     last_yaw_error = yaw_error;
 
     dernierTemps = maintenant;
-    //Serial.println(deltaTemps);
   }
 
 }

    esc_2.writeMicroseconds(motorFL);
    esc_3.writeMicroseconds(motorBL);
    esc_4.writeMicroseconds(motorBR);
    Proportional_roll, Integral_roll, Derivative_roll = 0;
    Proportional_pitch, Integral_pitch, Derivative_pitch = 0; //reset after disarm
    Proportional_yaw, Integral_yaw, Derivative_yaw = 0;
  }

  //Serial.println(maintenant);
  //delay(20);
}

Adafruit_BNO055 bno = Adafruit_BNO055(); // Initialisation de l'objet BNO

////////////////////////////////////////////////////////////////////////
//LECTURE RADIO AVEC INTERRUPTS
////////////////////////////////////////////////////////////////////////
void calcSignalARM() {
  if (digitalRead(RX_PIN_ARM) == HIGH) {
