角速度环
MC_PITCHRATE_P 0.15
MC_PITCHRATE_I 0.05
MC_PITCHRATE_D 0.003
MC_PITCHRATE_K 1
MC_ROLLRATE_P 0.15
MC_ROLLRATE_I 0.05
MC_ROLLRATE_D 0.003
MC_ROLLRATE_K 1
MC_YAWRATE_P 0.2
MC_YAWRATE_I 0.1
MC_YAWRATE_D 0.0
MC_YAWRATE_K 1
MC_PITCH_P 6.5
MC_ROLL_P 6.5