     // }
   }
 
-  Serial.println("writeMotor");
+  // D(Serial.println("Wrt mtr"));
   writeMotor();
 
-  Serial.println("telemetry");
-  D(telemetry());
-
-  Serial.println("blink");
+  // D(telemetry());
+
   /* Pisca a led para indicar atividade */
   blinkState = !blinkState;
   digitalWrite(LED_PIN, blinkState);

 * - Canal 6 (em us - entre ~1000 a ~2000)
 * - Intervalo do loop (em us)
 */
void telemetry() {
  /* Calcula a frequência do loop */
  tmInterval = micros() - tmCheckpoint;
  tmCheckpoint = micros();

    motors[MOTOR_BR] = rcThrottle - roll_stab_output - pitch_stab_output - yaw_stab_output;

  } else {
    /* Motores desligados */
    motors[MOTOR_FL] = motors[MOTOR_FR] = motors[MOTOR_BL] = motors[MOTOR_BR] = 1000;

