minipilot and fpc_settings work fine

data/fpc_settings.yaml

@@ -14,9 +14,9 @@ fpc_settings:
     reset_int1_to_zero: true
     init_opt_to_zero:   false  # if the root finder should start with zero
 
-    p: 1.5                     # P gain of the PID controller
-    i: 0.1                     # I gain of the PID controller 
-    d: 13.25                   # D gain of the PID controller
+    p: 20                      # P gain of the PID controller
+    i: 1.2                     # I gain of the PID controller 
+    d: 10                      # D gain of the PID controller
     gain: 0.04                 # additional factor for P, I and D
     c1:  0.0612998898221       # was: 0.0786
     c2:  1.22597628388         # was: 2.508

examples/minipilot.jl

@@ -11,21 +11,21 @@ set = deepcopy(load_settings("system.yaml"))
 kcu::KCU   = KCU(set)
 kps4::KPS4 = KPS4(kcu)
 
-wcs::WCSettings = WCSettings(dt = 1/set.sample_freq); update(wcs); wcs.dt = 1/set.sample_freq
-fcs::FPCSettings = FPCSettings(dt=wcs.dt)
-fpps::FPPSettings = FPPSettings()
+wcs::WCSettings = WCSettings(true, dt = 1/set.sample_freq)
+fcs::FPCSettings = FPCSettings(true, dt=wcs.dt)
+fpps::FPPSettings = FPPSettings(true)
 u_d0 = 0.01 * set.depower_offset
 u_d  = 0.01 * set.depower
 ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps; u_d0, u_d, v_wind=set.v_wind)
 dt::Float64 = wcs.dt
 
 function init_globals()
     global kcu, kps4, wcs, fcs, fpps, ssc
-    kcu   = KCU(se())
+    kcu  = KCU(se())
     kps4 = KPS4(kcu)
-    wcs = WCSettings(dt = 1/set.sample_freq); update(wcs); wcs.dt = 1/set.sample_freq
-    fcs = FPCSettings(dt=wcs.dt)
-    fpps = FPPSettings()
+    wcs  = WCSettings(true, dt = 1/set.sample_freq)
+    fcs  = FPCSettings(true, dt=wcs.dt)
+    fpps = FPPSettings(true)
     u_d0 = 0.01 * set.depower_offset
     u_d  = 0.01 * set.depower
     ssc = SystemStateControl(wcs, fcs, fpps; u_d0, u_d, v_wind=set.v_wind)