 
 }
 
-void initRegulators(){
+inline void initRegulators(){
 
   pitchReg.SetMode(AUTOMATIC);
   pitchReg.SetOutputLimits(-PID_PITCH_INFLUENCE, PID_PITCH_INFLUENCE);


}

void initBalancing(){

  bal_axes = 0;
  bal_ac = 0;


}

inline void arm(){

  a.write(ESC_MIN);
  b.write(ESC_MIN);
