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Tank gun stabiliser

This is a basic tank gun stabiliser used for keeping a gun in a certain pitch and heading. Everything is labeled. If it doesnt work, read the lables of the nodes. Not a perfect stabilliser, it's just supposed to show how you could build a stabiliser.
No credit needed

Yaw stabiliser sensitivity is usually 0.8 but it can differ between vehicles.

05/06/21:
Made Stabiliser much better: Lua script instead ton of logic and also using an angular speed sensor function instead of a
compass pid which makes stabilisation much more reliable.