The documentation for the new PID describes the "Smpl Tm" parameter thusly:
Time between samples of the D Gain input. After ten samples, the function block calculates the average
error for the D Gain input.
Does this mean the error and derivative term is updated only once every 10*Smpl_Tm milliseconds, or is it both sampled and updated every Smpl_Tm milliseconds based on an average of the last 10 samples?
Nice new blocks, by the way.