Or did I not do enough to get the 'proper' ending?
In any case, thanks for the tips, I tried them and won first time. :)
I've been thinking about something they could improve in future games; back weapons. It's been clear since Armored Core 2 or 3, to me at least, that the potential of back weapons is being wasted. It is nice that they limit the use of back weapons on bipeds, but the limitation is so extreme that there's really no point in using them, with the result that half the back weapons are wasted on more than half of ACs. It would be much better if the limitation was something else; perhaps a delay, or a larger energy drain.