diff --git a/.gitignore b/.gitignore
index 5dbf642f..0a65a5c2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -40,7 +40,7 @@ data/windfield*.npz
 bin/kps-image-1.12-turbulence.so
 bin/kps-image-1.11.so
 bin/kps-image-1.12.so
-examples/LocalPreferences.toml
+LocalPreferences.toml
 bin/kps-image-1.12.so.bak
 video/
 output/parking_wind_dir.mp4
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7f08a131..a0f5c95f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,8 @@
 # Changelog
 
-## KiteControllers v0.2.31 - 2026-09-03
+## Unreleased
+
+## KiteControllers v0.2.31 2026-09-03
 ### Added
 - `--tests` / `--no-tests` command-line options to `bin/install`; when neither is given and `-y`/`--yes` is not set, the script now asks interactively whether to instantiate the test project and run the test suite
 - `bin/count_loc` script to report lines of code via `scc`
@@ -15,14 +17,14 @@
 - Kaimon gate integration from `bin/run_julia`
 - `CondaPkg` dependency from `examples/Project.toml`
 
-## KiteControllers v0.2.30 - 2026-06-21
+## KiteControllers v0.2.30 2026-06-21
 ### Fixed
 - Added missing `FFMPEG_jll` dependency to `install_examples()` to prevent errors when running `autopilot.jl`
 
 ### Changed
 - Increased plot sizes (`ysize`) in `batch_plot.jl` from 10 to 16 (control/fpc plots) and from 10 to 14 (winch plots) for better readability
 
-## KiteControllers v0.2.29 - 2026-06-21
+## KiteControllers v0.2.29 2026-06-21
 ### Changed
 - **Switched from ControlPlots to MakieControlPlots** across all examples, tests, and scripts. Main advantages: Less installation issues,
 easy adaptation of GUI possible, faster 2D animations
@@ -33,7 +35,7 @@ easy adaptation of GUI possible, faster 2D animations
 - Added type annotations (`::FPPS`, `::SystemState`) to switch functions in `flightpathplanner2.jl` and `systemstatecontrol.jl` to fix JETLS warnings
 - Updated default manifests
 
-## KiteControllers v0.2.28 - 2026-05-14
+## KiteControllers v0.2.28 2026-05-14
 ### Added
 - `--update`, `--yes`, `--help` command-line options to `bin/install`
 - `CondaPkg.toml` for managing matplotlib and pyqt via CondaPkg/pixi
@@ -56,7 +58,30 @@ easy adaptation of GUI possible, faster 2D animations
 ### Fixed
 - fixed OpenSSL symbol mismatch by not force-preloading libcrypto in launcher wrappers
 
-## KiteControllers v0.2.26 - 2026-05-04
+## KiteControllers v0.2.27 2026-05-07
+### Added
+- added `FFMPEG` to `examples/Project.toml`
+- `parking_wind_dir.jl` creates now a video and stores it in the **output** folder
+- `PLOT_RATES` option to `parking_wind_dir.jl`
+- `analyse.jl` script to plot heading_rate and heading_turn_rate
+- optional `azimuth` keyword argument to `calc_steering`
+
+### Changed
+- further parameter tuning in `parking_4p.jl`, `parking_controller.jl`, and `parking_wind_dir.jl`
+- updated documentation in `docs/src/projects.md`
+- added updated documentation images `parking_wind_dir_T0.png` and `parking_wind_dir_T1.png`
+- bump KiteModels to 0.11.11
+- improved parking controller, updated from KiteModels.jl
+- moved plot from `autopilot.jl` to `analyse.jl`
+- removed `get_default_turbulence` and `set_default_turbulence` (moved to KiteModels)
+- updated default manifests
+
+### Fixed
+- fixed calculation of heading_rate in `systemstatecontrol.jl` and `autopilot.jl`
+- fixed `autopilot.jl`
+- fixed `parking_wind_dir.jl` to use `update_sys_state!`
+
+## KiteControllers v0.2.26 2026-05-04
 ### Changed
 - improved `bin/install` script
 - parking examples (`parking_4p.jl`, `parking_wind_dir.jl`) now work with 9% wind turbulence
@@ -67,7 +92,7 @@ easy adaptation of GUI possible, faster 2D animations
 - fixed OpenSSL issue in `bin/setup_env`
 - fixed `bin/run_julia` for Julia 1.11
 
-## KiteControllers v0.2.25 - 2026-05-03
+## KiteControllers v0.2.25 2026-05-03
 ### Added
 - the functions `set_default_turbulence` and `get_default_turbulence`
 - the menu entry `set_turbulence`
@@ -85,7 +110,7 @@ easy adaptation of GUI possible, faster 2D animations
 - fixed a typo in `docs/src/projects.md`
 - fixed a warning in `examples/parking_wind_dir.jl`
 
-## KiteControllers v0.2.24 - 2026-05-02
+## KiteControllers v0.2.24 2026-05-02
 ### Added
 - the function `menu_learning()` and the script `menu_learning.jl`
 - the page `Learning Control` to the documentation
@@ -98,15 +123,15 @@ easy adaptation of GUI possible, faster 2D animations
 - the script now stores the corrections directly in the yaml file of the flight path planner
 - it has better error handling and is much more robust
 
-## KiteControllers v0.2.23 - 2026-04-27
+## KiteControllers v0.2.23 2026-04-27
 ### Fixed
 - updated TagBot.yml
 
