This is probably not necessary now that it looks like DARM isn't adversely affected by the CPS differential controls, but I've added a couple states to the SEI_DIFF guardian to make the switching between the two states we've used the most so far easier. I changed the CORNER_CPS_DIFF state so that in engages all of the same elements as the FULL_CPS_DIFF, but CORNER doesn't engage a couple gains, so the ETMs don't get added to the final state. I then added CORNER_TO_FULL and FULL_TO_CORNER to do the wax on/ wax off between the two states. So, when switching from FULL_CPS_DIFF to CORNER_CPS_DIFF, it goes through the FULL_TO_CORNER state and all the guardian has to do is ramp down the ETM cps diff gains to 0. When going the other way, via CORNER_TO_FULL, the guardian ramps the appropriate gains to 1.