     vd = ESC_MIN;
   
   }
-  
-  #ifdef DEBUG
-  //Serial.println(ch2);
-  //Serial.print("A: "+String(va)+" B: "+String(vb)+" C: "+String(vc)+" D: "+String(vd));
-  /*Serial.print("AC: ");
-  Serial.print(bal_ac);
-  Serial.print(" BD: ");
-  Serial.print(bal_bd);
-  Serial.println("");*/
-  #endif
   
 }
 

  rcLastChange5 = micros();
}


  ypr[0] = ypr[0] * 180/M_PI;
  ypr[1] = ypr[1] * 180/M_PI;
  ypr[2] = ypr[2] * 180/M_PI;
 
  pitchReg.Compute();
  rollReg.Compute();
  yawReg.Compute();

}

