     // 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[DMP_YAW];   // remember this yaw for when pilot stops
+      yaw_target = ypr_degree[DMP_YAW];   // remember this yaw for when pilot stops
     }
 
     // pid_pitch_rate.calculate()

    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];

    // 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);

      /* Converte para graus/segundo */
      for (int i = 0; i < 3; i++) {
        ypr_degree[i] = ypr[i] * 180/M_PI;
      }
    }
  }
}
