     pid_errors_update();
     pid_calculate_Int_and_Der();
   }
-
-  pid_roll_out = ROLL_PID_KP*roll_error + ROLL_PID_KI*Integral_roll_error*dt + ROLL_PID_KD*Derivative_roll_error/dt;
-  pid_pitch_out = PITCH_PID_KP*pitch_error + PITCH_PID_KI*Integral_pitch_error*dt + PITCH_PID_KD*Derivative_pitch_error/dt;
-  pid_yaw_out = YAW_PID_KP*yaw_error + YAW_PID_KI*Integral_yaw_error*dt + YAW_PID_KD*Derivative_yaw_error/dt;
 
   if(pid_roll_out > ROLL_PID_MAX) pid_roll_out = ROLL_PID_MAX;
   else if(pid_roll_out < ROLL_PID_MIN) pid_roll_out = ROLL_PID_MIN;

  yaw_error = pid_yaw_setpoint - pid_yaw_in;
}

void pid_calculate_AS_Int_and_Der(){
  //la partie integrale
  AS_Integral_roll_error += (AS_roll_error + AS_last_roll_error);

    pid_yaw_setpoint = 0;
  else
    pid_yaw_setpoint = map(input[3], YAW_RMIN, YAW_RMAX, YAW_WMIN, YAW_WMAX);
}

//calculer les termes der et int pour l'intervalle delta-temps
