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Compact universal PID

Works great!
Making a periscope controlled drone and needed a way to stop the drone from moving with out using the nav terminal auto pilot.

Cool. Thank you for your input

just make sure to put the error value into the PID (not the raw output of the nav). furthermore it is just tweaking the PID constants. I recommend making the PID as "unstable as possible" as it will make the response time of the sub very quick! The nav terminal itself already has some sort of damping build into it. This prevents it from going out of control at its natural frequency. after getting your required response time, just try tweaking the values to reduce your overshoot. I sort of already did this in my latest elevator design.

Howdy, I haven't played with it much yet, but I plan to try and implement this to the navigation terminal. It will take the state outs of manual control then return the ship to equilibrium over time. Like a soft auto pilot. Do you have any suggestions to help me implement this?

whoops left a relay in there that is redundant

I use it for controlling the speed of my elevator relative to my main submarine. other examples are: position, temperature and turbine output.

This seems neat! Thank you.
I had to look up what this is. If I may ask, how do you personally apply this on your vessels?

https://en.wikipedia.org/wiki/PID_controller