code: def sawtooth(ATTITUDE, amplitude=2.0, period=5.0):
      '''sawtooth pattern based on uptime'''
      mins = (ATTITUDE.usec * 1.0e-6)/60
      p = fmod(mins, period*2)
      if p < period:
          return amplitude * (p/period)
      return amplitude * (period - (p-period))/periof sawtooth(ATTITUDE, amplitude=2.0, period=5.0):
      '''sawtooth pattern based on uptime'''
      mins = (ATTITUDE.usec * 1.0e-6)/60
      p = fmod(mins, period*2)
      if p < period:
          return amplitude * (p/period)
      return amplitude * (period - (p-period))/period
docs: sawtooth pattern based on uptime