<?xml version="1.0"?>


<PropertyList>

    <!-- =============================================================== -->
    <!--                        Lateral Modes                            -->
    <!-- =============================================================== -->

    <pid-controller>
        <name>TO/GA1</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/roll-mode</property>
            <value>TO/GA</value>
        </enable>
        <input>
            <property>orientation/roll-deg</property>
        </input>
        <reference>
            <value>0.0</value>
        </reference>
        <output>
            <property>autopilot/internal/target-roll-deg</property>
        </output>
        <config>
            <Ts>0.05</Ts>
            <Kp>-1.0</Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.0</Td>
            <u_min>
                <property>instrumentation/afds/settings/bank-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/bank-max</property>
            </u_max>
        </config>
    </pid-controller>

    <pi-simple-controller>
        <name>HDG HOLD</name>
        <debug>false</debug>
        <enable>
            <condition>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>HDG SEL</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>HDG HOLD</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>TRK SEL</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>TRK HOLD</value>
                    </equals>
                </or>
            </condition>
        </enable>
        <input>
            <property>autopilot/internal/heading-bug-error-deg</property>
        </input>
        <reference>
            <value>0</value>
        </reference>
        <output>
            <property>autopilot/internal/target-roll-deg</property>
        </output>
        <config>
            <Kp>-1.75</Kp>
            <Ki>0.00</Ki>
            <u_min>
                <property>instrumentation/afds/settings/bank-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/bank-max</property>
            </u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>LNAV1</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/roll-mode</property>
            <value>LNAV</value>
        </enable>
        <input>
            <property>autopilot/internal/course-error-deg</property>
        </input>
        <reference>
            <value>0.0</value>
        </reference>
        <output>
            <property>autopilot/internal/target-roll-deg</property>
        </output>
        <config>
            <Kp>-1.75</Kp>
            <Ki>0.0</Ki>
            <u_min>
            <property>instrumentation/afds/settings/bank-min</property>
            </u_min>
            <u_max>
            <property>instrumentation/afds/settings/bank-max</property>
            </u_max>
        </config>
    </pi-simple-controller>

    <filter>
        <name>nav1 heading error computer/normalizer</name>
        <debug>false</debug>
        <type>gain</type>
        <input>
        <property>instrumentation/nav[0]/radials/target-auto-hdg-deg</property>
        <offset>
            <property>orientation/heading-deg</property>
            <scale>-1.0</scale>
        </offset>
        </input>
        <output>autopilot/internal/nav1-heading-error-deg</output>
        <period>
            <min>-180</min>
            <max>180</max>
        </period>
        <gain>1.0</gain>
    </filter>

