<?xml version="1.0" encoding="UTF-8"?>

<PropertyList>

  <params>
<!--
    model of KAP140:
      model 1: one axis (only roll axis)
      model 2: two axis (roll and pitch axis)
      model 3: two axis with altitude preselect
-->
    <model type="int">3</model>

<!--
    power settings:
      the KAP140 can work in 12 and 24 volts systems
      this will be used to check if enough power supplied
-->
    <power-nominal type="double">12.0</power-nominal>
    <power-supplied>/systems/electrical/outputs/autopilot</power-supplied>

<!--
    If the aircraft has HSI installed
      if there is no HSI (only DG) KAP140 receive only the deflection, but no radial
      in this case the KAP140 uses the heading-bug as radial
-->
    <hsi-installed>autopilot/kap140/config/hsi-installed</hsi-installed>

<!--
    default altitude:
      if KAP140 (model 3) is powered up, the altitude preselect will be set to this value
-->
    <default-altitude type="int">4500</default-altitude>

<!--
    barometer setting:
      the KAP140 (model 3) can use a existing altimeter in the cockpit or his own
      set 'baro-inhg' and 'baro-hpa' to the corresponding parameter of used altimeter
      if used altimeter is a instrument in cockpit, set 'baro-tied' to 1
      otherwise set 'baro-tied' to 0
-->
    <baro-tied>autopilot/kap140/config/baro-tied</baro-tied>
    <baro-inhg>instrumentation/altimeter[1]/setting-inhg</baro-inhg>
    <baro-hpa>instrumentation/altimeter[1]/setting-hpa</baro-hpa>
    <indicated-altitude-ft>instrumentation/altimeter[1]/indicated-altitude-ft</indicated-altitude-ft>

<!--
    pressure source:
      thats the pressure source where the KAP140 receive the reference pressure
      mostly it is 'systems/static/pressure-inhg'
-->
    <pressure-source>systems/static/pressure-inhg</pressure-source>

<!--
    Autotrim enabled
    If set to true, the autopilot will engange the elevator-trim servo, otherwise it just shows
    the trimming need and trimming must be done manually.
-->
    <autotrim-pitch type="bool">true</autotrim-pitch>

<!--
    vs-ratio
    Thats the radio how the AP slow down the VS if it comes closer to the preselected altitude
-->
    <vs-ratio type="double">4.0</vs-ratio>

<!--
    maximum g-force the AP can handle:
    if the g-force exceed this threshold, the AP disengage
-->
    <gforce-min type="double">0.6</gforce-min>
    <gforce-max type="double">1.4</gforce-max>

<!--
    maximum force the servo can handle:
    if the force exceed this threshold, axis-fail will triggered
-->
    <roll-servo-force-max type="double">5.0</roll-servo-force-max>
    <pitch-servo-force-max type="double">5.0</pitch-servo-force-max>

<!--
    Gain tuning
    Adjust if the default values do not behave well for a certain FDM
-->
    <gain-roll type="double">1.0</gain-roll>
    <gain-pitch type="double">1.0</gain-pitch>

  </params>

</PropertyList>