-## KiteControllers v0.2.22 - 2026-04-27
+## KiteControllers v0.2.22 2026-04-27
 ### Fixed
 - the script `autopilot` did not use the renamed system image
 
-## KiteControllers v0.2.21 - 2026-04-26
+## KiteControllers v0.2.21 2026-04-26
 ### Changed
 - improved `install` script to do a complete installation also with Julia 1.11
 - improved `create_sys_image` script to use less memory on Julia 1.12 and to suppress one warning
@@ -118,7 +143,7 @@ easy adaptation of GUI possible, faster 2D animations
 - decreased v_min to 0.10 m/s (the speed when the brake gets released) to fix sporadic winch controller failures
 - initial state of hydra20_426.yml
 
-## KiteControllers v0.2.20 - 2026-03-15
+## KiteControllers v0.2.20 2026-03-15
 ### Changed
 - fixed new JETLS warnings, also in the tests
 - improved script `test_flightpathcontroller1.jl`, added unit tests
@@ -132,7 +157,7 @@ easy adaptation of GUI possible, faster 2D animations
 - support for MacOS
 - the script `test/test_menu.jl` for running manual controller tests
 
-## KiteControllers v0.2.19 - 2026-03-12
+## KiteControllers v0.2.19 2026-03-12
 ### Changed
 - TestEnv is not used any more
 - use subprojects
@@ -222,7 +247,7 @@ easy adaptation of GUI possible, faster 2D animations
 - add the script `parking_controller.jl` which implements a dual-loop parking controller. The inner loop controls the turn rate. It has an excellent performance.
 - add the script `test/menu.jl` which allows to execute the manual tests, that display plots and fix the tests
 
-## KiteControllers v0.2.10 - 2024-09-07
+## KiteControllers v0.2.10 2024-09-07
 ### Changed
 - the script `create_sys_image` is now installing matplotlib if required
 - removed calls to se() to be sure the correct settings from the variable set are used
@@ -235,14 +260,14 @@ easy adaptation of GUI possible, faster 2D animations
 - fix all failing test scripts
 - fix most of the example, and the script `menu.jl`to run the examples interactively
 
-## KiteControllers v0.2.9 - 2024-08-07
+## KiteControllers v0.2.9 2024-08-07
 ### Changed
 - bump KiteUtils to 0.7.4
 - bump KiteModels to 0.6.3
 - fix some examples and the script `create_sys_image`
 - explain different installation methods in README.md
 
-## KiteControllers v0.2.8 - 2024-07-28
+## KiteControllers v0.2.8 2024-07-28
 ### Changed
 - bump KiteUtils to 0.7.2
 - bump WinchModels to 0.3.2
@@ -250,7 +275,7 @@ easy adaptation of GUI possible, faster 2D animations
 - adapt WinchController to new WinchModel interface
 - fix tests
 
-## KiteControllers v0.2.7 - 2024-07-12
+## KiteControllers v0.2.7 2024-07-12
 ### Fixed
 - fix control_plot on Windows (added sleep)
 - fix cycle counting in FPP
@@ -261,19 +286,19 @@ easy adaptation of GUI possible, faster 2D animations
 - bump KiteViewers.jl to 0.4.14
 - upgrade GLFW to latest version (the original issue is fixed now)
 
-## KiteControllers v0.2.6 - 2024-07-02
+## KiteControllers v0.2.6 2024-07-02
 ### Changed
 - downgrade GLFW_jll to fix an issue on Ubuntu 24.04 and on Mac
 ### Added
 - add section kps4-3l to all settings files to be compatible with the latest KiteUtils package
 
-## KiteControllers v0.2.5 - 2024-06-26
+## KiteControllers v0.2.5 2024-06-26
 ### Added
 - copyright disclaimer from TU Delft
 ### Changed
 - fix #35, save the default log file in the output folder
 
-## KiteControllers v0.2.4 - 2024-06-18
+## KiteControllers v0.2.4 2024-06-18
 ### Changed
 - add the field `corr_vec` to all `fpp_settings_xxx.yaml` files
 - modify `kiteobserver.jl` to use this correction vector
@@ -281,7 +306,7 @@ easy adaptation of GUI possible, faster 2D animations
 - new plot control_plot_II
 - remove compatibility with Julia 1.9, version 1.10 is the only supported version now
 
-## KiteControllers v0.2.3 - 2024-05-06
+## KiteControllers v0.2.3 2024-05-06
 ### Changed
 - use 60 Hz refresh rate for 3x, 6x, 9x and 12x time lapse
 - refactoring: add type KiteApp to the script autopilot.jl
@@ -301,7 +326,7 @@ easy adaptation of GUI possible, faster 2D animations
 - add the file `kiteobservers.jl` which provides the type `KiteObserver` and methods to determine deviations from the desired flight path
 - add the script `learning.jl` that provides the method `train()` that implements iterative learning of a vector of flight path corrections
 
-## KiteControllers v0.2.2 - 2024-03-29
+## KiteControllers v0.2.2 2024-03-29
 ### Changed
 - the new, pure Julia solver DFBDF is now the default. It is on average 4 times faster, uses only half the memory and is much more stable. In my tests, for rel\_tol $=0.0005$ the solver induced error of the peak tether force and the harvested energy was always $<0.1$%.