timer = time.time()
while vidro.current_rc_channels[4] > 1600:
controller.I_error_alt = 0
controller.I_error_pitch = 0
controller.I_error_roll = 0
controller.I_error_yaw = 0
controller.previous_time_alt = (time.time()-controller.timer)*10
controller.previous_time_yaw = (time.time()-controller.timer)*10
controller.previous_time_xy = (time.time()-controller.timer)*10
vidro.previous_error_alt = 0
vidro.previous_error_yaw = 0
vidro.previous_error_roll = 0
vidro.previous_error_pitch = 0
if vidro.current_rc_channels[5] > 1600:
controller.update_gains()
while vidro.current_rc_channels[5] > 1600:
#~ try:
controller.rc_alt(1000)
controller.rc_yaw(0)
controller.rc_xy(0,0)
curses_print("No errors",2,0)
#~ except:
#~ controller.vidro.set_rc_throttle(controller.base_rc_throttle)
