     //declare a bundle
     OSCBundle bndl;
     bndl.add("/time").add((int32_t)millis()); //time since active :: indicates a connection
-    bndl.add("/ypr").add(pi2float(ypr[0])).add(pi2float(ypr[1])).add(pi2float(ypr[2])); // yaw/pitch/roll
+    bndl.add("/ypr").add(ypr[0]).add(ypr[1]).add(ypr[2]); // yaw/pitch/roll
     bndl.add("/batt").add(float((analogRead(A0) >> 2)-SCALED_V_MIN)/(SCALED_V_MAX - SCALED_V_MIN)); //battery voltage [0,1]
-    bndl.add("/debug").add(ypr[0]).add(ypr[1]).add(ypr[2]);
-    
+    bndl.add("/debug").add(min_ypr[0]).add(max_ypr[0]).add(min_ypr[1]).add(max_ypr[1]).add(min_ypr[2]).add(max_ypr[2]);
+
     Udp.beginPacket(outIp, outPort);
     bndl.send(Udp); // send the bytes to the SLIP stream
     Udp.endPacket(); // mark the end of the OSC Packet

    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
  }
  //=========================================================================//
}
  ESP.reset();
}

float max_ypr[3] = {-10, -10, -10};
float min_ypr[3] = {10, 10, 10};


void setup() {
  //Initialize serial and wait for port to open:
