diff --git a/test_suite/unit_tests/Autopilot/CMakeLists.txt b/test_suite/unit_tests/Autopilot/CMakeLists.txt
index 3ec09b859..455d86135 100644
--- a/test_suite/unit_tests/Autopilot/CMakeLists.txt
+++ b/test_suite/unit_tests/Autopilot/CMakeLists.txt
@@ -2,11 +2,15 @@ set(TESTSUITE_SOURCES
     ${TESTSUITE_SOURCES}
     ${CMAKE_CURRENT_SOURCE_DIR}/TestSuite.cxx
     ${CMAKE_CURRENT_SOURCE_DIR}/testDigitalFilter.cxx
+    ${CMAKE_CURRENT_SOURCE_DIR}/testPidController.cxx
+    ${CMAKE_CURRENT_SOURCE_DIR}/testPidControllerData.cxx
     PARENT_SCOPE
 )
 
 set(TESTSUITE_HEADERS
     ${TESTSUITE_HEADERS}
     ${CMAKE_CURRENT_SOURCE_DIR}/testDigitalFilter.hxx
+    ${CMAKE_CURRENT_SOURCE_DIR}/testPidController.hxx
+    ${CMAKE_CURRENT_SOURCE_DIR}/testPidControllerData.hxx
     PARENT_SCOPE
 )
diff --git a/test_suite/unit_tests/Autopilot/TestSuite.cxx b/test_suite/unit_tests/Autopilot/TestSuite.cxx
index 2732b0425..4202aa205 100644
--- a/test_suite/unit_tests/Autopilot/TestSuite.cxx
+++ b/test_suite/unit_tests/Autopilot/TestSuite.cxx
@@ -18,7 +18,9 @@
  */
 
 #include "testDigitalFilter.hxx"
+#include "testPidController.hxx"
 
 
 // Set up the unit tests.
 CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(DigitalFilterTests, "Unit tests");
+CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(PidControllerTests, "Unit tests");
diff --git a/test_suite/unit_tests/Autopilot/testPidController.cxx b/test_suite/unit_tests/Autopilot/testPidController.cxx
new file mode 100644
index 000000000..401cd9bde
--- /dev/null
+++ b/test_suite/unit_tests/Autopilot/testPidController.cxx
@@ -0,0 +1,110 @@
+#include "testPidController.hxx"
+#include "testPidControllerData.hxx"
+
+#include "test_suite/FGTestApi/testGlobals.hxx"
+
+
+#include <Autopilot/autopilot.hxx>
+#include <Autopilot/pidcontroller.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+
+
+#include <simgear/math/sg_random.h>
+#include <simgear/props/props_io.hxx>
+
+#include <unistd.h>
+
+// Set up function for each test.
+void PidControllerTests::setUp()
+{
+    FGTestApi::setUp::initTestGlobals("ap-pidcontroller");
+}
+
+
+// Clean up after each test.
+void PidControllerTests::tearDown()
+{
+    FGTestApi::tearDown::shutdownTestGlobals();
+}
+
+
+SGPropertyNode_ptr PidControllerTests::configFromString(const std::string& s)
+{
+    SGPropertyNode_ptr config = new SGPropertyNode;
+
+    std::istringstream iss(s);
+    readProperties(iss, config);
+    return config;
+}
+
+void PidControllerTests::test()
+{
+    sg_srandom(999);
+
+    // Define vertical-hold pid-controller (based on Harrier-GR3).
