stack = { max_rate = 3.14, rotation_pid = { kp = [
    0.7,
    0.7,
    0.7,
], ki = [
    0.0,
    0.0,
    0.0,
], kd = [
    0.0,
    0.0,
    0.0,
], frequency = 50.0 }, rate_pid = { kp = [
    0.1,
    0.1,
    1.0,
], ki = [
    0.0,
    0.0,
    0.0,
], kd = [
    0.0,
    0.0,
    0.0,
], frequency = 600.0 } }