use hydra20 fpc settings

data/fpc_settings_hydra20.yaml

@@ -0,0 +1,27 @@
+fpc_settings:
+    dt:                 0.025  # time step of the flight path controller
+    log_level:          2      # log level, 0=quiet
+    prn:                false
+    prn_ndi_gain:       false
+    prn_est_psi_dot:    false
+    prn_va:             false
+    use_radius:         true
+    use_chi:            true
+
+    reset_int1:         true   # reset the main integrator to the last estimated turn rate
+    reset_int2:         false  # reset the integrator of the D part at the second time step
+    reset_int1_to_zero: true
+    init_opt_to_zero:   false  # if the root finder should start with zero
+
+    p: 20.0                    # P gain of the PID controller
+    i: 1.2                     # I gain of the PID controller 
+    d: 10.0                    # 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
+
+    k_c1: 1.6                  # correction factor, used by the NDI block; increase k_c1, if the radius is too small;
+    k_c2: 6.0                  # C2 for the reelout phase was: 7.0
+    k_c2_high: 12.0            # C2 for the reelout phase at high elevation angles was: 14.0
+    k_c2_int:  0.6             # C2 for the intermediate phase LOW_RIGHT, LOW_TURN, LOW_LEFT
+    k_ds: 2.0                  # influence of the depower angle on the steering sensitivity

data/system_8000.yaml

@@ -1,4 +1,5 @@
 system:
-    sim_settings: "settings_hydra20.yaml"    # model and simulator settings
-    wc_settings:  "wc_settings_8000.yaml"    # winch controller settings
+    sim_settings: "settings_hydra20.yaml"     # model and simulator settings
+    wc_settings:  "wc_settings_8000.yaml"     # winch controller settings
+    fpc_settings: "fpc_settings_hydra20.yaml" # flight path controller settings
 

examples/autopilot.jl

@@ -57,6 +57,7 @@ function init(app::KiteApp; init_viewer=false)
     app.wcs.dt = 1/app.set.sample_freq
     app.dt = app.wcs.dt
     app.fcs = FPCSettings(); 
+    update(app.fcs)
     app.fcs.dt = app.wcs.dt; 
     app.fcs.log_level = app.set.log_level
     app.fpps = FPPSettings(); 

src/fpc_settings.jl

@@ -38,4 +38,20 @@ Settings of the FlightPathController
     k_c2_int  =  0.6
     "influence of the depower angle on the steering sensitivity"
     k_ds = 2.0
+end
+
+StructTypes.StructType(::Type{FPCSettings}) = StructTypes.Mutable()
+
+function update(fcs::FPCSettings)
+    config_file = joinpath(get_data_path(), "fpc_settings_hydra20.yaml")
+    if Sys.iswindows()
+        config_file = replace(config_file, "/" => "\\")
+    end
+    if ! isfile(config_file)
+        println("Warning: $config_file not found, using default settings.")
+        return
+    end
+    dict = YAML.load_file(config_file)
+    sec_dict = Dict(Symbol(k) => v for (k, v) in dict["fpc_settings"])
+    StructTypes.constructfrom!(fcs, sec_dict)
 end