     // is pilot asking for yaw change - if so feed directly to rate pid (overwriting yaw stab output)
     if(abs(rcYaw ) > 5) {
       yaw_stab_output = rcYaw;
-      yaw_target = ypr[DMP_YAW];   // remember this yaw for when pilot stops
+      yaw_target = ypr_degree[DMP_YAW];   // remember this yaw for when pilot stops
     }
 
     // pid_pitch_rate.calculate()

  tmValues += padding("RCR=" + String(rcRoll), 8) + ";";
  tmValues += padding("RCO=" + String(rcOnOff), 8) + ";";
  tmValues += padding("RCD=" + String(rcDimmer), 8) + ";";
  tmValues += padding("DMP=" + String(ypr[DMP_PITCH]), 10) + ";";
  tmValues += padding("DMR=" + String(ypr[DMP_ROLL]), 10) + ";";
  tmValues += padding("DMY=" + String(ypr[DMP_YAW]), 10) + ";";
  tmValues += padding("PIP=" + String(pitch_stab_output), 7) + ";";
  tmValues += padding("PIR=" + String(roll_stab_output), 7) + ";";
  tmValues += padding("PIY=" + String(yaw_stab_output), 7) + ";";

    motors[MOTOR_FL] = motors[MOTOR_FR] = motors[MOTOR_BL] = motors[MOTOR_BR] = 1000;

    // reset yaw target so we maintain this on takeoff
    yaw_target = ypr_degree[DMP_YAW];

    // reset PID integrals whilst on the ground
    // for(int i=0; i<6; i++)
