For those of you using this package, i found a bug in the simulator that execute Function Block 181 at the wrong rate, although the PIC sofware is ok. While fixing this we changed the PID to a independant gains format so you will have to take that into account and adjust your I and D parameters for the new version 2.08. While at it FB182 was added - this is a clasic form PID, also in independant gains form. For PIC18 assembler programmers the latest version (2.08) can now handle User Defined Function blocks. The package and documentation you can download here:
https://www.dropbox.com/sh/lukcg8wot51ircm/KRrskW0Usr
https://www.dropbox.com/sh/lukcg8wot51ircm/KRrskW0Usr