diff --git a/Scripts/Approach/README.md b/Scripts/Approach/README.md
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+# Approach
+_Automated approach script using RangeFinders and a PID loop_
+
+This script is assembled from [this reddit thread][1], piecing together the info from various comments and adjusting it to work with the Jilted.
+Setup assumes a single RangeFinder for the Distance calculation and a number of RangeFinders to assist it.
+
+*Field names*:
+```
+  :Approach bool   enable approach
+  :Distance float  RangeFinderDistance
+  :RFC      float  RangeFinderDistance of optional extra RangeFinders
+```
+
+Testing the actual approach PID loop is not possible without having an environment in the test runner that responds to eg. FCU* commands.
+
+[1]: https://www.reddit.com/r/starbase/comments/p5mifp/safely_approach_asteroids_with_a_pid_controller/
diff --git a/Scripts/Approach/approach.yolol b/Scripts/Approach/approach.yolol
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+++ b/Scripts/Approach/approach.yolol
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+sp=19 Kp=0.3 Ki=0 Kd=0.5 le=0 int=0
+IF NOT :Approach THEN GOTO1 END
+d=:Distance IF :RFC AND :RFC<d THEN d=:RFC END 
+e=d-sp de=e-le int=int+e o=Kp*e+(Ki*int)+(Kd*de) le=e
+IF d>999 OR e<10 THEN :Approach=0 GOTO8 END
+IF o>0 THEN :FCUForward=o ELSE :FCUForward=0 END
+IF o<0 THEN :FCUBackward=-o ELSE :FCUBackward=0 END
+IF :Approach THEN GOTO3 ELSE :FCUForward=0 :FCUBackward=0 END