   rcLastChange5 = micros();
 }
 
+#endif
+
+

  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);

}


  
  Serial.begin(9600);                 // Serial only necessary if in DEBUG mode
  Serial.flush();
  
  #endif
}
