From dbc4a91b9a1c7531bf8fc4deec3c76241f725e40 Mon Sep 17 00:00:00 2001
From: BobDotCom <71356958+BobDotCom@users.noreply.github.com>
Date: Wed, 23 Oct 2024 18:45:34 -0500
Subject: [PATCH] Systems: Auto-GCAS

---
 Systems/jsb-autoflight.xml | 56 +++++++++++++++++++++----
 Systems/jsb-misc.xml       | 84 ++++++++++++++++++++++++++++++++++++++
 f16-base.xml               |  9 ++++
 3 files changed, 142 insertions(+), 7 deletions(-)

diff --git a/Systems/jsb-autoflight.xml b/Systems/jsb-autoflight.xml
index 13eab29e..a38f0753 100644
--- a/Systems/jsb-autoflight.xml
+++ b/Systems/jsb-autoflight.xml
@@ -62,11 +62,17 @@
 			<default value="1"/>
 			<test logic="OR" value="0"> <!-- Add conditions where AP fails here -->
 				position/wow eq 1
+				elec/bus/emergency-dc-2 lt 20
+			</test>
+			<!-- TODO: Rewrite this? -->
+			<test value="1">
+				/systems/agcas/engage eq 1
+			</test>
+			<test logic="OR" value="0">
 				attitude/roll-rad gt 1.0472
 				attitude/roll-rad lt -1.0472
 				attitude/pitch-rad lt -1.0472
 				attitude/pitch-rad gt 1.0472
-				elec/bus/emergency-dc-2 lt 20
 			</test>
 		</switch>
 
@@ -128,11 +134,15 @@
 				/sim/time/elapsed-sec lt autoflight/ss/reset-time-delay
 			</test>
 		</switch>
-
+		<!-- TODO: Do agcas switching here or in autoflight/switch-xxx? -->
 		<switch name="autoflight/output/roll-master">
 			<default value="0"/>
-			<test logic="AND" value="1"> <!-- autoflight/switch-pitch is not a typo -->
-				autoflight/switch-pitch ne 0
+			<test logic="AND" value="1">
+				<test logic="OR"> <!-- autoflight/switch-pitch is not a typo -->
+					autoflight/switch-pitch ne 0
+					<!-- TODO: Should this depend on agcas engage? -->
+					/systems/agcas/roll-cmd ne 0
+				</test>
 				autoflight/can-engage eq 1
 				autoflight/ss/force eq 0
 				position/wow eq 0
@@ -142,7 +152,11 @@
 		<switch name="autoflight/output/pitch-master">
 			<default value="0"/>
 			<test logic="AND" value="1">
-				autoflight/switch-pitch ne 0
+				<test logic="OR">
+					autoflight/switch-pitch ne 0
+					<!-- TODO: Should this depend on agcas engage? -->
+					/systems/agcas/pitch-cmd ne 0
+				</test>
 				autoflight/can-engage eq 1
 				autoflight/ss/force eq 0
 				position/wow eq 0
@@ -422,6 +436,10 @@
 
 		<switch name="autoflight/roll/roll-rad-input">
 			<default value="attitude/roll-rad"/>
+			<test logic="AND" value="0">
+				autoflight/output/roll-master eq 1
+				/systems/agcas/roll-cmd eq 3
+			</test>
 			<test logic="AND" value="autoflight/roll/roll-cmd-target">
 				autoflight/output/roll-master eq 1
 				autoflight/switch-roll ne 0
@@ -561,7 +579,8 @@
 			</function>
 		</fcs_function>
 
-		<switch name="autoflight/roll/roll-rate-demand">
+		<!-- TODO: Rename this? -->
+		<switch name="autoflight/roll/roll-rate-demand1">
 			<default value="0"/>
 			<test logic="AND" value="autoflight/roll/roll-rate-deg">
 				autoflight/output/roll-master eq 1
@@ -572,6 +591,19 @@
 			</clipto>
 		</switch>
 
+		<switch name="autoflight/roll/roll-rate-demand">
+			<default value="autoflight/roll/roll-rate-demand1"/>
+			<test value="0">
+				autoflight/output/roll-master ne 1
+			</test>
+			<test value="180">
+				/systems/agcas/roll-cmd eq 1
+			</test>
+			<test value="-180">
+				/systems/agcas/roll-cmd eq 2
+			</test>
+		</switch>
+
 	</channel>
 
 	<channel name="Autoflight: Pitch Channel">
@@ -791,7 +823,8 @@
 			</clipto>
 		</fcs_function>
 
