The autopilot subsystem Mode Controller supplies the switch-settings for the different autopilot modes. The systems APILOT2 and APILOT3 contain radio-navigation modes (Glideslope, Localizer, and Navigation) which start in 'Armed' setting and switch over to 'Coupled' as soon as some switch-criterion is satisfied. The block Mode Controller evaluates those switch-criteria. In the system APILOT1 the radio-navigation modes have been omitted, so in that case Mode Controller only defines the autopilot modes, but does not contain any mode-switching functions.
Before starting a new simulation, double-click the block 'Select Mode
and Reference Signals', or type apmode
at the Matlab
command line in order to run APMODE to define the autopilot modes. This utility will generate the vectors
ymod1S, ymod2S, ymod1A, and ymod2A in the
Matlab workspace. These vectors are defined as follows:
ymodS = [symm. autopilot modes on/off , symm. outer-loops on/off , Altitude Hold mode on/off , Altitude Select mode on/off , Glideslope mode on/off ]with the following combinations for ymodS:
Pitch Attitude Hold : [1 0 0 0 0] Altitude Hold / Glideslope Armed : [1 1 1 0 0] Altitude Select : [1 1 0 1 0] Glideslope Coupled : [1 1 0 0 1]
ymodA = [asymm. autopilot modes on/off, asymm. outer-loops on/off , Heading Hold/Select on/off , VOR-Navigation mode on/off , Localizer mode on/off ]with the following combinations for ymodA:
Roll Attitude Hold : [1 0 0 0 0] Heading Hold/Heading Select/ NAV Armed/Localizer Armed : [1 1 1 0 0] NAV Coupled : [1 1 0 1 0] Localizer Coupled : [1 1 0 0 1]
See the source-codes of GSSWITCH.M, LOCSWTCH.M, and NAVSWTCH.M for the switch-criteria used in Glideslope, Localizer, and VOR navigation modes, respectively. See APMODE.M for more details on the mode-initialization of the autopilot.
A detailed description of the 'Beaver' autopilot can be found in the FDC user-manual, and the following references: