ap/roll-attitude-mode ap/autopilot-roll-on guidance/roll-angle-limit guidance/roll-rate-limit ap/roll-angle-saturation ap/autopilot-roll-on ne 0.0 ap/roll-angle-saturation ne 0.0 ap/roll-control-autopilot-on gt 0 This component takes as input the angle to the target heading from the current heading, as calculated by the Angle to Heading channel in the GNC Utilities system file. The output of this component (stored) in the component property "ap/limited-roll-angle-rad" is the roll angle command, limited at 30 degrees (0.524 radians), though this can be overridden. guidance/angle-to-heading-rad 1.0 -guidance/roll-angle-limit guidance/roll-angle-limit This component selects whether to use a roll angle of "0" - which is a wings-level attitude - or to use the roll angle commanded by the ap/limited-roll-angle-rad component, above, which is used to acquire and hold a heading. Set ap/roll-attitude-mode to 1 for roll angle hold, to 0 for wings level (roll attitude of zero). ap/roll-attitude-mode eq 1 This component computes the error between the calculated target roll angle and the actual roll angle. The output is interpreted as a roll rate command. ap/roll-attitude-selector -attitude/phi-rad ap/limited-roll-angle-error 30 0.1 0.1 ap/roll-autopilot-windup-trigger -guidance/roll-rate-limit guidance/roll-rate-limit guidance/roll-rate-limit 2.0 ap/roll-rate-pid-control ap/total-limited-roll-rate This component computes the error between the calculated target roll rate and the actual roll rate. The output is interpreted as an aileron command. ap/roll-rate-pid-control -velocities/p-aero-rad_sec ap/limited-roll-rate-error 2.5 0.0 0.0 ap/roll-autopilot-windup-trigger ap/roll-command-pid-control 100.0 ap/roll-control-autopilot-on ne 0.0 ap/roll-control-autopilot-on == 1 gear/unit[0]/WOW == 1

fcs/steer-cmd-norm