text: 
  
  #define MAG_OFF_X	-11000
  #define MAG_OFF_Y	2000
  #define MAG_OFF_Z	0
  
  // motor control constants
  #define MOT_MIN		20	// max pwm value when motors don't move
  #define MOT_SLOW	50	// pwm value when motors are slowly spinning
  #define MOT_LIFT	450	// pwm value when device just starts to lift
  
  // PID constants
  // pitch
  #define KPP		0.000045
  #define KIP		0.00000015
  #define KDP		0.03375
  // roll - vehicle is symmetric x/y
  #define KPR		KPP
  #define KIR		KIP
  #define KDR		KDP
  // yaw
  #define KPY	        0.00009
  #define KIY		0.0000003
  #define KDY		0.0675
  // altitude (PD)
  #define KPA		0.012
  #define KDA		0.0006
  
  
  
  
  