 
 void computeSetpoint()
 {
-  Setpoint1 = StrToFloat(pwm1.value())/127.0;
-  Setpoint2 = StrToFloat(pwm2.value())/127.0;
+  Setpoint1 = StrToFloat(pwm1.value());
+  Setpoint2 = StrToFloat(pwm2.value());
   SetpointRoll = StrToFloat(roll.value());
 }
 
 void computePID()
 {
   myPID1.Compute();
+  //Serial.println(Output1);
   myPID2.Compute();
   myPIDRoll.Compute();
 }

  
  int power1, power2;
  sensorValue = analogRead(analogInPin);
  setMode();
  computeSetpoint();
  computeFeedback();
  computePIDTuning();
  computePID();
  alphaSigned1 = Output1;
  alphaSigned2 = Output2;
  computeAlphaSigned();
  power1 = alphaSigned1*127;
  power2 = alphaSigned2*127;
  ST.motor(1, power1);

      while (*gpsStream)
        if (nmea.encode(*gpsStream++))
      { 
        //Input1 = StrToFloat(elevation.value()); 
        lastSerialInputTime = millis();
      }
