The software Ampyx presented at AWEC2019 had a whole load of sensing, smarts, redundant levels, sanity checks. I think it was able to adapt it’s working model to multiple simultaneous flaws and was able to recover the plane from serious failures, tangles and inversions.
The software seemed to have been planned and written meticulously.
Such a shame there’s still no sign of that video on AWEC2019 videos - #49 by rschmehl
Couple more videos still missing there too…