     esc_2.writeMicroseconds(motorFL);
     esc_3.writeMicroseconds(motorBL);
     esc_4.writeMicroseconds(motorBR);
+    
     Proportional_roll, Integral_roll, Derivative_roll = 0;
-    Proportional_pitch, Integral_pitch, Derivative_pitch = 0; //reset after disarm
+    Proportional_pitch, Integral_pitch, Derivative_pitch = 0; //reset après disarm
     Proportional_yaw, Integral_yaw, Derivative_yaw = 0;
   }
-
-  //Serial.println(maintenant);
-  //delay(20);
-}
+}

    last_yaw_error = yaw_error;

    dernierTemps = maintenant;
    //Serial.println(deltaTemps);
  }

}

Adafruit_BNO055 bno = Adafruit_BNO055(); // Initialisation de l'objet BNO

////////////////////////////////////////////////////////////////////////
//LECTURE RADIO AVEC INTERRUPTS
////////////////////////////////////////////////////////////////////////
void calcSignalARM() {
  if (digitalRead(RX_PIN_ARM) == HIGH) {