+    //
+    std::string config_text = 
+        R"(<?xml version="1.0" encoding="UTF-8"?>
+        <PropertyList>
+          <pid-controller>
+            <name>Vertical Speed Hold</name>
+            <debug>false</debug>
+            <enable>true</enable>
+            <input>
+              <prop>/velocities/vertical-speed-fps</prop>
+            </input>
+            <reference>
+                <prop>/autopilot/settings/vertical-speed-fpm</prop>
+                <scale>0.01667</scale>
+            </reference>
+            <output>
+              <prop>/controls/flight/elevator</prop>
+            </output>
+            <config>
+              <Kp>-0.025</Kp> <!-- proportional gain -->
+              <beta>1.0</beta>    <!-- input value weighing factor -->
+              <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
+              <gamma>0.0</gamma>  <!-- input value weighing factor for -->
+                                  <!-- unfiltered derivative error -->
+              <Ti>5</Ti>         <!-- integrator time -->
+              <Td>0.01</Td>       <!-- derivator time -->
+
+              <!-- Restrict elevator values to +/-0.35 at high speed, but allow full
+              +/-1 range at low speed. -->
+              <u_min>-1</u_min>
+              <u_max>1</u_max>
+
+            </config>
+          </pid-controller>
+        </PropertyList>
+        )";
+    
+    std::cout << "config_text is:\n" << config_text << "\n";
+    
+    SGPropertyNode_ptr config = configFromString(config_text);
+
+    auto ap = new FGXMLAutopilot::Autopilot(globals->get_props(), config);
+
+    globals->add_subsystem("ap", ap);
+    ap->bind();
+    ap->init();
+
+    assert(pidControllerInputs.size() == pidControllerOutputs.size());
+    
+    fgSetDouble("/controls/flight/elevator", 0);
+    
+    for (unsigned i=0; i<pidControllerInputs.size(); ++i) {
+        const PidControllerInput& input = pidControllerInputs[i];
+        const PidControllerOutput& output = pidControllerOutputs[i];
+        fgSetDouble("/velocities/vertical-speed-fps", input.vspeed_fps);
+        fgSetDouble("/autopilot/settings/vertical-speed-fpm", input.reference / 0.01667);
+        ap->update(0.00833333 /*dt*/);
+        double elevator = fgGetDouble("/controls/flight/elevator");
+        CPPUNIT_ASSERT_DOUBLES_EQUAL(output.output, elevator, 0.0001);
+        if (0) {
+            // This generates C++ text for setting the <outputs> vector above.
+            std::cout << "{ " << elevator << "},\n";
+        }
+    }
+}
diff --git a/test_suite/unit_tests/Autopilot/testPidController.hxx b/test_suite/unit_tests/Autopilot/testPidController.hxx
new file mode 100644
index 000000000..f0f0e5c56
--- /dev/null
+++ b/test_suite/unit_tests/Autopilot/testPidController.hxx
@@ -0,0 +1,50 @@
+/*
+ * This file is part of the program FlightGear.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+
+#include <simgear/props/props.hxx>
+
+
+// The system tests.
+struct PidControllerTests : public CppUnit::TestFixture
+{
+    // Set up function for each test.
+    void setUp();
+
+    // Clean up after each test.
+    void tearDown();
+
+    // The tests.
+    void test0();
+    void test1();
+    
+    private:
+    
+    // Set up the test suite.
