   if (qualityCheck) { //good quality, means that the RC controller is turned on, therefore we should go on override mode
     overrideTriggered = true;
     overrideRelease = millis() + OVERRIDE_TIMEOUT; //specify the moment in the future to re-enable Serial communication
-  } else { //this means that at least one of the last 8 measurements was not valid, therefore we consider the signal not to be of good quality (RC controller is turned off)
+  } else { //this means that at least one of the last 16 measurements was not valid, therefore we consider the signal not to be of good quality (RC controller is turned off)
     throttleSignalPending = false; //indicate that loop() has processed/disregarded the throttle signal
     steeringSignalPending = false; //indicate that loop() has read/disregarded the servo signal
   }

  setupChangeInterrupt(OVERRIDE_SERVO_PIN);
  gyro.attach();
  gyro.begin(); //default 80ms
  delay(1000);
  car.enableCruiseControl(encoderLeft);
  car.setSpeed(0);
  Serial.begin(115200); //to HLB

unsigned long prevCheck = 0; //for the LEDs
const unsigned short LEDrefreshRate = 200;

const unsigned short OVERRIDE_TIMEOUT = 500;
unsigned long overrideRelease = 0; //variable to hold WHEN the override should be lifted
volatile boolean overrideTriggered = false; //volatile since we are accessing it inside an ISR

