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PID Controlled Platform (Proof of Concept)

I tried to build a platform that controls its height using a PID controller

The height is set in the green addition block and can be offset using up and down arrows

it doesnt work really well because i had a problem with the derivative part, i couldnt figure out a good way to keep track of the previous error. the way i did it now is to have an accumulator to store the previous error and a clock that every .3 seconds clears the accumulator by adding its own value * -1 then storing the new value. unfortunately this makes it so the value is 0 for a short amount of time witch makes the thrusters pulsate leading to a less smooth control