[heydowns]

We've been using the PIDController for a few weeks now, with pretty good results. It is very nice in the aspect that all the control happens in the background using a separate task.

The only issue we have noticed is some instability when using the "Debug"/Load to RAM functionality in Workbench. Specifically, when repeatedly unloading and loading subsequently newer versions of our program, sometimes PID tasks will not function properly at all. Other times, the system will refuse to take and run the new image, citing all sorts of resource allocation issues on the console.

This instability may NOT be caused by PIDController usage, however -- we haven't done sufficient testing yet to say one way or another.

We haven't applied the newest update yet -- will likely do that tonight.