yaw_kp = 0.47
yaw_setpoint = 0.0
roll_kp = 0.38
roll_setpoint = 0.0
pitch_kp = 0.32
pitch_setpoint = 0.0
range_kp = 0.09
range_setpoint = 0.0
horizontal_kp = 0.45
horizontal_setpoint = 0.0
vertical_kp = 0.18
vertical_setpoint = 0.0