     if (chrono_start0 != 0) {
       inputARMprev = inputARM;
       inputARM = ((volatile int)micros() - chrono_start0);
-      if (inputARM >= inputARMprev + 300){
-        inputARM = inputARMprev + 300;
-      }
       chrono_start0 = 0;
     }
   }

    motorFL = throttle + pid_pitch_out - pid_roll_out + pid_yaw_out;
    motorBL = throttle - pid_pitch_out - pid_roll_out - pid_yaw_out;
    motorBR = throttle - pid_pitch_out + pid_roll_out + pid_yaw_out;
   
    if (motorFR > MOTOR_MAX_LEVEL) motorFR = MOTOR_MAX_LEVEL;
    if (motorFL > MOTOR_MAX_LEVEL) motorFL = MOTOR_MAX_LEVEL; //on ne veut pas ecrire aux esc une valeur
    if (motorBL > MOTOR_MAX_LEVEL) motorBL = MOTOR_MAX_LEVEL; //plus grande que 2000
    if (motorBR > MOTOR_MAX_LEVEL) motorBR = MOTOR_MAX_LEVEL;
    
    if (motorFR < MOTOR_ZERO_LEVEL + 100) motorFR = MOTOR_ZERO_LEVEL + 100;
    if (motorFL < MOTOR_ZERO_LEVEL + 100) motorFL = MOTOR_ZERO_LEVEL + 100; //histoire que les moteurs tournent
    if (motorBL < MOTOR_ZERO_LEVEL + 100) motorBL = MOTOR_ZERO_LEVEL + 100; //quand meme quand on arme

  Serial.print(roll_speed);
  Serial.print(",");
  Serial.println(pid_roll_setpoint);

}


