   
   vc = (abs((-100+bal_ac)/100))*v_ac;
   vd = (abs((-100+bal_bd)/100))*v_bd;
+  
+  Serial.println(bal_bd);
   
   if(velocity < ESC_TAKEOFF_OFFSET){
   

#define ROLL_MAX 30
#define YAW_MIN -180
#define YAW_MAX 180
#define PID_PITCH_INFLUENCE 50
#define PID_ROLL_INFLUENCE 50
#define PID_YAW_INFLUENCE 20



Quaternion q;                          // quaternion for mpu output
VectorFloat gravity;                   // gravity vector for ypr
float ypr[3] = {0.0f,0.0f,0.0f};       // yaw pitch roll values
float yprLast[3] = {0.0f, 0.0f, 0.0f};

volatile bool mpuInterrupt = false;    //interrupt flag

/* Interrupt lock
 *
 */
 
boolean interruptLock = false;

/*  RC variables
 *
