    float Great_roll, Great_pitch, Small_yaw;
   // with reverse x and z axis to kite angles
   //'XYZ' convention
-  Great_roll  = atan2(2*(q_x*q_w-q_y*q_z), q_w*q_w-q_x*q_x - q_y*q_y+q_z*q_z);
-  Great_pitch = asin(2*(q_x*q_z+q_y*q_w));
-  Small_yaw   = atan2(2*(q_z*q_w-q_x*q_y), q_w*q_w+q_x*q_x - q_y*q_y-q_z*q_z);
+//  Great_roll  = atan2(2*(q_x*q_w-q_y*q_z), q_w*q_w-q_x*q_x - q_y*q_y+q_z*q_z);
+//  Great_pitch = asin(2*(q_x*q_z+q_y*q_w));
+//  Small_yaw   = atan2(2*(q_z*q_w-q_x*q_y), q_w*q_w+q_x*q_x - q_y*q_y-q_z*q_z);
 
   
   //'ZYX' aeronautical convention

#include <SPI.h>
#include <WiFiNINA.h>
#include <WiFiUdp.h>

int status = WL_IDLE_STATUS;
#include "arduino_secrets.h" 


MPU9250_DMP imu;
float Roll, Pitch, Yaw;
float gyroX, gyroY, gyroZ;

void setup() {
  //Initialize serial and wait for port to open:
  Serial.begin(9600);
  delay(3000);
//  while (!Serial) {
//    ; // wait for serial port to connect. Needed for native USB port only
//  }

  // check for the WiFi module:
  if (WiFi.status() == WL_NO_MODULE) {
