initial

Reference/Approach/ApproachPID.yolol

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+s=10 Kp=0.3 Ki=0.01 Kd=4 t=3 m=1000 g=1/m p=0 goto1+:Approach>0
+r=:RFD e=r-s d=e-p i+=e/(d-g) i/=2 o=Kp*e+Ki*i+Kd*d p=e r*=r<m
+z/=:Approach*r*(d*d>g+e*e>1) :FcuForward=o/t :FcuBackward=-o*t goto2
+:Approach=0 :FcuForward=0 :FcuBackward=0 goto1
+
+// PID approach uses a proportional-integal-derivative controller to
+// output FCU values appropriate to the distance and current speed.
+// It has several tunables:
+// s (setpoint)      the distance we want to get to
+// Kp (proportional) how much we factor in our current distance
+// Ki (integral)     factor of how long we've been at our distance
+// Kd (derivative)   factor of prediction of where we'll be in future
+// t (thrust diff)   account for disparity in forward/rev thrust power
+// CREDIT TO WHITESTRAKE

Reference/Approach/README.md

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+This is the MutleyX Approach script you find on TriFin and other ships
+Needs a rangefinder and approach button.

Reference/Approach/approach.yolol

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+// Approach ahead - Mutleyx
+:Approach=0 :range=0 od=0 oa=0
+a=:Approach ifa!=oa thenoa=a :range=a end goto3+a
+d=:RangeAhead ifd!=500thengoto6end
+:FcuForward=0 :FcuBackward=0 goto3
+ifd>15 and d<20thengoto9end
+done=0 cd=17.5-d dx=od-cd od=cd adj=-(cd-4.5*dx) goto15
+
+:FcuForward=0 :FcuBackward=0
+done++ ifdone>10then:Approach=0end
+goto2*:Approach+2
+
+
+
+ifadj>d thenadj=d end :FcuForward=0 :FcuBackward=0
+ifadj<0then:FcuBackward=-adj*0.5else:FcuForward=adj*0.25end
+if:Approach thengoto4elsegoto9end