Algorithm 7. Fragment of the Python code: calculation of both axis PID control signals.

# angle variables

angleX = self.zero_x + (errorX * self.kP + dErrorX * self.kD + self.kI * self.errorSumX)

angleY = self.zero_y + (errorY * self.kP + dErrorY * self.kD + self.kI * self.errorSumY)