     motors[MOTOR_FL] = motors[MOTOR_FR] = motors[MOTOR_BL] = motors[MOTOR_BR] = 1000;
 
     // reset yaw target so we maintain this on takeoff
-    yaw_target = ypr[DMP_YAW];
+    yaw_target = ypr_degree[DMP_YAW];
 
     // reset PID integrals whilst on the ground
     // for(int i=0; i<6; i++)

      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
    }
  }
}

    // is pilot asking for yaw change - if so feed directly to rate pid (overwriting yaw stab output)
    if(abs(rcYaw ) > 5) {
      yaw_stab_output = rcYaw;
      yaw_target = ypr_degree[DMP_YAW];   // remember this yaw for when pilot stops
    }

    // pid_pitch_rate.calculate()
