Instrumentation and systems are now configureable from xml files. The two
generic configurations generic-systems.xml and generic-instrumentation.xml
configures the systems and instrumentation as it was hardcoded. You can
override the generic configurations in a similar way as you override the
autopilot configuration.
tasks that should be purely proportional. So I added support for my old
ultra-simplistic PI controller. This does wonders for stage #1 of the
altitude and AGL hold.