   
   int power1, power2;
   sensorValue = analogRead(analogInPin);
+  alphaSigned1 = StrToFloat(pwm1.value());
+  alphaSigned2 = StrToFloat(pwm2.value());
   setMode();
   computeSetpoint();
   computeFeedback();
-  computePIDTuning();
+  //computePIDTuning();
   computePID();
   alphaSigned1 = Output1;
   alphaSigned2 = Output2;
-  computeAlphaSigned();
+  //computeAlphaSigned();
   power1 = alphaSigned1*127;
   power2 = alphaSigned2*127;
   ST.motor(1, power1);

      while (*gpsStream)
        if (nmea.encode(*gpsStream++))
      { 
        alphaSigned1 = StrToFloat(pwm1.value());
        alphaSigned2 = StrToFloat(pwm2.value());
        //Input1 = StrToFloat(elevation.value()); 
        lastSerialInputTime = millis();
      }


void computeSetpoint()
{
  Setpoint1 = StrToFloat(pwm1.value());
  Setpoint2 = StrToFloat(pwm2.value());
  SetpointRoll = StrToFloat(roll.value());
}

void computePID()
{
  myPID1.Compute();
  //Serial.println(Output1);
  myPID2.Compute();
  myPIDRoll.Compute();
}
