A revision of Ku’s https://www.simpleplanes.com/u/Ku proof of concept for propeller pitch optimization. This makes more direct use of built in rate/sum functions compared to the original and additionally provides inside propeller a regularization term which prevents over-revving. This is a pretty general archictecture for this system and the input into the propeller pitch can be modified according to the provided structure. This structure is essentially rawcommand-k*pow(RPM/maxRPM,p) where p and k can be tuned for optimal behavior. Overall, this system is a 1st order refurbishment of the built-in second order auto-pitching of propellers. As such, it has negligible overshoot and very fast rise/settling time compared to the stock method.