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The newly added Sys.LegacyCtrl looks quite interesting. We have however upgraded all our UMAC code to PPMAC systems so its main purpose is not so useful.

I was wondering if it offered any computational benefits (speed/efficiency) if we don't need some of the PPMAC algorithm (I know there are a few choices of algorithm, just wondering how it fits in). Or does it alter the PID gain effects, etc

Don't worry if the updated manuals are coming soon...

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