        // On SPEKTRUM, MIN_RC = 1 msec = stick right; MAX_RC = 2 msec = stick left
        // On HI_TEC, MIN_RC = 1 msec = stick left; MAX_RC = 2 msec = stick right
       // LEFT_TURN_OUT > RIGHT_TURN_OUT
+
+      else
+        return input;
 #ifdef RC_HITEC
   input = MAX_RC - (input - MIN_RC);
 #endif
       
-      if (input > MIDDLE + DEAD_ZONE)
-      {  // left turn
-         steerRange = LEFT_TURN_OUT - STRAIGHT_TURN_OUT;
-         rcRange = MAX_RC - (MIDDLE + DEAD_ZONE);
-        input = input - MIDDLE - DEAD_ZONE; // originally input = middle + dead_zone
-        output = STRAIGHT_TURN_OUT + input * steerRange / rcRange;
-        //set max and min values if out of range
-        trueOut = (int)output;
-        if(trueOut > LEFT_TURN_OUT)
-            trueOut = LEFT_TURN_OUT;
-        if(trueOut < STRAIGHT_TURN_OUT)
-            trueOut = STRAIGHT_TURN_OUT;
-        return trueOut;
-    }
-      if (input < MIDDLE - DEAD_ZONE)
-      {  // right turn
-         steerRange = STRAIGHT_TURN_OUT - RIGHT_TURN_OUT;
-         rcRange = MIDDLE - DEAD_ZONE - MIN_RC;
-        input = input - DEAD_ZONE - MIDDLE;  // input is negative
-        output = STRAIGHT_TURN_OUT + input * steerRange / rcRange;
-        //set max and min values if out of range
-        trueOut = (int)output;
-        if(trueOut < RIGHT_TURN_OUT)
-            trueOut = RIGHT_TURN_OUT;
-        if(trueOut > STRAIGHT_TURN_OUT)
-            trueOut = STRAIGHT_TURN_OUT;
-        return trueOut;
-    }
+//      if (input > MIDDLE + DEAD_ZONE)
+//      {  // left turn
+//         steerRange = LEFT_TURN_OUT - STRAIGHT_TURN_OUT;
+//         rcRange = MAX_RC - (MIDDLE + DEAD_ZONE);
+//        input = input - MIDDLE - DEAD_ZONE; // originally input = middle + dead_zone
+//        output = STRAIGHT_TURN_OUT + input * steerRange / rcRange;
+//        //set max and min values if out of range
+//        trueOut = (int)output;
+//        if(trueOut > LEFT_TURN_OUT)
+//            trueOut = LEFT_TURN_OUT;
+//        if(trueOut < STRAIGHT_TURN_OUT)
+//            trueOut = STRAIGHT_TURN_OUT;
+//        return trueOut;
+//    }
+//      if (input < MIDDLE - DEAD_ZONE)
+//      {  // right turn
+//         steerRange = STRAIGHT_TURN_OUT - RIGHT_TURN_OUT;
+//         rcRange = MIDDLE - DEAD_ZONE - MIN_RC;
+//        input = input - DEAD_ZONE - MIDDLE;  // input is negative
+//        output = STRAIGHT_TURN_OUT + input * steerRange / rcRange;
+//        //set max and min values if out of range
+//        trueOut = (int)output;
+//        if(trueOut < RIGHT_TURN_OUT)
+//            trueOut = RIGHT_TURN_OUT;
+//        if(trueOut > STRAIGHT_TURN_OUT)
+//            trueOut = STRAIGHT_TURN_OUT;
+//        return trueOut;
+//    }
 }
 
 int convertThrottle(int input)

volatile unsigned long RC_elapsed[7];
volatile boolean synced = false;
volatile unsigned long last_fallingedge_time = 4294967295; // max long
unsigned long local_results[7] = {0,0,0,0,0,0,0};
volatile bool RC_Done[7] = {0,0,0,0,0,0,0};

// interrupt number handling a function depends on the RC controller.

{   
    // 1st pulse is aileron (position 5 on receiver; controlled by Right left/right joystick on transmitter)
    //     used for Steering
    unsigned long aileron = results[RC_TURN];
//    Serial.print("\tTurn input "); Serial.print(aileron);
    results[RC_TURN] = convertTurn(aileron);
//    Serial.print("\tTurn Cmd "); Serial.println(results[RC_TURN]);   
