 
 // Fonction qui s'execute a chaque cycle
 void loop() {
-  rx_read();
   bno_get_values();
   control_update();
-  print_rx();
-}
+  print_motors();
+}

// RX
int throttle = THROTTLE_RMIN;
volatile int input[4];
unsigned long timer[4];
byte last_channel[4];

// IMU
float roll_speed, roll_angle;

  Serial.print(",");
  Serial.println(pid_yaw_setpoint);
}
void print_imu() {
  Serial.print(pid_roll_speed_in);
  Serial.print(",");