    <pi-simple-controller>
        <name>LOC1</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/roll-mode</property>
            <value>LOC</value>
        </enable>
        <input>
            <property>autopilot/internal/nav1-heading-error-deg</property>
        </input>
        <reference>
            <value>0.0</value>
        </reference>
        <output>
            <property>autopilot/internal/target-roll-deg</property>
        </output>
        <config>
            <Kp>-3.0</Kp>
            <Ki>0.0</Ki>
            <u_min>
                <property>instrumentation/afds/settings/bank-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/bank-max</property>
            </u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>ROLLOUT-rudder-air</name>
        <debug>false</debug>
        <enable>
            <condition>
                <and>
                    <property>instrumentation/afds/inputs/AP</property>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>ROLLOUT</value>
                    </equals>
                    <not><property>gear/gear[0]/wow</property></not>
                </and>
            </condition>
        </enable>
        <input>
            <property>orientation/heading-deg</property>
        </input>
        <reference>
            <property>instrumentation/nav/heading-deg</property>
        </reference>
        <output>
            <property>controls/flight/rudder</property>
        </output>
        <config>
            <Kp>0.03</Kp>
            <Ki>0.01</Ki>
            <u_min>-5.0</u_min>
            <u_max>5.0</u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>ROLLOUT-rudder-gnd</name>
        <debug>false</debug>
        <enable>
            <condition>
                <and>
                    <property>instrumentation/afds/inputs/AP</property>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>ROLLOUT</value>
                    </equals>
                    <property>gear/gear[0]/wow</property>
                </and>
            </condition>
        </enable>
        <input>
            <property>autopilot/internal/nav1-heading-error-deg</property>
        </input>
        <reference>
            <value>0.0</value>
        </reference>
        <output>
            <property>controls/flight/rudder</property>
        </output>
        <config>
            <Kp>-0.10</Kp>
            <Ki>0.0</Ki>
            <u_min>-5.0</u_min>
            <u_max>5.0</u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>ROLLOUT-aileron</name>
        <debug>false</debug>
        <enable>
            <condition>
                <and>
                    <property>instrumentation/afds/inputs/AP</property>
                    <equals>
                        <property>instrumentation/afds/ap-modes/roll-mode</property>
                        <value>ROLLOUT</value>
                    </equals>
                </and>
            </condition>
        </enable>
        <input>
            <property>orientation/roll-deg</property>
        </input>
        <reference>
            <value>/orientation/side-slip-deg</value>
            <scale>-1.0</scale> <!-- change in side-slip sign as reported by yasim, see bug #901 -->
        </reference>
        <output>
            <property>autopilot/internal/target-roll-deg</property>
        </output>
        <config>
            <Kp>5.0</Kp>
            <Ki>0.0</Ki>
            <u_min>
                <property>instrumentation/afds/settings/bank-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/bank-max</property>
            </u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>Aileron Control</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/inputs/AP</property>
        </enable>
        <input>
            <property>orientation/roll-deg</property>
        </input>
        <reference>
            <property>autopilot/internal/target-roll-deg</property>
        </reference>
        <output>
            <property>controls/flight/aileron</property>
        </output>
        <config>
            <Kp>
                <condition>
                    <greater-than>
                        <property>instrumentation/airspeed-indicator/indicated-mach</property>
                        <value>0.666</value>
                    </greater-than>
                </condition>
                <value>0.01</value>
            </Kp>
            <Kp>0.02</Kp>
            <Ti>10</Ti>
            <Td>0.0</Td>
            <u_min>
                <value>-1.0</value>
            </u_min>
            <u_max>
                <value>1.0</value>
            </u_max>
        </config>
    </pi-simple-controller>

    <pi-simple-controller>
        <name>Rudder Control</name>
        <debug>false</debug>
        <enable>
            <condition>
                <and>
                    <property>instrumentation/afds/inputs/AP</property>
                    <not><property>gear/gear[1]/wow</property></not>
                    <not>
                        <equals>
                            <property>instrumentation/afds/ap-modes/roll-mode</property>
                            <value>ROLLOUT</value>
                        </equals>
                    </not>
                </and>
            </condition>
        </enable>
        <input>
            <property>instrumentation/slip-skid-ball/indicated-slip-skid</property>
        </input>
        <reference>
            <value>0.0</value>
        </reference>
        <output>
            <property>controls/flight/rudder</property>
        </output>
        <config>
            <Kp>0.15</Kp>
            <Ki>0.0</Ki>
            <u_min>-0.5</u_min>
            <u_max>0.5</u_max>
        </config>
    </pi-simple-controller>

    <!-- =============================================================== -->
    <!-- Pitch Axis Modes                                                -->
    <!-- =============================================================== -->

    <pi-simple-controller>
        <name>TO/GA</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/pitch-mode</property>
            <value>TO/GA</value>
        </enable>
        <input>
            <property>instrumentation/altimeter/indicated-altitude-ft</property>
        </input>
        <reference>
            <value>10000</value>
        </reference>
        <output>
            <property>autopilot/internal/target-climb-rate-fps</property>
        </output>
        <config>
            <Kp>0.3</Kp>
            <Ki>0.0</Ki>
            <u_min>
            <value>-16.67</value>
            </u_min>
            <u_max>
            <value>33.33</value>
            </u_max>
        </config>
    </pi-simple-controller>

    <pid-controller>
        <name>TO/GA 2</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/pitch-mode</property>
            <value>TO/GA</value>
        </enable>
        <input>
            <property>velocities/vertical-speed-fps</property>
        </input>
        <reference>
            <property>autopilot/internal/target-climb-rate-fps</property>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <Ts>0.05</Ts>
            <Kp>0.1</Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.00001</Td>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Target spped local</name>
        <type>gain</type>
        <gain>1.0</gain>
        <input>
            <property>instrumentation/airspeed-indicator/indicated-speed-kt</property>
        </input>
        <output>
            <property>autopilot/internal/current-speed-kt</property>
        </output>
    </filter>