+    CPPUNIT_TEST_SUITE(PidControllerTests);
+    CPPUNIT_TEST(test);
+    CPPUNIT_TEST_SUITE_END();
+
+    SGPropertyNode_ptr configFromString(const std::string& s);
+    void test();
+};
diff --git a/test_suite/unit_tests/Autopilot/testPidControllerData.cxx b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx
new file mode 100644
index 000000000..d9b9e38fa
--- /dev/null
+++ b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx
@@ -0,0 +1,4963 @@
+#include "testPidControllerData.hxx"
+
+std::vector<PidControllerInput> pidControllerInputs = {
+        { -68.086, 8.335},
+        { -68.2036, 8.335},
+        { -68.3595, 8.335},
+        { -68.4833, 8.335},
+        { -68.6045, 8.335},
+        { -68.7263, 8.335},
+        { -68.8489, 8.335},
+        { -68.9724, 8.335},
+        { -69.0967, 8.335},
+        { -69.2219, 8.335},
+        { -69.3478, 8.335},
+        { -69.4746, 8.335},
+        { -69.6021, 8.335},
+        { -69.7304, 8.335},
+        { -69.8595, 8.335},
+        { -69.9891, 8.335},
+        { -70.1194, 8.335},
+        { -70.2503, 8.335},
+        { -70.3817, 8.335},
+        { -70.5136, 8.335},
+        { -70.646, 8.335},
+        { -70.7786, 8.335},
+        { -70.9114, 8.335},
+        { -71.0442, 8.335},
+        { -71.1769, 8.335},
+        { -71.3096, 8.335},
+        { -71.4421, 8.335},
+        { -71.5744, 8.335},
+        { -71.7064, 8.335},
+        { -71.8381, 8.335},
+        { -71.9695, 8.335},
+        { -72.1006, 8.335},
+        { -72.2313, 8.335},
+        { -72.3615, 8.335},
+        { -72.4911, 8.335},
+        { -72.6202, 8.335},
+        { -72.7486, 8.335},
+        { -72.8763, 8.335},
+        { -73.0032, 8.335},
+        { -73.1292, 8.335},
+        { -73.2543, 8.335},
+        { -73.3785, 8.335},
+        { -73.5016, 8.335},
+        { -73.6237, 8.335},
+        { -73.7446, 8.335},
+        { -73.8643, 8.335},
+        { -73.9827, 8.335},
+        { -74.0998, 8.335},
+        { -74.2156, 8.335},
+        { -74.3299, 8.335},
+        { -74.4428, 8.335},
+        { -74.5541, 8.335},
+        { -74.6639, 8.335},
+        { -74.7721, 8.335},
+        { -74.8785, 8.335},
+        { -74.9833, 8.335},
+        { -75.0863, 8.335},
+        { -75.1876, 8.335},
+        { -75.287, 8.335},
+        { -75.3845, 8.335},
+        { -75.4801, 8.335},
+        { -75.5738, 8.335},
+        { -75.6655, 8.335},
+        { -75.7552, 8.335},
+        { -75.8429, 8.335},
+        { -75.9285, 8.335},
+        { -76.012, 8.335},
+        { -76.0935, 8.335},
+        { -76.1728, 8.335},
+        { -76.2499, 8.335},
+        { -76.3249, 8.335},
+        { -76.3978, 8.335},
+        { -76.4684, 8.335},
+        { -76.5368, 8.335},
+        { -76.6031, 8.335},
+        { -76.6671, 8.335},
+        { -76.7289, 8.335},
+        { -76.7885, 8.335},
+        { -76.8459, 8.335},
+        { -76.9011, 8.335},
+        { -76.9542, 8.335},
+        { -77.005, 8.335},
+        { -77.0537, 8.335},
+        { -77.1002, 8.335},
+        { -77.1446, 8.335},
+        { -77.1868, 8.335},
+        { -77.2268, 8.335},
+        { -77.2647, 8.335},
+        { -77.3005, 8.335},
+        { -77.3342, 8.335},
+        { -77.3659, 8.335},
+        { -77.3955, 8.335},
+        { -77.423, 8.335},
+        { -77.4485, 8.335},
+        { -77.472, 8.335},
+        { -77.4936, 8.335},
+        { -77.5131, 8.335},
