Gosh, my two are fussy also.
Every day breakfast is either an Eggo waffle with nutella on it, or toast with nutella. They sure are consistent. I do watered down OJ as well. Sometimes DS2 will have milk but DS1 isn't keen on it.
On the weekends we'll do pancakes sometimes, and bacon. DS1 has gone off bacon though as he has taken a sudden disliking to fat. He won't eat a scrambled egg, but will eat boiled. He used to only eat the white, but now he only eats the yolk.
They will eat raw vegetables and have just started eating salad. DS1 has meals plain with no sauce of any kind (I lie, he has just started finding ketchup acceptable, on the side), DS2 loves sauces and spicy things, and dipping sauces. DS1 will however eat all manner of seafood, crabs, lobster, prawns, oysters, scallops, fish, you name it, he'll eat it.
My mother grew up on a farm in a very large family and they were made to finish everything on the plate. She brought me up the same way, we had to sit at the table and finish our meals, even if it took hours. Sometimes, if it was too late, she'd put it in the fridge and we'd get it cold for breakfast. I would retch while eating brussel sprouts and liver, but by god I had to eat them. I have forced my DS1 to eat something once in 7 years. I was disgusted in myself and will never do it again.
Palates change over time too. What I couldn't stomach as a child, I will now eat (eg onions, and brussels if I cook them fancy. I still won't touch leeks). You have to go with what your DC will eat to a certain degree, and as many have said already, introduce new things slowly.
I would love to get back to basic eating of non-processed food, eg good meat, fresh veg and fruit, no packet stuff. Has anyone read any good, simple books on this? Of course there is a natural idea of how to do it, but how to add in grains etc... and the proportions of each type of food group.