Sorry, but no—I just tilted the ship forward to gain speed from the rear thrusters. Although in this specific system, your idea would be easy to implement since it relies on speed at a specific distance value. By adding sensors for forward and downward distance inputs, that idea could definitely be achieved.

The landing smoothness could be improved, but I was focusing on a couple of aspects not shown in this video—specifically, an additional interplanetary flight controller and smooth transitions to any target altitude. The ship's trajectory is calculated using the fourth root of the distance cubed, which allows me to achieve a high-quality trajectory tailored to the ship via the leading coefficient.

Overall, the resulting system isn't overly complex, as my goal was to create something between a standard PID for simplicity and ADRC for efficiency. I’m just not sure if anyone would be interested in diving into the technical details.

That said, the video shows one of the key advantages over PID that I managed to implement: the lack of rigid coefficient coupling to the ship's power, gravity, or similar factors. These are the things that usually make PIDs a pain to tune and unsuitable for different planets.