  *
  */
 
-int velocity;                         // global velocity
+int velocity;                          // global velocity
 
 float bal_ac, bal_bd;                 // motor balances can vary between -100 & 100
 float bal_axes;                       // throttle balance between axes -100:ac , +100:bd
 
-int va, vb, vc, vd;                   //velocities
-int v_ac, v_bd;                       // velocity of axes
+int va, vb, vc, vd;                    //velocities
+int v_ac, v_bd;                        // velocity of axes
 
 Servo a,b,c,d;
 

#define RC_LOW_CH4 2000
#define RC_HIGH_CH5 1000
#define RC_LOW_CH5 2000

/*  PID configuration
 *  
 */

#define PITCH_P_VAL 2.0
#define PITCH_I_VAL 0.03
#define PITCH_D_VAL 13.0

#define ROLL_P_VAL 2
#define ROLL_I_VAL 5

  ch2Last = ch2;
  ch4Last = ch4;
  
  ypr[0] = ypr[0] * 180/M_PI;
  ypr[1] = ypr[1] * 180/M_PI;
  ypr[2] = ypr[2] * 180/M_PI;
  
  Serial.print("CH2:\t");
  Serial.print(ch2);
  Serial.print("\tPITCH:\t");
  Serial.print(ypr[1]);
  
  bool test = pitchReg.Compute();
  rollReg.Compute();
  yawReg.Compute();
  
  Serial.print("\tBAL_BD:\t");
  Serial.print(bal_bd);
  Serial.print("\tNEW PID?\t");
  Serial.println(test);

}

