Hover PID Tutorial

Hey everyone. Here's the tutorial for designing a PID controller for a hovering rocket that I promised a while back. The download link is zip file which contains a pdf of the tutorial and an example script which is an adaptation of the script by u/Dunbaratu. The script requires kOS 17.3 to work.

Please, take a look. Let me know what works, what's confusing. I want to improve this so it is accessible to people new to kOS.

Thanks, and enjoy!