 #define ROLL_MAX 30
 #define YAW_MIN -180
 #define YAW_MAX 180
-#define PID_PITCH_INFLUENCE 50
-#define PID_ROLL_INFLUENCE 50
+#define PID_PITCH_INFLUENCE 20
+#define PID_ROLL_INFLUENCE 20
 #define PID_YAW_INFLUENCE 20
 
 

}

void rcInterrupt1(){
   ch1 = micros() - rcLastChange1;
   rcLastChange1 = micros(); 
}

void rcInterrupt2(){
  ch2 = micros() - rcLastChange2;
  rcLastChange2 = micros();
}

void rcInterrupt3(){
  ch3 = micros() - rcLastChange3;
  rcLastChange3 = micros();
}

void rcInterrupt4(){
  ch4 = micros() - rcLastChange4;
  rcLastChange4 = micros();
}

void rcInterrupt5(){
  ch5 = micros() - rcLastChange5;
  rcLastChange5 = micros();
}

#endif



    mpuIntStatus = mpu.getIntStatus();
    fifoCount = mpu.getFIFOCount();
    
    if((mpuIntStatus & 0x10) || fifoCount >= 1024){ 
      
      mpu.resetFIFO(); 
    