+        { -77.5307, 8.335},
+        { -77.5464, 8.335},
+        { -77.5602, 8.335},
+        { -77.5721, 8.335},
+        { -77.5821, 8.335},
+        { -77.5904, 8.335},
+        { -77.5969, 8.335},
+        { -77.6017, 8.335},
+        { -77.6047, 8.335},
+        { -77.6061, 8.335},
+        { -77.6058, 8.335},
+        { -77.604, 8.335},
+        { -77.6006, 8.335},
+        { -77.5957, 8.335},
+        { -77.5893, 8.335},
+        { -77.5814, 8.335},
+        { -77.5721, 8.335},
+        { -77.5615, 8.335},
+        { -77.5495, 8.335},
+        { -77.5362, 8.335},
+        { -77.5217, 8.335},
+        { -77.506, 8.335},
+        { -77.489, 8.335},
+        { -77.4709, 8.335},
+        { -77.4517, 8.335},
+        { -77.4314, 8.335},
+        { -77.4102, 8.335},
+        { -77.3878, 8.335},
+        { -77.3646, 8.335},
+        { -77.3404, 8.335},
+        { -77.3153, 8.335},
+        { -77.2893, 8.335},
+        { -77.2626, 8.335},
+        { -77.235, 8.335},
+        { -77.2067, 8.335},
+        { -77.1777, 8.335},
+        { -77.148, 8.335},
+        { -77.1176, 8.335},
+        { -77.0866, 8.335},
+        { -77.0551, 8.335},
+        { -77.0229, 8.335},
+        { -76.9903, 8.335},
+        { -76.9571, 8.335},
+        { -76.9235, 8.335},
+        { -76.8895, 8.335},
+        { -76.855, 8.335},
+        { -76.8202, 8.335},
+        { -76.785, 8.335},
+        { -76.7496, 8.335},
+        { -76.7138, 8.335},
+        { -76.6777, 8.335},
+        { -76.6414, 8.335},
+        { -76.605, 8.335},
+        { -76.5683, 8.335},
+        { -76.5314, 8.335},
+        { -76.4945, 8.335},
+        { -76.4574, 8.335},
+        { -76.4202, 8.335},
+        { -76.3828, 8.335},
+        { -76.3449, 8.335},
+        { -76.3065, 8.335},
+        { -76.2675, 8.335},
+        { -76.2281, 8.335},
+        { -76.1883, 8.335},
+        { -76.148, 8.335},
+        { -76.1073, 8.335},
+        { -76.0663, 8.335},
+        { -76.0249, 8.335},
+        { -75.9832, 8.335},
+        { -75.9412, 8.335},
+        { -75.899, 8.335},
+        { -75.8566, 8.335},
+        { -75.8139, 8.335},
+        { -75.7711, 8.335},
+        { -75.7281, 8.335},
+        { -75.6851, 8.335},
+        { -75.642, 8.335},
+        { -75.5989, 8.335},
+        { -75.5559, 8.335},
+        { -75.5129, 8.335},
+        { -75.47, 8.335},
+        { -75.4271, 8.335},
+        { -75.3844, 8.335},
+        { -75.3419, 8.335},
+        { -75.2994, 8.335},
+        { -75.2572, 8.335},
+        { -75.2152, 8.335},
+        { -75.1734, 8.335},
+        { -75.1316, 8.335},
+        { -75.09, 8.335},
+        { -75.0484, 8.335},
+        { -75.0069, 8.335},
+        { -74.9656, 8.335},
+        { -74.9245, 8.335},
+        { -74.8836, 8.335},
+        { -74.8429, 8.335},
+        { -74.8024, 8.335},
+        { -74.7621, 8.335},
+        { -74.7222, 8.335},
+        { -74.6826, 8.335},
+        { -74.6433, 8.335},
+        { -74.6044, 8.335},
+        { -74.5659, 8.335},
+        { -74.5277, 8.335},
+        { -74.4899, 8.335},
+        { -74.4526, 8.335},
+        { -74.4156, 8.335},
+        { -74.379, 8.335},
+        { -74.3428, 8.335},
+        { -74.3071, 8.335},
+        { -74.2717, 8.335},
+        { -74.2368, 8.335},
+        { -74.2023, 8.335},
+        { -74.1683, 8.335},
+        { -74.1347, 8.335},
+        { -74.1015, 8.335},
+        { -74.0687, 8.335},
