Roy Vegard OVESEN & Lee ELLIOT:

Roy Vegard OVESEN & Lee ELLIOT:

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.