layers = [
    { type = "Rate", max_rate = 3.14, kp = [
        0.02,
        0.2,
        0.02,
    ], ki = [
        0.0,
        0.0,
        0.0,
    ], kd = [
        0.0,
        0.0,
        0.0,
    ], frequency = 600.0 },
]