    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


MPU9250_DMP imu;
float Roll, Pitch, Yaw;

void setup() {
  //Initialize serial and wait for port to open:
  Serial.begin(9600);
  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) {

  float q_x = imu.calcQuat(imu.qx);
  float q_y = imu.calcQuat(imu.qy);
  float q_z = imu.calcQuat(imu.qz);

  gyroX = imu.calcGyro(imu.gx);
  gyroY = imu.calcGyro(imu.gy);
  gyroZ = imu.calcGyro(imu.gz);
  
//  SerialPort.println("Q: " + String(q_w, 4) + ", " +
//                    String(q_x, 4) + ", " + String(q_y, 4) + 
//                    ", " + String(q_z, 4));

 //  Inspired from https//github.com/amcmorl/motorlab/blob/master/rp3/rotations.py
 //  but two rotations were corrected
