function bab_initttInitKernel(3, 1, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FPregul_prio = 8.0;regul_period = 0.020;data.outer = newpid(-0.45, 100, 0.85, 10, regul_period, 1);data.inner = newpid(10, 0, 0, 10, regul_period, 0);data.u = 0;ttCreatePeriodicTask('Regul', regul_period, regul_prio, 'regulcode', data);%GC_prio = 10;%GC_period = 1.1;%ttCreatePeriodicTask('GC', GC_period, GC_prio, 'GCcode');