         mpu.dmpGetQuaternion(&q, fifoBuffer);
         mpu.dmpGetGravity(&gravity, &q);
         mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+        yawRate = mpu.getRotationZ();
         // D(Serial.println("Fim lei"));
 
         /* Converte para graus/segundo */

 * DEBUG *
 *********/

#define DEBUG // Habilita a telemetria
#ifdef DEBUG
  #define D(X) X
#else


  /* Leva em consideração o zero do yaw controle */
  if (rcYaw > rcYawZero) {
    rcYaw = map(channels[3], rcYawZero, MAX_RC_YAW, 0, 250);
  } else {
    rcYaw = map(channels[3], MIN_RC_YAW, rcYawZero, -250, 0);
  }

  rcThrottle = channels[2];