+        { -74.0364, 8.335},
+        { -74.0044, 8.335},
+        { -73.9728, 8.335},
+        { -73.9417, 8.335},
+        { -73.911, 8.335},
+        { -73.8806, 8.335},
+        { -73.8507, 8.335},
+        { -73.8212, 8.335},
+        { -73.792, 8.335},
+        { -73.7632, 8.335},
+        { -73.7348, 8.335},
+        { -73.7067, 8.335},
+        { -73.6789, 8.335},
+        { -73.6516, 8.335},
+        { -73.6245, 8.335},
+        { -73.5978, 8.335},
+        { -73.5714, 8.335},
+        { -73.5452, 8.335},
+        { -73.5194, 8.335},
+        { -73.4938, 8.335},
+        { -73.4685, 8.335},
+        { -73.4434, 8.335},
+        { -73.4186, 8.335},
+        { -73.394, 8.335},
+        { -73.3696, 8.335},
+        { -73.3454, 8.335},
+        { -73.3214, 8.335},
+        { -73.2975, 8.335},
+        { -73.2738, 8.335},
+        { -73.2504, 8.335},
+        { -73.2271, 8.335},
+        { -73.204, 8.335},
+        { -73.181, 8.335},
+        { -73.1582, 8.335},
+        { -73.1355, 8.335},
+        { -73.1129, 8.335},
+        { -73.0903, 8.335},
+        { -73.0678, 8.335},
+        { -73.0454, 8.335},
+        { -73.023, 8.335},
+        { -73.0006, 8.335},
+        { -72.9783, 8.335},
+        { -72.956, 8.335},
+        { -72.9335, 8.335},
+        { -72.911, 8.335},
+        { -72.8883, 8.335},
+        { -72.8654, 8.335},
+        { -72.8424, 8.335},
+        { -72.8192, 8.335},
+        { -72.7958, 8.335},
+        { -72.7723, 8.335},
+        { -72.7485, 8.335},
+        { -72.7244, 8.335},
+        { -72.7002, 8.335},
+        { -72.6757, 8.335},
+        { -72.651, 8.335},
+        { -72.626, 8.335},
+        { -72.6007, 8.335},
+        { -72.5751, 8.335},
+        { -72.5493, 8.335},
+        { -72.5232, 8.335},
+        { -72.4967, 8.335},
+        { -72.4699, 8.335},
+        { -72.4428, 8.335},
+        { -72.4153, 8.335},
+        { -72.3876, 8.335},
+        { -72.3595, 8.335},
+        { -72.331, 8.335},
+        { -72.3022, 8.335},
+        { -72.273, 8.335},
+        { -72.2435, 8.335},
+        { -72.2135, 8.335},
+        { -72.1832, 8.335},
+        { -72.1526, 8.335},
+        { -72.1215, 8.335},
+        { -72.0901, 8.335},
+        { -72.0584, 8.335},
+        { -72.0262, 8.335},
+        { -71.9937, 8.335},
+        { -71.9608, 8.335},
+        { -71.9275, 8.335},
+        { -71.8938, 8.335},
+        { -71.8598, 8.335},
+        { -71.8253, 8.335},
+        { -71.7905, 8.335},
+        { -71.7553, 8.335},
+        { -71.7197, 8.335},
+        { -71.6837, 8.335},
+        { -71.6473, 8.335},
+        { -71.6106, 8.335},
+        { -71.5735, 8.335},
+        { -71.536, 8.335},
+        { -71.4981, 8.335},
+        { -71.4598, 8.335},
+        { -71.4211, 8.335},
+        { -71.3821, 8.335},
+        { -71.3427, 8.335},
+        { -71.3029, 8.335},
+        { -71.2628, 8.335},
+        { -71.2223, 8.335},
+        { -71.1815, 8.335},
+        { -71.1403, 8.335},
+        { -71.0988, 8.335},
+        { -71.0569, 8.335},
+        { -71.0147, 8.335},
+        { -70.9722, 8.335},
+        { -70.9293, 8.335},
+        { -70.886, 8.335},
+        { -70.8425, 8.335},
+        { -70.7987, 8.335},
+        { -70.7545, 8.335},
+        { -70.7101, 8.335},
+        { -70.6653, 8.335},
+        { -70.6202, 8.335},
+        { -70.5749, 8.335},
+        { -70.5293, 8.335},
+        { -70.4835, 8.335},
