Hi Dave.

Do you imply that high values make it hard to reach setting point?

The I clamp is in the list of the parameters. It is set to 100. Setting it higher makes oscillation worse to control.

As for the Proportional I do not clamp it.

The loop was tested from 2 to 20ms with no difference in behaviour (besides being a bit slower at the 20ms of course).

Ioannis