<?xml version="1.0"?>
<!--
    Autopilot Version 4 Configuration for the Citation-Bravo or Citation
    Based on 737-AutopilotV4.XML
    -->
<!--
    This is still in development, so not all of the controllers are
    currently used, or work properly.
-->
<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/fdm-heading-bug-error-deg</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/internal/target-roll-deg</prop>
		</output>
		<config>
			<Kp>-1.3</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>40.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-30.0</u_min>
			<!-- minimum output clamp -->
			<u_max>30.0</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>0.2</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 nav1-heading-error-deg.
-->
	<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>-1.3</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>40</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-30.0</u_min>
			<!-- minimum output clamp -->
			<u_max>30.0</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>0.2</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>-0.15</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>5.0</Ti>
			<!-- integrator time -->
			<Td>0.1</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 pitch hold with yoke -->
	<pid-controller>
		<name>Pitch hold w/ yoke</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>pitch-hold-yoke</value>
		</enable>
		<input>
			<prop>/orientation/pitch-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-pitch-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator</prop>
		</output>
		<config>
			<Kp>-0.05</Kp>
			<!-- proportional gain (was 0.05)-->
			<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>.5</Ti>
			<!-- integrator time (was 1.0) -->
			<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>
			<u_min>-33.3</u_min>
			<!-- minimum output clamp -->
			<u_max>33.3</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/33-speed-fps</prop>
		</input>
		<reference>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.002</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.
-->
	<pid-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>
			<beta>1.0</beta>
			<!-- input value weighing factor -->
			<u_min>-33.33</u_min>
			<!-- minimum output clamp -->
			<u_max>33.33</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-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>afl-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>-0.001</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. -->
	
		
	<pid-controller>
		<name>Glideslope 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>-0.004</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</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-.68</u_min>
			<!-- minimum output clamp -->
			<u_max>.68</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!--
    ==============
    Velocity Modes
    ==============
-->
	<!-- Simple Auto throttle -->
	<pid-controller>
		<name>Auto Throttle</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>speed-with-throttle</value>
		</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>
			<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>
		</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>0.001</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 (Two stage cascading controller) -->
	<pid-controller>
		<name>Speed hold (vary pitch) Stage #1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>speed-with-pitch</value>
		</enable>
		<input>
			<prop>/velocities/airspeed-kt</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-speed-kt</prop>
		</reference>
		<output>
			<prop>/autopilot/settings/target-pitch-deg</prop>
		</output>
		<config>
			<Kp>.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>0.2</Ti>
			<!-- integrator time -->
			<Td>0.00001</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) 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>-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>
	<!-- ==========================================================-->
	<!-- Custom Controllers -->
	<!-- ==========================================================-->
	<!-- Modified pitch hold for take-offs -->
	<pid-controller>
		<name>T-O Pitch hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>take-off</value>
		</enable>
		<input>
			<prop>/orientation/pitch-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/take-off-pitch-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.8</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>8.0</Ti>
			<!-- integrator time -->
			<Td>0.1</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Modified pitch hold for initial climb-out -->
	<pid-controller>
		<name>Climb Out Pitch hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>climb-out</value>
		</enable>
		<input>
			<prop>/orientation/pitch-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/climb-out-pitch-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.06</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>0.01</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Auto throttle (Mach Hold)-->
	<pid-controller>
		<name>Auto Throttle (Mach Hold)</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/speed</prop>
			<value>mach-with-throttle</value>
		</enable>
		<input>
			<prop>/velocities/mach</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-mach</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>
		</output>
		<config>
			<Kp>20.0</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>0.0</u_min>
			<!-- minimum output clamp -->
			<u_max>1.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!--
        Mach Climb Hold.
        Two stage controller based on modified Altitude hold.
        Stage #1 sets target rate of climb based on diff between
        current mach and target mach.
