Kludge after kludge is how you produce good software! I have worked on flight control systems that encompass 20+ years of iterative development, with no roadma

Kludge after kludge is how you produce good software! I have worked on flight control systems that encompass 20+ years of iterative development, with no roadmap and no feature plan more than 18 months into the future. (So about 30~ iterations so far, 25+ of which were unplanned by the original architechts.) In that time the hardware has been expanded, by passed, ripped out, upgraded and abused. Yet the software today is still fantastically reliable, feature rich and _because of this very method of development_ contains a vast quantity of captured lessons from past use. Every round of development starts with 'this is what we have, this is what we want, how do we get there with minimum change?' because other methods just don't work as well in our experience.