 
   if (ManualControl)
   {
-    const int CONTROLLER_MAX = 5;
+    const int CONTROLLER_MAX = 1024;
     const int CONTROLLER_MIN = 0;
-    const int MOTOR_MAX = 1024;
-    const int MOTOR_MIN = 0;
 
     ControllerInput Input = GetControllerInput();
     int Throttle = Input.Throttle;

  TimeSinceStart = millis();
  TimeDelta = 0;
  
  for (int i = 0; i < 4; ++i){
    rotor[i].attach(i); // Set up ESC channels. TODO: Find the offset for i in this case
    SetMotor(i, SERVO_OFF);
  }

  gyro.begin(gyro.L3DS20_RANGE_250DPS);

  delay(5000);
  LiftOff(1.5);

  delay(5000);
  Land();
}



  rotor[MotorID].writeMicroseconds(value);
}

void SetAllMotors(int value)
{
  for (int i = FRONT_LEFT; i <= BACK_RIGHT; ++i)
    SetMotor(i, value);
}

double MicrosToSecond(ulong micro){
  return micro / 1000000.f;
}
