     }
   }
 
-  if(rollAngle > currentRAngle)
+  if (rollAngle > currentRAngle)
   {
     for (int i = currentRAngle; i < rollAngle; i++)
     {

    //calls the "maintain" function
    mntn(isParallel, rChange, pChange);
  }
}

void mntn(bool isPLL, byte rAdj, byte pAdj)

{
  byte currentPAngle = pitch.read();
  byte currentRAngle = roll.read();
  if (pitchAngle > currentPAngle)
  {
    for (int i = currentPAngle; i < pitchAngle; i++)
    {