+        { -70.4373, 8.335},
+        { -70.391, 8.335},
+        { -70.3443, 8.335},
+        { -70.2975, 8.335},
+        { -70.2504, 8.335},
+        { -70.203, 8.335},
+        { -70.1555, 8.335},
+        { -70.1078, 8.335},
+        { -70.0598, 8.335},
+        { -70.0117, 8.335},
+        { -69.9634, 8.335},
+        { -69.915, 8.335},
+        { -69.8664, 8.335},
+        { -69.8175, 8.335},
+        { -69.7685, 8.335},
+        { -69.7194, 8.335},
+        { -69.6701, 8.335},
+        { -69.6207, 8.335},
+        { -69.5712, 8.335},
+        { -69.5215, 8.335},
+        { -69.4717, 8.335},
+        { -69.4218, 8.335},
+        { -69.3718, 8.335},
+        { -69.3216, 8.335},
+        { -69.2714, 8.335},
+        { -69.221, 8.335},
+        { -69.1706, 8.335},
+        { -69.1201, 8.335},
+        { -69.0695, 8.335},
+        { -69.0188, 8.335},
+        { -68.9681, 8.335},
+        { -68.9172, 8.335},
+        { -68.8663, 8.335},
+        { -68.8153, 8.335},
+        { -68.7643, 8.335},
+        { -68.7132, 8.335},
+        { -68.6621, 8.335},
+        { -68.6109, 8.335},
+        { -68.5597, 8.335},
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+};
+
+std::vector<PidControllerOutput> pidControllerOutputs = {
+        { -1},
+        { 0.619054},
+        { 0.785061},
+        { 0.798172},
+        { 0.794085},
+        { 0.788043},
+        { 0.781764},
+        { 0.775431},
+        { 0.769074},
+        { 0.762685},
+        { 0.756279},
+        { 0.749841},
+        { 0.743384},
+        { 0.736901},
+        { 0.730391},
+        { 0.723871},
+        { 0.717325},
+        { 0.710759},
+        { 0.704179},
+        { 0.697581},
+        { 0.690965},
+        { 0.684347},
+        { 0.677719},
+        { 0.671091},
+        { 0.664463},
+        { 0.657827},
+        { 0.651196},
+        { 0.644565},
+        { 0.637939},
+        { 0.631315},
+        { 0.624693},
+        { 0.618073},
+        { 0.61146},
+        { 0.604857},
+        { 0.598267},
+        { 0.591682},
+        { 0.585114},
+        { 0.578558},
+        { 0.57202},
+        { 0.565503},
+        { 0.559002},
+        { 0.55252},
+        { 0.546065},
+        { 0.539628},
+        { 0.53322},
+        { 0.526839},
+        { 0.520488},
+        { 0.514164},
+        { 0.507869},
+        { 0.501611},
+        { 0.495382},
+        { 0.489193},
+        { 0.483035},
+        { 0.476915},
+        { 0.470841},
+        { 0.464798},
+        { 0.458801},
+        { 0.452839},
+        { 0.446926},
+        { 0.441058},
+        { 0.435232},
+        { 0.429451},
+        { 0.423718},
+        { 0.418031},
+        { 0.412391},
+        { 0.406803},
+        { 0.401264},
+        { 0.395769},
+        { 0.390331},
+        { 0.384945},
+        { 0.379606},
+        { 0.374316},
+        { 0.369086},
+        { 0.363906},
+        { 0.358772},
+        { 0.353699},
+        { 0.348676},
+        { 0.343705},
+        { 0.338787},
+        { 0.333921},
+        { 0.329104},
+        { 0.324346},
+        { 0.319634},
+        { 0.314978},
+        { 0.310369},
+        { 0.305817},
+        { 0.301318},
+        { 0.296867},
+        { 0.292467},
+        { 0.288118},
+        { 0.283815},
+        { 0.279565},
+        { 0.275367},
+        { 0.271216},
+        { 0.267113},
+        { 0.263054},
