
<property> fcs/left-aileron-pos-deg </property>
<property> fcs/right-aileron-pos-deg </property>
<property> fcs/rudder-pos-deg </property> <property> inertia/weight-lbs </property>
<property> inertia/empty-weight-lbs </property>
<property> propulsion/total-fuel-lbs </property> <property> forces/fbx-prop-lbs </property>
<property> forces/fby-prop-lbs </property>
<property> forces/fbz-prop-lbs </property> <property> velocities/x-fps </property>
<property> velocities/y-fps </property>
<property> velocities/z-fps </property> <property> accelerations/xdot-ft_sec2 </property>
<property> accelerations/ydot-ft_sec2 </property>
<property> accelerations/zdot-ft_sec2 </property> <property>fcs/left-gear-pos-deg</property>
<property>fcs/right-gear-pos-deg</property>
<property>fcs/head-gear-pos-deg</property>
<property>fcs/left-flap-pos-deg</property>
<property>fcs/right-flap-pos-deg</property>
<property>fcs/left-elevator-deg</property>
<property>fcs/right-elevator-deg</property>
<property>fcs/left-rudder-deg</property>
<property>fcs/right-rudder-deg</property> </output>
</fdm_config>
A320.xml 飞机文件
<?xml version="1.0"?>
<initialize name="reset00">
<!--
This file sets up the aircraft to start off
from the runway in preparation for takeoff.
-->
<ubody unit="FT/SEC"> 0.0 </ubody>
<vbody unit="FT/SEC"> 0.0 </vbody>
<wbody unit="FT/SEC"> 0.0 </wbody>
<longitude unit="DEG"> -95.163839 </longitude>
<latitude unit="DEG"> 29.593978 </latitude>
<phi unit="DEG"> 0.0 </phi>
<theta unit="DEG"> 0.0 </theta>
<psi unit="DEG"> 180 </psi>
<altitude unit="FT"> 8.5 </altitude>
<elevation unit="FT"> 182.43 </elevation>
</initialize>
reset00.xml 飞机初始化文件
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