Just like yesterday, I now have new controllers developed with the really correct local <--> cartesian matrices ready to try.   It would be nice if I could give some quantifiable change in the controllers to make the arguement that these will actually work but, I can't without lots more time.

See the first attachment to compare the matrices used by the controller development (in the matlab window) with the matrices actually used currently by the platform.  I can't fathom how this all actually holds it together but at the worst it only rings rather than blows up (see the second attachment of the ISO outs.)

Finally--the third attachment is the new controllers I tried this moning.  The last attachment are the controllers I want to try tomorrow morning developed with the correct matrices.  I predict that these will not blow up nor ring...