Bug fixes:

1) The Reference and Feedback Generators did not have outputs that are 90 degrees out of phase for all frequencies.  This fix may result in slight tuning differences.

2) On startup, if another window is selected while the "Restoring Settings..." dialog is visible, it would not be erased when restoring was completed.

3) Using the Group feature in the APC and AHC panels sometimes resulted in unexpected behavior, so it has been removed.

4) If the Data Recorder is running while restoring a settings file, the controller would crash.

5) The Force Feedback Observer was redundant with the conditioner lowpass filters, so it has been removed.

6) Various minor bug fixes that were unlikely to occur or be noticed.


Enhancements:

1) Added an "Abort" feature, which zeros the span and updates the setpoints to the current function generator output.  This is used for tests where there is a permanent ground shift.  It is useful only if the controller is in displacement mode, because in other modes, the function generator is highpassed and therefore is zero after the test completes.  It is the user's responsibility to ensure that motion has completely stopped before executing an abort, otherwise severe transients will result.  The user is prompted if he wishes to proceed and is given the opportunity to cancel out.  Note that this feature only works with adaptive control turned off (sorry!)--- otherwise large transients would result.

2) Added realtime test rehearsal capability by adding a "Use simulated feedback" button on the Main Panel. which will cause the controller to use feedbacks computed by a Simulink model running on xPC Target and passed over Scramnet, instead of the conditioner feedbacks.

3) Simulink models of the system have been brought up to date.

4) Making a simulation version of the controller is now much easier.  Rather than having to edit the "coopsDriver" variable in a settings file, the absence of "Super.dll" in the "bin" folder will cause 469D.exe to open the simulation dll "SuperSim.dll".

5) Updated many software modules to the latest revision even when there was no functional change in this application.  This was done to facilitate software maintenance.


Important notes:
1) Existing settings files must be edited according to instructions in "SettingsEdit.txt" in order to be compatible with this software update.
2) The Scramnet memory map has changed.  See "RENO Scramnet Info.txt".
3) Delta-P gain is now positive.