   
   vc = (abs((-100+bal_ac)/100))*v_ac;
   vd = (abs((-100+bal_bd)/100))*v_bd;
+  
+  Serial.println(bal_bd);
   
   if(velocity < ESC_TAKEOFF_OFFSET){
   

#define ROLL_MAX 30
#define YAW_MIN -180
#define YAW_MAX 180
#define PID_PITCH_INFLUENCE 50
#define PID_ROLL_INFLUENCE 50
#define PID_YAW_INFLUENCE 20



 *  
 */

#define PITCH_P_VAL 0.5
#define PITCH_I_VAL 0
#define PITCH_D_VAL 1

#define ROLL_P_VAL 2
