The actual code for the pyboard are divided in 5 scripts:

rc.py -> read pwm from receiver

esc.py -> send pwm to speeds

mpu.py -> read accelerometer and gyroscope

pid.py -> stabilize the multicopter

main.py -> joins all scripts

And 1 script for the simulator on the laptop:

MPUTeapot.py

Now I'm working with the telemetry