I agree with you guimchevalier.
The big picture of this post was not to figure out all the fine details of PID. Rather, I was trying to understand why PID wasn’t being used in AOG. As I see it, some setups work better with PID and some do not. Interestingly, the last post by BrianT seems to indicate there is already an Integral in AOG.
If I ever have the time, I would like to dig into AOG and see how Brian’s doing the steering math. Not that I feel that I can improve it, but for interests sake.