Added Features: IPC saturation modes (IPC_SatMode) Pitch actuator faults: simulate constant blade pitch offsets. More is possible in future releases. Ability to initialize filters with specific values Support for latest OpenFAST version (v3.4.0) Add a tool for updating DISCONs from older ROSCO versions Bug Fixes: Initialize NacIMU_FA_Acc and FA_Acc to 0. Initial conditions would result in offset of floating feedback pitch command Fix cases where debug outputs *** Add nacelle heading (NacHeading) input to ROSCO Add method for closing dll in control interface on Windows Fix units in sim.py Software Changes: Support for the latest numpy version (1.24) Re-named examples to represent the features they demonstrate Refactored ratelimit function to store it's own previous signal value Features that rely on collective blade pitch signal now use average of 3 current blade pitch values (useful in IPC cases) Clean up file readers/writers to sync with WEIS analogues Update features that rely on latest version of pyFAST Enable use of runFAST when python setup.py install is used. Add tune.py for specifically translating tuning yaml to controller objects and updating discon files When reading turbine model from openfast, only read necessary input module files