logger1.info('Commanded RC Throttle is %f' %vidro.current_rc_channels[2])
logger1.info('Error z is %f' %error_z)
#Logging for file 2
"""
logger2.info('Time is %f' %current time)
logger2.info('Vicon x position is %f' %controller.vidro.get_position()[0])
logger2.info('Vicon y position is %f' %controller.vidro.get_position()[1])
logger2.info('Vicon z position is %f' %controller.vidro.get_position()[2])
"""
#Reset of errors after each time control loop finishes
controller.I_error_alt = 0
controller.previous_time_alt = (time.time() - controller.timer) * 10
vidro.previous_error_alt = 0
#Get PID gains
controller.update_gains()
# Grab updated rc channel values
vidro.update_mavlink()
error_x = error_xy[0]
error_y = error_xy[1]
#print('Inner Loop')
#Seq. 0: Takeoff to 1 m and (0,0)
if sequence == 0:
