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733-autopilot.xml
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<?xml version="1.0"?>
<!-- 737-400 Autopilot -->
<!-- Each component is evaluated in the order specified. You can make up -->
<!-- property names to pass the result of one component on to a subsequent -->
<!-- component. -->
<PropertyList>
<!-- =============================================================== -->
<!-- Roll Axis Modes -->
<!-- =============================================================== -->
<!-- Wing leveler -->
<pid-controller>
<name>Wing Leveler (Turn Coordinator based)</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-LVL/</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/instrumentation/turn-indicator/indicated-turn-rate</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/internal/aileron-servo</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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-HDG/</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/autopilot/internal/heading-bug-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/internal/target-roll-deg</prop>
</output>
<config>
<Kp>-1.5</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>-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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-HDG/</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/target-roll-deg</prop>
</reference>
<output>
<prop>/autopilot/internal/aileron-servo</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>
<!-- 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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-FMS</property>
<value>true</value>
</equals>
<or>
<and>
<equals>
<property>/autopilot/route-manager/active</property>
<value>true</value>
</equals>
<greater-than>
<property>/autopilot/internal/eta-wp-min</property>
<value>.1</value>
</greater-than>
</and>
<equals>
<property>/autopilot/route-manager/active</property>
<value>false</value>
</equals>
</or>
</and>
</condition>
</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>-1.9</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>0.00001</Td>
<!-- derivator time -->
<u_min>-25.0</u_min>
<!-- minimum output clamp -->
<u_max>25.0</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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-FMS</property>
<value>true</value>
</equals>
<or>
<and>
<equals>
<property>/autopilot/route-manager/active</property>
<value>true</value>
</equals>
<greater-than>
<property>/autopilot/internal/eta-wp-min</property>
<value>.1</value>
</greater-than>
</and>
<equals>
<property>/autopilot/route-manager/active</property>
<value>false</value>
</equals>
</or>
</and>
</condition>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/target-roll-deg</prop>
</reference>
<output>
<prop>/autopilot/internal/aileron-servo</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 diff between current heading -->
<!-- and target heading. -->
<pid-controller>
<name>Nav1 Hold Stage 1</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-NAV1</property>
<value>true</value>
</equals>
<equals>
<property>/instrumentation/nav/in-range</property>
<value>true</value>
</equals>
</and>
</condition>
</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>-1.5</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>-25.0</u_min>
<!-- minimum output clamp -->
<u_max>25.0</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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-NAV1</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/target-roll-deg</prop>
</reference>
<output>
<prop>/autopilot/internal/aileron-servo</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>
<!-- Nav2 hold. 2 stage cascade controller. -->
<!-- Stage #1 sets target roll based on diff between current heading -->
<!-- and target heading. -->
<pid-controller>
<name>Nav2 Hold Stage 1</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-NAV2</property>
<value>true</value>
</equals>
<equals>
<property>/instrumentation/nav[1]/in-range</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/autopilot/internal/nav2-heading-error-deg</prop>
</input>
<reference>
<value>0.0</value>
</reference>
<output>
<prop>/autopilot/internal/target-roll-deg</prop>
</output>
<config>
<Kp>-1.5</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>-25.0</u_min>
<!-- minimum output clamp -->
<u_max>25.0</u_max>
<!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
<pid-controller>
<name>Nav2 Hold Stage 2</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV-NAV2</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/orientation/roll-deg</prop>
</input>
<reference>
<prop>/autopilot/internal/target-roll-deg</prop>
</reference>
<output>
<prop>/autopilot/internal/aileron-servo</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>
<!-- =============================================================== -->
<!-- Pitch Axis Modes -->
<!-- =============================================================== -->
<!-- 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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV-ALT</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/instrumentation/altimeter/indicated-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>0.15</Kp>
<!-- proportional gain -->
<Ki>0.0</Ki>
<!-- integral gain -->
<u_min>-19.67</u_min>
<!-- minimum output clamp -->