    <filter>
        <name>Target speed filter</name>
        <debug>false</debug>
        <type>noise-spike</type>
        <max-rate-of-change>
            <value>1.5</value>
        </max-rate-of-change>
        <input>instrumentation/afds/ias-target-kt</input>
        <output>/autopilot/internal/ias-set-kt</output>
    </filter>

    <pid-controller>
        <name>Flight Level Change IAS</name>
        <debug>false</debug>
        <initialize-to>output</initialize-to>
        <enable>
            <condition>
            <and>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>FLCH SPD</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>VNAV SPD</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>2</value>
                        </equals>
                    </and>
                </or>
                <not>
                    <property>instrumentation/afds/inputs/ias-mach-selected</property>
                </not>
            </and>
            </condition>
        </enable>
        <input>
            <property>autopilot/internal/current-speed-kt</property>
        </input>
        <reference>
            <property>autopilot/internal/ias-set-kt</property>
        </reference>
        <output>
            <property>autopilot/internal/flch-pitch-deg</property>
        </output>
        <config>
            <Kp>-0.25</Kp>
            <Ti>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>30.0</value>
            </Ti>
            <Ti>10.0</Ti>
            <Td>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>0.0018</value>
            </Td>
            <Td>0.000</Td>
            <u_min>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>0</value>
            </u_min>
            <u_min>
                <value>-7.0</value>
            </u_min>
            <u_max>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
            <u_max>
                <condition>
                    <greater-than>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                    </greater-than>
                </condition>
                <property>autopilot/internal/current-pitch-deg</property>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Target mach local</name>
        <type>gain</type>
        <gain>1.0</gain>
        <input>
            <property>instrumentation/airspeed-indicator/indicated-mach</property>
        </input>
        <output>
            <property>autopilot/internal/current-mach</property>
        </output>
    </filter>

    <filter>
        <name>Target mach filter</name>
        <type>noise-spike</type>
        <max-rate-of-change>
            <value>0.006</value>
        </max-rate-of-change>
        <input>/autopilot/settings/target-speed-mach</input>
        <output>/autopilot/internal/mach-set</output>
    </filter>

    <pid-controller>
        <name>Flight Level Change Mach</name>
        <debug>false</debug>
        <initialize-to>output</initialize-to>
        <enable>
        <condition>
            <and>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>FLCH SPD</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>VNAV SPD</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>2</value>
                        </equals>
                    </and>
                </or>
                <property>instrumentation/afds/inputs/ias-mach-selected</property>
            </and>
            </condition>
        </enable>
        <input>
            <property>autopilot/internal/current-mach</property>
        </input>
        <reference>
            <prop>/autopilot/internal/mach-set</prop>
        </reference>
        <output>
            <property>autopilot/internal/flch-pitch-deg</property>
        </output>
        <config>
            <Kp>-75.0</Kp>
            <Ti>10.0</Ti>
            <Td>0</Td>
            <u_min>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <value>0</value>
            </u_min>
            <u_min>
                <value>-7.0</value>
            </u_min>
            <u_max>
                <condition>
                    <greater-than>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    </greater-than>
                </condition>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
            <u_max>
                <condition>
                    <greater-than>
                        <property>instrumentation/altimeter/indicated-altitude-ft</property>
                        <property>autopilot/settings/actual-target-altitude-ft</property>
                    </greater-than>
                </condition>
                <property>autopilot/internal/current-pitch-deg</property>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Target flch pitch</name>
        <debug>false</debug>
        <type>gain</type>
        <gain>1.0</gain>
        <enable>
            <condition>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>FLCH SPD</value>
                    </equals>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>VNAV SPD</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>2</value>
                        </equals>
                    </and>
                </or>
            </condition>
        </enable>
        <input>
            <property>autopilot/internal/flch-pitch-deg</property>
        </input>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </filter>

    <pi-simple-controller>
        <name>Altitude Stage 1</name>
        <debug>false</debug>
        <enable>
            <condition>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>ALT</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>0</value>
                        </equals>
                    </and>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>VNAV ALT</value>
                    </equals>
                </or>
            </condition>
        </enable>
        <input>
            <property>instrumentation/altimeter/indicated-altitude-ft</property>
        </input>
        <reference>
            <property>autopilot/settings/actual-target-altitude-ft</property>
        </reference>
        <output>
            <property>autopilot/internal/target-climb-rate-fps</property>
        </output>
        <config>
            <Kp>0.15</Kp>
            <Ki>0.01</Ki>
            <u_min>
            <value>-20.00</value>
            </u_min>
            <u_max>
            <value>20.00</value>
            </u_max>
        </config>
    </pi-simple-controller>

