I have been experimenting with Jaguar in speed mode. Refer to the following thread:
http://chiefdelphi.com/forums/showth...=New+to+Jaguar
It looks like it's very tricky to get a stable PID control on Speed. I will play with the PID constants some more. If it is still too unstable, I may try to experiment with my own PID algorithm to see if it can do better.