-->
	<pid-controller>
		<name>Mach Lock Climb Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>mach-climb</value>
		</enable>
		<input>
			<prop>/autopilot/settings/target-mach</prop>
		</input>
		<reference>
			<prop>/velocities/mach</prop>
		</reference>
		<output>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</output>
		<config>
			<Kp>1600.0</Kp>
			<!-- proportional gain -->
			<beta>1.0</beta>
			<!-- input value weighing factor -->
			<alpha>0.01</alpha>
			<!-- low pass filter weighing factor -->
			<gamma>0.0</gamma>
			<!-- input value weighing factor for -->
			<!-- unfiltered derivative error -->
			<Ti>40.0</Ti>
			<!-- integrator time -->
			<Td>0.00001</Td>
			<!-- derivator time -->
			<u_min>-1.0</u_min>
			<!-- minimum output clamp -->
			<u_max>50.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
	<pid-controller>
		<name>Mach lock Climb Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>mach-climb</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>-0.008</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>
	<!--
        Modified AGL hold for autopilot landing - 2 stage cascade controller.
        Stage #1 sets target rate of climb based on diff between current agl
        and target (zero) agl
-->
	<pid-controller>
		<name>Auto Landing Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>Touch Down</value>
		</enable>
		<input>
			<prop>/position/altitude-agl-ft</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/internal/target-climb-rate-fps</prop>
		</output>
		<config>
			<Kp>0.051</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>0.001</Td>
			<!-- derivator time -->
			<u_min>-12.0</u_min>
			<!-- minimum output clamp -->
			<u_max>-0.10</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
	<pid-controller>
		<name>Auto Landing Stage 2</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>Touch Down</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>-0.02</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>2.0</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 Ground Roll Rudder Heading Hold -->
	<pid-controller>
		<name>Ground Roll Rudder hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/rudder-control</prop>
			<value>rudder-hold</value>
		</enable>
		<input>
			<prop>/orientation/heading-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/ground-roll-heading-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/rudder</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>5.0</Ti>
			<!-- integrator time -->
			<Td>0.1</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 AoA-by-speed Hold -->
	<pid-controller>
		<name>AoA-by-speed Hold</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/AoA-lock</prop>
			<value>Engaged</value>
		</enable>
		<input>
			<prop>/orientation/alpha-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/AoA-deg</prop>
		</reference>
		<output>
			<prop>/autopilot/settings/target-speed-kt</prop>
		</output>
		<config>
			<Kp>-3.0</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>0.001</Td>
			<!-- derivator time -->
			<u_min>90.0</u_min>
			<!-- minimum output clamp -->
			<u_max>160.0</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!-- Simple Flap Control -->
	<pid-controller>
		<name>Simple Flap Control</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/auto-flap-control</prop>
			<value>Engaged</value>
		</enable>
		<input>
			<prop>/orientation/alpha-deg</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/auto-flap-target-deg</prop>
		</reference>
		<output>
			<prop>/controls/flight/flaps</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</u_min>
			<!-- minimum output clamp -->
			<u_max>1</u_max>
			<!-- maximum output clamp -->
		</config>
	</pid-controller>
	<!--
    Nav1 hold - Final approach.  2 stage cascade controller.
    Stage #1 sets target roll based on heading-needle-deflection.
-->
	<pid-controller>
		<name>Nav1 Hold Stage 1</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/heading</prop>
			<value>nav1-hold-fa</value>
		</enable>
		<input>
			<prop>/instrumentation/nav[0]/heading-needle-deflection</prop>
		</input>
		<reference>
			<value>0.0</value>
		</reference>
		<output>
			<prop>/autopilot/internal/target-roll-deg</prop>
		</output>
		<config>
			<Kp>-10.0</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>60</Ti>
			<!-- integrator time -->
			<Td>4.0</Td>
			<!-- derivator time -->
			<u_min>-6.0</u_min>
			<!-- minimum output clamp -->
			<u_max>6.0</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-fa</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>0.6</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>4.0</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 VFPS hold (low-speed) -->
	<pid-controller>
		<name>VFPS Hold (low-speed)</name>
		<debug>false</debug>
		<enable>
			<prop>/autopilot/locks/altitude</prop>
			<value>vfps-hold-ls</value>
		</enable>
		<input>
			<prop>/velocities/vertical-speed-fps</prop>
		</input>
		<reference>
			<prop>/autopilot/settings/target-vfps</prop>
		</reference>
		<output>
			<prop>/controls/flight/elevator-trim</prop>
		</output>
		<config>
			<Kp>-0.018</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>6.0</Ti>
			<!-- integrator time -->
			<Td>0.001</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>

