PID seems like almost working, but I have a great problem with model!

LibSidServo/movingmodel.c

@@ -37,7 +37,10 @@ static void chkminmax(double *min, double *max){
 movemodel_t *model_init(limits_t *l){
     if(!l) return FALSE;
     movemodel_t *m = calloc(1, sizeof(movemodel_t));
+    // we can't use memcpy or assign as Times/Params would be common for all
     *m = trapez;
+    m->Times = calloc(STAGE_AMOUNT, sizeof(double));
+    m->Params = calloc(STAGE_AMOUNT, sizeof(moveparam_t));
     moveparam_t *max = &l->max, *min = &l->min;
     if(min->speed < 0.) min->speed = -min->speed;
     if(max->speed < 0.) max->speed = -max->speed;