+        { 0.259052},
+        { 0.255092},
+        { 0.251178},
+        { 0.247311},
+        { 0.243491},
+        { 0.239718},
+        { 0.235982},
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+        { 0.228644},
+        { 0.225042},
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+        { 0.217952},
+        { 0.214461},
+        { 0.211014},
+        { 0.207601},
+        { 0.204226},
+        { 0.200888},
+        { 0.197584},
+        { 0.194309},
+        { 0.191072},
+        { 0.187866},
+        { 0.184688},
+        { 0.181539},
+        { 0.178427},
+        { 0.175338},
+        { 0.172277},
+        { 0.169244},
+        { 0.166228},
+        { 0.163252},
+        { 0.160286},
+        { 0.157351},
+        { 0.154437},
+        { 0.151546},
+        { 0.148669},
+        { 0.14582},
+        { 0.142985},
+        { 0.140168},
+        { 0.137369},
+        { 0.13459},
+        { 0.131824},
+        { 0.129069},
+        { 0.126338},
+        { 0.12361},
+        { 0.120904},
+        { 0.118204},
+        { 0.115515},
+        { 0.112843},
+        { 0.110174},
+        { 0.107519},
+        { 0.104866},
+        { 0.102229},
+        { 0.0995981},
+        { 0.0969712},
+        { 0.0943454},
+        { 0.0917337},
+        { 0.0891264},
+        { 0.086515},
+        { 0.0839149},
+        { 0.0813167},
+        { 0.0787275},
+        { 0.0761606},
+        { 0.0736088},
+        { 0.0710764},
+        { 0.0685505},
+        { 0.0660358},
+        { 0.0635378},
+        { 0.0610492},
+        { 0.0585668},
+        { 0.0560986},
+        { 0.0536371},
+        { 0.0511846},
+        { 0.0487362},
+        { 0.0462943},
+        { 0.0438642},
+        { 0.0414334},
+        { 0.0390115},
+        { 0.0365863},
+        { 0.0341675},
+        { 0.0317481},
+        { 0.029325},
+        { 0.026906},
+        { 0.0244839},
+        { 0.0220661},
+        { 0.0196399},
+        { 0.0172099},
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+        { -0.573004},
+        { -0.57319},
+        { -0.573376},
+        { -0.573564},
+        { -0.57375},
+        { -0.573937},
+        { -0.574124},
+        { -0.57431},
+        { -0.574498},
+        { -0.574684},
+        { -0.574872},
+        { -0.575059},
+        { -0.575247},
+        { -0.575434},
+        { -0.575622},
+        { -0.575809},
+        { -0.575997},
+        { -0.576185},
+        { -0.576373},
+        { -0.576561},
+        { -0.576749},
+        { -0.576937},
+        { -0.577126},
+        { -0.577314},
+        { -0.577502},
+        { -0.577691},
+        { -0.57788},
+        { -0.578068},
+        { -0.578257},
+        { -0.578445},
+        { -0.578634},
+        { -0.578822},
+        { -0.579012},
+        { -0.5792},
+        { -0.579389},
+        { -0.579579},
+        { -0.579768},
+        { -0.579957},
+        { -0.580146},
+        { -0.580335},
+        { -0.580525},
+        { -0.580715},
+        { -0.580904},
+        { -0.581093},
+        { -0.581283},
+        { -0.581473},
+        { -0.581663},
+        { -0.581852},
+        { -0.582043},
+        { -0.582232},
+        { -0.582423},
+        { -0.582613},
+        { -0.582803},
+        { -0.582994},
+        { -0.583184},
+        { -0.583375},
+        { -0.583565},
+        { -0.583756},
+        { -0.583947},
+        { -0.584138},
