Lee has added two new filter types, "gain" and "reciprocal". These filters can
read their gain factor from a property. In the process we also added minimum
and maximum output clamps that are applicable to all filters.
I added the ability to configure adaptive controllers i.e. the controller gain
can be tied to a property, so that it can be changed at runtime. This
requires a change in the xml structure of the autopilot configuration file:
<Kp>
<prop>/autopilot/KAP140/settings/ROL/Kp</prop>
<value>0.10</value>
</Kp> <!-- proportional gain -->
The old method <Kp>0.10</Kp> still works so as to not break all existing
autopilots, but it will output a warning to use the new method.
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