Bi-monthly release with minor bug fixes and improvements
in_params.integral_gain[0] = Options::rAIntegralGain(); in_params.integral_gain[1] = Options::rAIntegralGain();
in_params.integral_gain[0] = Options::rAIntegralGain(); in_params.integral_gain[1] = Options::dECIntegralGain();
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