     rotor[i].attach(i); // Set up ESC channels. TODO: Find the offset for i in this case
     SetMotor(i, SERVO_OFF);
   }
+
+  gyro.begin(gyro.L3DS20_RANGE_250DPS);
+
   delay(5000);
   LiftOff(1.5);
 

ulong TimeDelta;
bool ManualControl;


void SetMotor(int MotorID, int value)
{



void loop(){
  gyro.read();

  if (ManualControl)
  {
    const int CONTROLLER_MAX = 5;
