 // RX
 int throttle = THROTTLE_RMIN;
 volatile int input[4];
-unsigned long timer[4];
-byte last_channel[4];
+volatile unsigned long chrono_start0;
+volatile unsigned long chrono_start1;
+volatile unsigned long chrono_start2;
+volatile unsigned long chrono_start3;
+volatile int last_interrupt_time0;
+volatile int last_interrupt_time1;
+volatile int last_interrupt_time2;
+volatile int last_interrupt_time3;
 
 // IMU
 float roll_speed, roll_angle;

  Serial.print(",");
  Serial.println(pid_yaw_setpoint);
}

void print_imu() {
  Serial.print(pid_roll_speed_in);
  Serial.print(",");


// Fonction qui s'execute a chaque cycle
void loop() {
  bno_get_values();
  control_update();
  print_motors();
}
