Thanks for the prompt reply! Well, now it is clear for me, that it is clear for you
And i also got now how it works. But for myself, i would use DEC values, they are much obvious, IMHO of course.

But i do have one more question: what would be a good point to start with pid_I_Clamp?

In your example code you had for pid_Out_Clamp 511 and pid_I_Clamp 100.
If i have pid_Out_Clamp 200, would, say, 40 be a good starting point for pid_I_Clamp?
Also for the sampling frequency you have ser every eight's, don't you think is to high in my case, with the period of 2 seconds?
I ask it, because i just want to realy reduce the possible variables to Kp,d,i, before i start tuning them.