   Proportional_roll, Integral_roll, Derivative_roll = 0;
   Proportional_pitch, Integral_pitch, Derivative_pitch = 0;
   Proportional_yaw, Integral_yaw, Derivative_yaw = 0;
-
-  delay(5000);
 }
 
 
 // Fonction qui s'execute a chaque cycle
 void loop() {
 
-  //IMU calculations
+  //IMU calculs
   //vitesse angulaire
 
   imu::Vector<3> gyroscope = bno.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

      if (inputPITCH >= inputPITCHprev + 300){
        inputPITCH = inputPITCHprev + 300;
      }
      chrono_start2 = 0;
    }
  }


  last_pitch_error = pitch_error;

  //YAW calculs
  //On calcule le setpoint du yaw ici car il est le meme en stabilise ou en acro
  pid_yaw_setpoint = 0;
  if (inputYAW > THROTTLE_RMID + 10)pid_yaw_setpoint = (inputYAW - THROTTLE_RMID + 10) / 2.0;