<u_max>19.67</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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV-ALT</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</reference>
<output>
<prop>/autopilot/internal/elevator-trim-servo</prop>
</output>
<config>
<Kp>-0.005</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>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV-GS</property>
<value>true</value>
</equals>
<equals>
<property>/instrumentation/nav/gs-in-range</property>
<value>true</value>
</equals>
<less-than>
<property>/instrumentation/nav/gs-needle-deflection</property>
<value>0.5</value>
</less-than>
<greater-than>
<property>/instrumentation/nav/gs-needle-deflection</property>
<value>-0.5</value>
</greater-than>
</and>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/instrumentation/nav/gs-rate-of-climb</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>-0.01</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>
<!-- vertical speed hold -->
<pid-controller>
<name>Vertical Speed Hold</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV-VS</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
</input>
<reference>
<prop>/autopilot/settings/vertical-speed-fpm</prop>
<scale>0.01667</scale>
</reference>
<output>
<prop>/autopilot/internal/elevator-trim-servo</prop>
</output>
<config>
<Kp>-0.005</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>
<!-- =============================================================== -->
<!-- Velocity Modes -->
<!-- =============================================================== -->
<!-- IAS Auto throttle -->
<pid-controller>
<name>AIS Auto Throttle</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD</property>
<value>true</value>
</equals>
<or>
<equals>
<property>/autopilot/internal/SPD-N1</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD-SPEED</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD-LVLCHG</property>
<value>true</value>
</equals>
</or>
<equals>
<property>/autopilot/internal/SPD-IAS</property>
<value>true</value>
</equals>
</and>
</condition>
</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>
</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>0.0</u_min>
<!-- minimum output clamp -->
<u_max>1.0</u_max>
<!-- maximum output clamp -->
</config>
</pid-controller>
<!-- Mach Auto throttle -->
<pid-controller>
<name>Mach Auto Throttle</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD</property>
<value>true</value>
</equals>
<or>
<equals>
<property>/autopilot/internal/SPD-N1</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD-SPEED</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/SPD-LVLCHG</property>
<value>true</value>
</equals>
</or>
<equals>
<property>/autopilot/internal/SPD-MACH</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<input>
<prop>autopilot/internal/lookahead-5-sec-airspeed-mach</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-mach</prop>
</reference>
<output>
<prop>/controls/engines/engine[0]/throttle</prop>
<prop>/controls/engines/engine[1]/throttle</prop>
</output>
<config>
<Kp>0.3</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>0.02</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>
<filter>
<name>SERVO-DRIVER:aileron</name>
<debug>false</debug>
<feedback-if-disabled>true</feedback-if-disabled>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/LNAV</property>
<value>true</value>
</equals>
</and>
</condition>
</enable>
<type>noise-spike</type>
<max-rate-of-change>1</max-rate-of-change>
<input>/autopilot/internal/aileron-servo</input>
<output>
<prop>/controls/flight/aileron</prop>
</output>
</filter>
<!-- This filter is the servo driver and damper for Alt Hold and V.S Modes -->
<filter>
<name>SERVO-DRIVER:elevator-trim</name>
<debug>false</debug>
<feedback-if-disabled>true</feedback-if-disabled>
<enable>
<condition>
<and>
<equals>
<property>/autopilot/internal/CMDA</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV</property>
<value>true</value>
</equals>
<equals>
<property>/autopilot/internal/VNAV-GS</property>
<value>false</value>
</equals>
</and>
</condition>
</enable>
<input>/autopilot/internal/elevator-trim-servo</input>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<type>noise-spike</type>
<max-rate-of-change>
<expression>
<table>
<property>/velocities/airspeed-kt</property>
<entry>
<ind>
<condition>
<greater-than>
291
</greater-than>
</condition>
</ind>
<dep>.1</dep>
</entry>
<entry>
<ind>
<condition>
<and>
<greater-than>
269
</greater-than>
<less-than>
292
</less-than>
</and>
</condition>
</ind>
<dep>.2</dep>
</entry>
<entry>
<ind>
<condition>
<and>
<greater-than>
229
</greater-than>
<less-than>
270
</less-than>
</and>
</condition>
</ind>
<dep>.5</dep>
</entry>
<entry>
<ind>
<condition>
<less-than>
230
</less-than>
</condition>
</ind>
<dep>1.0</dep>
</entry>
</table>
</expression>
</max-rate-of-change>
</filter>
<!-- This prediction filter is required by the Mach Hold Speed Mode -->
<predict-simple>
<name>5-second mach predictor</name>
<debug type="bool">false</debug>
<seconds>5</seconds>
<filter-gain>0</filter-gain>
<input>velocities/mach</input>
<output>autopilot/internal/lookahead-5-sec-airspeed-mach</output>
</predict-simple>
<!-- This filter creates mcp vert speed display num -->
<filter>
<name>VS-DISPLAY</name>
<debug>false</debug>
<type>gain</type>
<gain>1</gain>
<input>
<expression>
<abs>
<property>/autopilot/settings/vertical-speed-fpm</property>
</abs>
</expression>
</input>
<output>
<prop>/autopilot/internal/vertical-speed-disp</prop>
</output>