get rid of se()

examples/autopilot.jl

@@ -67,19 +67,24 @@ app.next_max_time = app.max_time
 function init(app::KiteApp; init_viewer=false)
     app.max_time = app.next_max_time
     app.kcu   = KCU(app.set)
+    project=(KiteUtils.PROJECT)
     app.kps4 = KPS4(app.kcu)
+    KiteUtils.PROJECT = project
     app.wcs = WCSettings()
     update(app.wcs)
+
     app.wcs.dt = 1/app.set.sample_freq
     app.dt = app.wcs.dt
-    app.fcs = FPCSettings() 
+    app.fcs = FPCSettings(dt=app.dt) 
     update(app.fcs)
     app.fcs.dt = app.wcs.dt 
     app.fcs.log_level = app.set.log_level
     app.fpps = FPPSettings()
     update(app.fpps)
     app.fpps.log_level = app.set.log_level
-    app.ssc = SystemStateControl(app.wcs, app.fcs, app.fpps)
+    u_d0 = 0.01 * se(project).depower_offset
+    u_d = 0.01 * se(project).depower
+    app.ssc = SystemStateControl(app.wcs, app.fcs, app.fpps; u_d0, u_d)
     if init_viewer
         app.viewer= Viewer3D(app.set, app.show_kite; menus=true)
         app.viewer.menu.options[]=["plot_main", "plot_power", "plot_control", "plot_control_II", "plot_winch_control", "plot_aerodynamics",

src/flightpathcontroller.jl

@@ -52,7 +52,7 @@ docs/flight_path_controller_III.png
     "desired flight direction (bearing)"
     chi_set                                    = 0
     "minimal value of the depower setting, needed for the fully powered kite"
-    u_d0                                       = 0.01 * se().depower_offset
+    u_d0                                       # = 0.01 * se().depower_offset
     "maximal value of the depower setting, needed for the fully depowered kite"
     u_d_max                                    = 0.01 * 42.2 # TODO: add this to settings.yaml
     "normalized depower settings"
@@ -62,7 +62,7 @@ docs/flight_path_controller_III.png
     "maximal value of the turn rate in radians per second"
     psi_dot_max                                = 3.0
     "actual depower setting (0..1)"
-    u_d                                        = 0.01 * se().depower
+    u_d                                        # = 0.01 * se().depower
     k_c2                                       = fcs.k_c2
     k_c2_int                                   = fcs.k_c2_int
     k_c2_hight                                 = fcs.k_c2_high
@@ -104,8 +104,8 @@ docs/flight_path_controller_III.png
     _i                                         = 0
 end
 
-function FlightPathController(fcs::FPCSettings)
-    FlightPathController(fcs=fcs)
+function FlightPathController(fcs::FPCSettings; u_d0, u_d)
+    FlightPathController(fcs=fcs, u_d0=u_d0, u_d=u_d)
 end
 
 """

src/fpc_settings.jl

@@ -3,7 +3,7 @@ Settings of the FlightPathController
 """
 @with_kw mutable struct FPCSettings @deftype Float64
     "period time"
-    dt::Float64              = 1.0 / se().sample_freq 
+    dt::Float64
     log_level::Int64         = 2
     prn::Bool                = false
     prn_ndi_gain::Bool       = false

src/systemstatecontrol.jl

@@ -12,8 +12,8 @@
     tether_length::Union{Nothing, Float64} = nothing
 end
 
-function SystemStateControl(wcs::WCSettings, fcs::FPCSettings, fpps::FPPSettings)
-    fpc = FlightPathController(fcs)
+function SystemStateControl(wcs::WCSettings, fcs::FPCSettings, fpps::FPPSettings; u_d0, u_d)
+    fpc = FlightPathController(fcs; u_d0, u_d)
     fpca = FlightPathCalculator(fpc, fpps)
     fpp = FlightPathPlanner(fpps, fpca)
     res = SystemStateControl(wc=WinchController(wcs), fpp=fpp)