If you look, even the default P term is 0. Integral is probably how most people will use this. Already when P~=0 the rudder tends to bounce around a lot and that's not optimal. In order to reduce wear-and-tear on the rudder actuator, it should respond with some lag to the lateral acceleration. I recommend leaving the P term at 0, but provide it in case someone really wants snappy behavior they can use it, but IMHO D would be overkill.