-		<switch name="autoflight/pitch/g-demand-switched">
+		<!-- TODO: Rename this? -->
+		<switch name="autoflight/pitch/g-demand-switched1">
 			<default value="0"/>
 			<test logic="AND" value="autoflight/pitch/g-demand">
 				autoflight/output/pitch-master eq 1
@@ -802,6 +835,15 @@
 			</clipto>
 		</switch>
 
+		<switch name="autoflight/pitch/g-demand-switched">
+			<default value="autoflight/pitch/g-demand-switched1"/>
+			<test value="0">
+				autoflight/output/pitch-master ne 1
+			</test>
+			<test value="2.0">
+				/systems/agcas/pitch-cmd ne 0
+			</test>
+		</switch>
 	</channel>
 
 </system>
\ No newline at end of file
diff --git a/Systems/jsb-misc.xml b/Systems/jsb-misc.xml
index db31c04c..0608b4a5 100644
--- a/Systems/jsb-misc.xml
+++ b/Systems/jsb-misc.xml
@@ -1254,4 +1254,88 @@
       </switch>
   </channel>
 
+  <channel name="Auto-GCAS" execrate="8">
+      <switch name="/systems/agcas/serviceable">
+          <default value="0"/>
+          <test logic="AND" value="1">
+              /systems/agcas/switch == 1
+          </test>
+      </switch>
+      <switch name="/systems/agcas/engage">
+          <description>
+              <!-- TODO: Find documentation for this -->
+              Engage auto-gcas when flyup is initiated (8s before predicted impact time)
+          </description>
+          <default value="0"/>
+          <!-- Disable if not serviceable -->
+          <test logic="AND" value="0">
+              /systems/agcas/switch == 0
+          </test>
+          <test value="1">
+              /systems/agcas/manual-enable == 1
+          </test>
+          <!-- TODO: Disable AGCAS via manual-override -->
+          <!-- Test if time-till-crash is between 0-8 seconds -->
+          <test logic="AND" value="1">
+              /instrumentation/radar/time-till-crash gt 0
+              /instrumentation/radar/time-till-crash lt 8
+          </test>
+          <!-- Stay engaged until determined to be safe -->
+          <test value="0">
+              /instrumentation/radar/time-till-crash == 15
+          </test>
+          <test value="1">
+              /systems/agcas/engage == 1
+          </test>
+      </switch>
+
+      <switch name="/systems/agcas/roll-cmd">
+          <description>Roll to wings-level (180 deg/sec)</description>
+          <!--
+          Modes:
+          0 = Disabled
+          1 = Command roll right to wings-level
+          2 = Command roll left to wings-level
+          3 = Hold roll angle
+          -->
+          <default value="0"/>
+          <test value="0">
+              /systems/agcas/engage == 0
+          </test>
+          <test logic="AND" value="3">
+              /orientation/roll-deg lt 20
+              /orientation/roll-deg gt -20
+          </test>
+          <test value="1">
+              /orientation/roll-deg lt 0
+          </test>
+          <test value="2">
+              /orientation/roll-deg gt 0
+          </test>
+      </switch>
+
+      <switch name="/systems/agcas/pitch-cmd">
+          <description>Pull-up command (4G/sec)</description>
+          <!--
+          Modes:
+          0 = Disabled
+          1 = Target 5G
+          2 = Target max AoA
+          -->
+          <test logic="OR" value="0">
+              /systems/agcas/engage == 0
+
+              /orientation/roll-deg gt 90
+              /orientation/roll-deg lt -90
+          </test>
+          <!-- TODO: Remove mode 2? -->
+          <test value="2">
+              <!-- Max AoA is 25, using 20 so we don't prematurely exceed that -->
+              /orientation/alpha-deg gt 20
+          </test>
+          <default value="1"/>
+
+      </switch>
+  </channel>
+
 </system>
diff --git a/f16-base.xml b/f16-base.xml
index 7307bfbd..b0a7f346 100644
--- a/f16-base.xml
+++ b/f16-base.xml
@@ -992,6 +992,15 @@
             <offset-z-m>0.68</offset-z-m>
             <max-fuel-transfer-lbs-min>6000</max-fuel-transfer-lbs-min>
         </refuel>
+        <agcas>
+            <engage type="bool">false</engage>
+            <manual-enable type="bool">false</manual-enable>
+            <pitch-cmd type="int">0</pitch-cmd>
+            <roll-cmd type="int">0</roll-cmd>
+            <serviceable type="bool">true</serviceable>
+            <stage type="int">1</stage>
+            <switch type="bool">true</switch>
+        </agcas>
     </systems>
     <instrumentation>
         <altimeter>