 VectorFloat gravity; // [x, y, z]            Vetor de gravidade
 float ypr[3]; // [yaw, pitch, roll]   Container do yaw/pitch/roll e do vetor de gravidade
 double ypr_degree[3]; // [yaw, pitch, roll]   Container do yaw/pitch/roll e do vetor de gravidade em graus/segundo
+double yawRate; // Velocidade de rotação do eixo yaw
 
 const int DMP_YAW = 0;
 const int DMP_PITCH = 1;

      yaw_target = ypr_degree[DMP_YAW];   // remember this yaw for when pilot stops
    }

    motors[MOTOR_FL] = rcThrottle + roll_stab_output + pitch_stab_output - yaw_stab_output;
    motors[MOTOR_BL] = rcThrottle + roll_stab_output - pitch_stab_output + yaw_stab_output;
    motors[MOTOR_FR] = rcThrottle - roll_stab_output + pitch_stab_output + yaw_stab_output;


  /* Leva em consideração o zero do yaw controle */
  if (rcYaw > rcYawZero) {
    rcYaw = map(channels[3], rcYawZero, MAX_RC_YAW, 0, 250);
  } else {
    rcYaw = map(channels[3], MIN_RC_YAW, rcYawZero, -250, 0);
  }

  rcThrottle = channels[2];