+        { -0.584328},
+        { -0.58452},
+        { -0.584711},
+        { -0.584902},
+        { -0.585093},
+        { -0.585284},
+        { -0.585476},
+        { -0.585667},
+        { -0.585858},
+        { -0.58605},
+        { -0.586242},
+        { -0.586433},
+        { -0.586625},
+        { -0.586817},
+        { -0.587007},
+        { -0.587199},
+        { -0.587392},
+        { -0.587583},
+        { -0.587775},
+        { -0.587967},
+        { -0.588159},
+        { -0.588351},
+        { -0.588543},
+        { -0.588735},
+        { -0.588928},
+        { -0.58912},
+        { -0.589312},
+        { -0.589505},
+        { -0.589697},
+        { -0.58989},
+        { -0.590082},
+        { -0.590275},
+        { -0.590468},
+        { -0.590661},
+        { -0.590854},
+        { -0.591048},
+        { -0.59124},
+        { -0.591434},
+        { -0.591627},
+        { -0.591821},
+        { -0.592014},
+        { -0.592208},
+        { -0.592402},
+        { -0.592595},
+        { -0.592789},
+        { -0.592983},
+        { -0.593177},
+        { -0.593371},
+        { -0.593565},
+        { -0.593759},
+        { -0.593953},
+        { -0.594147},
+        { -0.594342},
+        { -0.594536},
+        { -0.594731},
+        { -0.594926},
+        { -0.59512},
+        { -0.595314},
+        { -0.595509},
+        { -0.595704},
+        { -0.595898},
+        { -0.596093},
+        { -0.596287},
+        { -0.596482},
+        { -0.596678},
+        { -0.596873},
+        { -0.597067},
+        { -0.597262},
+        { -0.597457},
+        { -0.597653},
+        { -0.597848},
+        { -0.598043},
+        { -0.598239},
+        { -0.598435},
+        { -0.59863},
+        { -0.598826},
+        { -0.599021},
+        { -0.599217},
+        { -0.599412},
+        { -0.599608},
+        { -0.599804},
+        { -0.6},
+        { -0.600195},
+        { -0.600391},
+        { -0.600588},
+        { -0.600784},
+        { -0.60098},
+        { -0.601176},
+        { -0.601372},
+        { -0.601569},
+        { -0.601765},
+        { -0.601961},
+        { -0.602158},
+        { -0.602355},
+        { -0.602551},
+        { -0.602747},
+        { -0.602944},
+        { -0.603142},
+        { -0.603338},
+        { -0.603534},
+        { -0.60373},
+        { -0.603927},
+        { -0.604124},
+        { -0.604321},
+        { -0.604518},
+        { -0.604715},
+        { -0.604912},
+        { -0.605108},
+        { -0.605306},
+        { -0.605503},
+        { -0.6057},
+        { -0.605897},
+};
diff --git a/test_suite/unit_tests/Autopilot/testPidControllerData.hxx b/test_suite/unit_tests/Autopilot/testPidControllerData.hxx
new file mode 100644
index 000000000..4b8ca2ef9
--- /dev/null
+++ b/test_suite/unit_tests/Autopilot/testPidControllerData.hxx
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <vector>
+
+struct PidControllerInput
+{
+    double vspeed_fps;
+    double reference;
+};
+
+struct PidControllerOutput
+{
+    double output;
+};
+
+// Define sequence of input values. These are the values actually used with
+// Harrier-GR3 when startup_zeros=false, but we use the same inputs for
+// startup_zeros=true also.
+//
+extern std::vector<PidControllerInput> pidControllerInputs;
+
+// Expected output.
+//
+extern std::vector<PidControllerOutput> pidControllerOutputs;