message: Java takeoff working
diff: public class Takeoff {
  // Target params
  - static final double ALTITUDE_START = 0;
  static final double ALTITUDE_TARGET = 10;
  - static final double VARIO_TOLERANCE = 2.e-5; //g level-off velocity
  // PID params
  - static final double ALT_P = 1.25;
  - static final double VEL_P = 1.5;
  - static final double VEL_I = 1.0;
  - static final double VEL_D = 0.05;
  + static final double ALT_P = 1.0;
  + static final double VEL_P = 1.0;
  + static final double VEL_I = 0;
  + static final double VEL_D = 0;
  public static void main(String [] args)
  {
  @@ -32,7 +30,7 @@ public class Takeoff {
  AltitudePidController pid = new AltitudePidController(ALTITUDE_TARGET, ALT_P, VEL_P, VEL_I, VEL_D);
  // Create a multicopter simulation
  - Multicopter copter = new Multicopter("127.0.0.1", 5000, 5001);
  + Multicopter copter = new Multicopter();
  // Start the simulation
  copter.start();
  @@ -70,15 +68,7 @@ public class Takeoff {
  // Update for first difference
  zprev = z;
  tprev = t;
  -
  - // If altitude has leveled off, halt
  - if (Math.abs(z) != 0 && Math.abs(dzdt) < VARIO_TOLERANCE) {
  - break;
  - }
  }
  -
  - // Stop simulation
  - copter.stop();
  }
  // Helper function like Matlab/Numpy ones()
  