 void loop(){
     //Let's get the current gyro data and scale it to degrees per second for the pid calculations.
     imu();
-  
+
     flight_data.throttle = receiver_input_channel_2;
     flight_data.roll = receiver_input_channel_4;
     flight_data.pitch = receiver_input_channel_3;


    //Wait until the receiver is active and the throtle is set to the lower position.
    while(receiver_input_channel_2 < 900 || receiver_input_channel_2 > 1040 || receiver_input_channel_1 < 1400){
      start ++;     
                                                 //While waiting increment start whith every loop.
        //We don't want the esc's to be beeping annoyingly. So let's give them a 1000us puls while waiting for the receiver inputs.
        PORTD |= B11110000;                                        //Set digital poort 4, 5, 6 and 7 high.

    //print_signals();

    //For starting the motors: throttle low and yaw left (step 1).
    if(receiver_input_channel_2 < 1050 && receiver_input_channel_1 < 1090) {
        start = 1;
        Serial.print(" stage 1 ");
    }

    //When yaw stick is back in the center position start the motors (step 2).
    if(start == 1 && receiver_input_channel_2 < 1050 && receiver_input_channel_1 > 1450){
        start = 2;
