  */
 
 void computePID(){
-  
-  smoothInput();
-
+
+  roundInput();
+  
   ch2 = map(ch2, RC_LOW_CH2, RC_HIGH_CH2, PITCH_MIN, PITCH_MAX);
   ch1 = map(ch1, RC_LOW_CH1, RC_HIGH_CH1, ROLL_MIN, ROLL_MAX);
   ch4 = map(ch4, RC_LOW_CH4, RC_HIGH_CH4, YAW_MIN, YAW_MAX);

#define RC_LOW_CH4 2000
#define RC_HIGH_CH5 1000
#define RC_LOW_CH5 2000

/*  PID configuration
 *  
 */

#define PITCH_P_VAL 2.0
#define PITCH_I_VAL 0.03
#define PITCH_D_VAL 13.0

#define ROLL_P_VAL 2
#define ROLL_I_VAL 5

 *
 */

int velocity;                          // global velocity

float bal_ac, bal_bd;                 // motor balances can vary between -100 & 100
float bal_axes;                       // throttle balance between axes -100:ac , +100:bd

int va, vb, vc, vd;                    //velocities
int v_ac, v_bd;                        // velocity of axes

Servo a,b,c,d;

