<pid-controller>
<name>FPM HOLD</name>
<debug>false</debug>
<enable>
<condition>
<and>
<equals>
<property>/fdm/jsbsim/autoflight/output/pitch-master</property>
<value>1</value>
</equals>
<equals>
<property>/fdm/jsbsim/autoflight/input/vs-active</property>
<value>1</value>
</equals>
</and>
</condition>
</enable>
<input>/instrumentation/gps/indicated-vertical-speed</input>
<reference>/fdm/jsbsim/autoflight/pitch/vs/target</reference>
<output>/fdm/jsbsim/autoflight/pitch/vs/pid</output>
<config>
<Kp>
<expression>
<table>
<property>/fdm/jsbsim/velocities/vc-kts</property>
<entry><ind>130</ind><dep>0.0029</dep></entry>
<entry><ind>600</ind><dep>0.0009</dep></entry>
<entry><ind>950</ind><dep>0.0003</dep></entry>
</table>
</expression>
</Kp>
<Ti>2.0</Ti>
<Td>0.0001</Td>
<u_min>
<condition>
<and>
<equals>
<property>gear/gear[1]/wow</property>
<value>0</value>
</equals>
<equals>
<property>gear/gear[2]/wow</property>
<value>0</value>
</equals>
</and>
</condition>
<expression>
<max>
<dif>
<property>/orientation/pitch-deg</property>
<value>5</value>
</dif>
<value>-15</value>
</max>
</expression>
</u_min>
<u_min>
<condition>
<or>
<equals>
<property>gear/gear[1]/wow</property>
<value>1</value>
</equals>
<equals>
<property>gear/gear[2]/wow</property>
<value>1</value>
</equals>
</or>
</condition>
<value>0</value>
</u_min>
<u_max>
<condition>
<and>
<equals>
<property>gear/gear[1]/wow</property>
<value>0</value>
</equals>
<equals>
<property>gear/gear[2]/wow</property>
<value>0</value>
</equals>
</and>
</condition>
<expression>
<min>
<sum>
<property>/orientation/pitch-deg</property>
<value>5</value>
</sum>
<value>30</value>
</min>
</expression>
</u_max>
<u_max>
<condition>
<or>
<equals>
<property>gear/gear[1]/wow</property>
<value>1</value>
</equals>
<equals>
<property>gear/gear[2]/wow</property>
<value>1</value>
</equals>
</or>
</condition>
<value>10</value>
</u_max>
</config>
</pid-controller>
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