    <pid-controller>
        <name>Altitude Hold (Altimeter based) Stage 2</name>
        <debug>false</debug>
        <enable>
            <condition>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>ALT</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>0</value>
                        </equals>
                    </and>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>VNAV ALT</value>
                    </equals>
                </or>
            </condition>
        </enable>
        <input>
            <property>velocities/vertical-speed-fps</property>
        </input>
        <reference>
            <property>autopilot/internal/target-climb-rate-fps</property>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
        <Kp>
            <condition>
                <greater-than>
                    <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    <value>26000</value>
                </greater-than>
            </condition>
            <value>0.1</value>
        </Kp>
        <Kp>
            <condition>
                <greater-than>
                    <property>instrumentation/altimeter/indicated-altitude-ft</property>
                    <value>14000</value>
                </greater-than>
            </condition>
            <value>0.2</value>
        </Kp>
            <Kp>0.5</Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.005</Td>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Current spped local</name>
        <type>gain</type>
        <gain>1.0</gain>
        <input>
            <property>instrumentation/airspeed-indicator/indicated-speed-kt</property>
        </input>
        <output>
            <property>autopilot/internal/current-vnavspeed-kt</property>
        </output>
    </filter>

    <filter>
        <name>Current GSVspped local</name>
        <debug>false</debug>
        <type>gain</type>
        <gain>1.0</gain>
        <enable>
            <condition>
                <greater-than>
                    <property>position/gear-agl-ft</property>
                    <value>150.0</value>
                </greater-than>
            </condition>
        </enable>
        <input>
            <property>instrumentation/nav[0]/gs-rate-of-climb</property>
        </input>
        <output>
            <property>autopilot/internal/current-gs-rate-of-climb</property>
        </output>
    </filter>

    <pid-controller>
        <name>Glideslop Hold</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/pitch-mode</property>
            <value>G/S</value>
        </enable>
        <input>
            <property>velocities/vertical-speed-fps</property>
        </input>
        <reference>
            <property>autopilot/internal/current-gs-rate-of-climb</property>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <Kp>0.63</Kp>
            <Td>0.0007</Td>
            <Ti>50.0</Ti>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <pid-controller>
        <name>VS</name>
        <debug>false</debug>
        <enable>
            <condition>
                <or>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>V/S</value>
                    </equals>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>VNAV PTH</value>
                        </equals>
                        <equals>
                            <property>instrumentation/afds/inputs/vnav-path-mode</property>
                            <value>1</value>
                        </equals>
                    </and>
                </or>
            </condition>
        </enable>
        <input>
            <property>velocities/vertical-speed-fps</property>
        </input>
        <reference>
            <property>autopilot/settings/vertical-speed-fpm</property>
            <scale>0.01666666</scale>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <Ts>0.05</Ts>
            <Kp>0.15</Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.00001</Td>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Flare end</name>
        <debug>false</debug>
        <type>gain</type>
        <gain>1.0</gain>
        <enable>
            <condition>
                <and>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>FLARE</value>
                    </equals>
                    <less-than>
                        <property>position/gear-agl-ft</property>
                        <value>0.1</value>
                    </less-than>
                </and>
            </condition>
        </enable>
        <input>
            <value>-3.0</value>
        </input>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
    </filter>

