PID Aimer

 // PID (Proportional-Integral-Derivative) Controller logic
            if (!cfg_.snap_aim) {
                float dt = std::fminf(m_dt, 0.1f); // Clamp dt to prevent exceptions/error

                float derivative_x = degs_x - m_prev_err_x;
                float derivative_y = degs_y - m_prev_err_y;

                // Check epsilon before divide
                if (dt > std::numeric_limits<float>::epsilon()) {
                    float int_x = degs_x * dt;
                    float int_y = degs_y * dt;
                    if (int_x < cfg_.max_integral) m_integral_x += int_x;
                    if (int_y < cfg_.max_integral) m_integral_y += int_y;
                    derivative_x /= dt;
                    derivative_y /= dt;
                }

                // Light integral decay
                m_integral_x *= .99f;
                m_integral_y *= .99f;

                constexpr float MAX_INTEGRAL =  0.01f;
                constexpr float MAX_DERIVATIVE = 0.01f;

                // Set integral to zero if on target
                if (std::fabsf(degs_x) < MAX_INTEGRAL && std::fabsf(derivative_x) < MAX_DERIVATIVE)
                {
                    m_integral_x = 0.0f;
                }

                if (std::fabsf(degs_y) < MAX_INTEGRAL && std::fabsf(derivative_y) < MAX_DERIVATIVE)
                {
                    m_integral_y = 0.0f;
                }

                // apply Low-Pass filter on the derivative
                if (cfg_.enable_lpf)
                {
                    if (dt > std::numeric_limits<float>::epsilon()) {
                        derivative_x = cfg_.lpf_alpha * m_last_derivative_x + (1.0f - cfg_.lpf_alpha) * ((degs_x - m_prev_err_x) / dt);
                        m_last_derivative_x = derivative_x;
                        derivative_y = cfg_.lpf_alpha * m_last_derivative_y + (1.0f - cfg_.lpf_alpha) * ((degs_y - m_prev_err_y) / dt);
                        m_last_derivative_y = derivative_y;
                    }
                }

                m_prev_err_x = degs_x;
                m_prev_err_y = degs_y;
                degs_x = cfg_.k_P * degs_x + cfg_.k_I * m_integral_x - cfg_.k_D * derivative_x;
                degs_y = cfg_.k_P * degs_y + cfg_.k_I * m_integral_y - cfg_.k_D * derivative_y;
            }