load ids
ids0.rt_prio = 4

ids0.en = fault0.en_out
pid0.pos_ext_cmd = ids0.pos_cmd
pid0.vel_ext_cmd = ids0.vel_cmd
pid0.acc_ext_cmd = ids0.acc_cmd

pid0.pos_bw = ids0.pos_bw
pid0.vel_bw = ids0.vel_bw
pid0.vel_d = ids0.vel_d

ids0.pos_error = pid0.pos_error
ids0.vel_error = pid0.vel_error

ids0.cur_bw = conf0.cur_bw

conf0.max_pos_error = 0
conf0.max_sat = 10
conf0.vel_g = 1

term0.wave0 = ids0.pos_cmd
term0.wave2 = ids0.vel_cmd
term0.wave4 = ids0.min_cost
term0.gain4 = 20
#term0.wave1 = ids0.cost
#term0.gain1 = 20

term0.wave5 = ids0.pos_bw
term0.gain5 = 1.0;
term0.wave6 = ids0.vel_bw
term0.gain6 = 0.1
term0.wave7 = ids0.vel_d
term0.gain7 = 10.0

term0.send_step = 21