The MTBasicPID library still does not provide the same functionality as the LoopCont LCPID().
So is there for example the feed forward value not available.
I am wondering why the LoopCont shouldn’t be compatible anymore since it does not have any hardware or AR dependencies so far as I know and it is just a library with calculations and control algorithms.
We have to maintain a source base which has to be compatible down to AS 2.7 and that would break the compatibility without any to me clear reason.