Compact PID with Clamped Integrator + Auto Grav (Auto-Hover)

Specifications

Engine mix

This build has no engines — it's a hull, a system or a section.

Equipment

• Logic circuits 15

Most used parts

• Data Cable 129
• Label 8
• Constant 5
• Multiplier 4
• Data Router 2 2
• Subtractor 2
• Logic Gate NOT 1
• Minimum 1

Author's description

An upgrade of my previous PID controller. Better interface (all numbers and I/O cables on one side). Auto grav bias calculator based on your max hover thrust capability (INCLUDE THE K). Clamped integrator for better anti-windup than the previous design, but uses a few more components (9 more math). Mountable from any side. Same tuning method, but you'll need to include your max upwards thrust in the Green box for the auto-grav bias to work. Will adjust between planets. Integrator clamp will allow you to set the maximum stored in the integrator, so it can't just wind up like crazy while your error is high. Also I painted this one so it looks nicer :) Hope you enjoy. DONT FORGET your thrust capability needs to be entered in Newtons, so 330KN means enter 330K in the green box, not 330. See my other blueprint, the MEATBALL, for an example of this in action with pretty well-tuned gains.

How to install this ship

1. Download the ZIP. Every download contains two files with matching names — a .bp and a .bpmeta. You need both: the .bp is the ship, the .bpmeta holds its name. A .bp on its own will not appear in the game.
2. Unzip into the Blueprints folder. Paste %USERPROFILE%\AppData\LocalLow\ApproximatelyGames\ApproximatelyUp\Blueprints into Explorer's address bar and drop both files there. Keep their filenames exactly as they are — the game pairs them by name.
3. Restart and open the blueprint menu. The game reads the folder on startup, so restart it. Open the blueprint menu, find the ship by its name and load it. Test it next to a garage before flying a mission.