stack = { max_rate = 3.14, rotation_pid = { kp = [
    10.0,
    10.0,
    10.0,
], ki = [
    2.0,
    2.0,
    2.0,
], kd = [
    0.0,
    0.0,
    0.0,
], frequency = 50.0 }, rate_pid = { kp = [
    0.05,
    0.05,
    0.5,
], ki = [
    0.0,
    0.0,
    0.0,
], kd = [
    0.0,
    0.0,
    0.0,
], frequency = 600.0 }, linvel_pid = { kp = [
    4.0,
    4.0,
    4.0,
], ki = [
    0.0,
    0.0,
    0.0,
], kd = [
    0.0,
    0.0,
    0.0,
], frequency = 25.0 } }