     for(it=startIndex;it<=stopIndex;it++) {
       if(buffer[it] == ',' || buffer[it] == '*') {
         strncpy (tempBuffer, buffer+startIndex, it-startIndex );
-        double pitch_tmp = max(0,min(20,strtod(tempBuffer,NULL)));
-        target_pitch = (pitch_tmp - 10)*10;
+        double pitch_tmp = max(0,min(200,strtod(tempBuffer,NULL)));
+        target_pitch = (pitch_tmp - 100)*0.4;
         break;
       }
     }

  gyro.getGres();

  //calibrate gyro
  digitalWrite(13, HIGH);
  gyro.calibrate();
  digitalWrite(13, LOW);

  pid_i_mem_roll = 0;
  pid_last_roll_d_error = 0;

      Serial.print(",");
      Serial.print(gyro_yaw);
      Serial.print(",");
      Serial.print(pid_output_pitch);
      Serial.print(",");
      Serial.print(pid_output_roll);
      Serial.print(",");
      Serial.print(pid_output_yaw);
      Serial.print(",");
      Serial.print(target_pitch);
      Serial.print(",");
      Serial.print(target_roll);
      Serial.print(",");
      Serial.print(target_yaw);
      Serial.print(",");
      Serial.print(compute_time);
      Serial.println("*00\n");
    }
    
