Keen's (old) gyro API was changed from rad/s to RPM. Adapt internal API accordingly.

No longer needs a timer block to trigger the PB.

Fix breakage due to center of mass switching from Vector3D to Vector3I in "stable." Thanks, Keen!

Minor bugfix: On smartundock, physically disconnect first then determine undock point. This avoids using the common/larger center of mass as a reference.

Fix any/all usage of deprecated & obsolete API as of 01.172.

Note that the script's "reference point" is now the ship's center of mass.

Minor PID rework to apply the things I've learned in From the Depths. Re-tuned gyro & thruster PIDs.

Fixed for IMyBlockGroup changes.

• By default, sensors are now disabled on dock and re-enabled on undock. Set TOUCH_SENSORS to false to avoid this.
  
• Adds a workaround to re-enable antenna broadcast after undock. Though not really needed anymore after Keen fixed the bug in 01.126.
  
• Safe Mode module now periodically checks if a) there are still cockpits/flight seats/control stations on board, or b) there is a remote and a working antenna (laser or radio) on board. If neither of these conditions are met, it will start the Safe Mode sequence.
  
• Updates to the autopilot for the Smart Undock module. Small gyros are too sensitive now, so fix an issue where it would never re-align properly upon returning to base.

• Adds "smart undock" module
  
• Adds redundancy module
  
• Improvements to docking manager, especially when docked. All other modules are now slaved to the docking manager and no longer run when the ship is docked. When docked, the docking manager will run at a slower pace (every 10 seconds) as long as the script has control of its timer block. See the setup section.
  
• Safe mode module now performs emergency stop maneuver if there are non-functioning thrusters on a facing
  
• Safe mode module now starts safe mode sequence if it detects that there are no longer any ship controller blocks on board.
  
• Battery monitor module no longer requires you to turn off the "Low Battery" timer block when it triggers. This change breaks backwards-compatibility.

Most of these features have actually been there for a while. I have only just recently documented them.

Note that most features will require you to set up the timer block in a special way. See the setup section.

Restore "Low Battery" feature since it doesn't rely on any missing APIs.