    <pid-controller>
        <name>Flare</name>
        <debug>false</debug>
        <enable>
                <condition>
                    <and>
                        <equals>
                            <property>instrumentation/afds/ap-modes/pitch-mode</property>
                            <value>FLARE</value>
                        </equals>
                        <greater-than>
                            <property>position/gear-agl-ft</property>
                            <value>0.1</value>
                        </greater-than>
                    </and>
                </condition>
        </enable>
        <input>
            <property>velocities/vertical-speed-fps</property>
        </input>
        <reference>
            <property>autopilot/settings/flare-speed-fps</property>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <Ts>0.05</Ts>
            <Kp>
                <property>autopilot/settings/flare-constant</property>
            </Kp>
            <beta>1.0</beta>
            <alpha>0.1</alpha>
            <gamma>0.0</gamma>
            <Ti>10.0</Ti>
            <Td>0.001</Td>
            <u_min>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <pid-controller>
        <name>Flight Path Hold</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/ap-modes/pitch-mode</property>
            <value>FPA</value>
        </enable>
        <input>
            <property>autopilot/internal/fpa</property>
        </input>
        <reference>
            <property>autopilot/settings/flight-path-angle</property>
        </reference>
        <output>
            <property>autopilot/internal/target-pitch-deg</property>
        </output>
        <config>
            <Ts>0.05</Ts>
            <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>
                <property>instrumentation/afds/settings/pitch-min</property>
            </u_min>
            <u_max>
                <property>instrumentation/afds/settings/pitch-max</property>
            </u_max>
        </config>
    </pid-controller>

    <pid-controller>
        <name>Elevator Control</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/inputs/AP</property>
        </enable>
        <input>
            <property>orientation/pitch-deg</property>
        </input>
        <reference>
            <property>autopilot/internal/target-pitch-deg</property>
        </reference>
        <output>
            <property>controls/flight/elevator-filter</property>
        </output>
        <config>
            <Kp>
                <condition>
                    <equals>
                        <property>instrumentation/afds/ap-modes/pitch-mode</property>
                        <value>G/S</value>
                    </equals>
                </condition>
                <value>-0.024</value>
            </Kp>
            <Kp>-0.018</Kp>
            <Ti>2.0</Ti>
            <Td>0.0</Td>
            <u_min>
                <value>-1.0</value>
            </u_min>
            <u_max>
                <value>1.0</value>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Elevator control filter</name>
        <debug>false</debug>
        <type>noise-spike</type>
        <enable>
            <property>instrumentation/afds/inputs/AP</property>
        </enable>
        <max-rate-of-change>
            <condition>
                <greater-than>
                    <property>instrumentation/airspeed-indicator/indicated-mach</property>
                    <value>0.85</value>
                </greater-than>
            </condition>
            <value>0.05</value>
        </max-rate-of-change>
        <max-rate-of-change>
            <condition>
                <greater-than>
                    <property>instrumentation/airspeed-indicator/indicated-mach</property>
                    <value>0.666</value>
                </greater-than>
            </condition>
            <value>0.1</value>
        </max-rate-of-change>
        <max-rate-of-change>
            <condition>
                <greater-than>
                    <property>instrumentation/airspeed-indicator/indicated-mach</property>
                    <value>0.5</value>
                </greater-than>
            </condition>
            <value>0.15</value>
        </max-rate-of-change>
        <max-rate-of-change>0.2</max-rate-of-change>
        <initialize-to>output</initialize-to>
        <input>
            <property>controls/flight/elevator-filter</property>
        </input>
        <output>/controls/flight/elevator</output>
    </filter>

    <pid-controller>
        <name>Stabilizer Control</name>
        <debug>false</debug>
        <enable>
            <property>instrumentation/afds/inputs/AP</property>
        </enable>
        <input>
            <property>controls/flight/elevator</property>
        </input>
        <reference>
            <value>0</value>
        </reference>
        <output>
            <property>controls/flight/elevator-trim</property>
        </output>
        <config>
            <Kp>-0.05</Kp>
            <Ti>10.0</Ti>
            <Td>0.0</Td>
            <u_min>
                <value>-1.0</value>
            </u_min>
            <u_max>
                <value>1.0</value>
            </u_max>
        </config>
    </pid-controller>

    <filter>
        <name>Tiller control filter nose</name>
        <debug>false</debug>
        <type>noise-spike</type>
        <max-rate-of-change>
            <value>10.0</value>
        </max-rate-of-change>
        <input>controls/gear/nosegear-steering-cmd</input>
        <output>controls/gear/nosegear-steering-cmd-norm</output>
    </filter>

    <filter>
        <name>Tiller control filter main</name>
        <debug>false</debug>
        <type>noise-spike</type>
        <max-rate-of-change>
            <value>10.0</value>
        </max-rate-of-change>
        <input>controls/gear/maingear-steering-cmd</input>
        <output>controls/gear/maingear-steering-cmd-norm</output>
    </filter>

</PropertyList>
