midi_conn.connect("tcp://192.168.0.2:1250")
pid_viz_conn = context.socket(zmq.PUSH)
pid_viz_conn.connect("tcp://127.0.0.1:5123")
ctrl_conn = context.socket(zmq.PULL)
ctrl_conn.connect("tcp://127.0.0.1:5124")
yaw_sp = 0
#r_pid = PID_RP(name="roll", P=30, I=0, D=10, Integrator_max=5, Integrator_min=-5, set_point=0, zmq_connection=pid_viz_conn)
#p_pid = PID_RP(name="pitch", P=30, I=0, D=10, Integrator_max=5, Integrator_min=-5, set_point=0, zmq_connection=pid_viz_conn)
r_pid = PID_RP(name="roll",
P=25,
I=0.28,
D=7,
Integrator_max=5,
Integrator_min=-5,
set_point=0,
zmq_connection=pid_viz_conn)
p_pid = PID_RP(name="pitch",
P=25,
I=0.28,
D=7,
Integrator_max=5,
Integrator_min=-5,
set_point=0,
zmq_connection=pid_viz_conn)
y_pid = PID_RP(name="yaw",
P=5,
I=0,
D=0.35,
