   
   digitalWrite(controlPin, HIGH); //Enable servo
   servoOnFlag = true;
-  digitalWrite(homePin, HIGH); //Set servo to "home" position
+  digitalWrite(inputA, HIGH); //Set servo to "home" position
   servoHomeFlag = true;
 
   //Manual radio reset

long flightTime = 0;

//Constants for servo pin output
const int controlPin = 0; //"control" is the master switch- must be 1 to enable servo
const int homePin = 1; //Set HIGH to override "statePin" and go to Home. Otherwise, "statePin" takes precedence
const int statePin = 2; //HIGH and LOW are two preset positions

//Constants for flight staging
const int waiting = 0;

void Roll_Control(sensors_event_t event) {

  if(!startRollFlag) { //For roll initialization, cant fins in the direction of current roll
    digitalWrite(inputA, LOW);
    servoHomeFlag = false;
    startRollFlag = true;
    if(event.gyro.z > 0) {
      digitalWrite(inputB, HIGH);
      finState = true;
    }
    else {
      digitalWrite(inputB, LOW); 
      finState = false;
    }
  }
  else if(!endRollFlag) { //Wait until two revolutions have been completed to begin counter-roll
    
    if(rotationCounter > 2) {
      finState = !finState;
      digitalWrite(inputB, finState);
      endRollFlag = true;
    }
  }
  else { //At this point, continue to make adjustments to prevent roll
    if(abs(event.gyro.z) < MIN_ROLL_THRESHOLD)
    {
      digitalWrite(inputA, HIGH);
      servoHomeFlag = true;
    }
    else if(event.gyro.z > 0)
      {
      digitalWrite(inputA, LOW);
      servoHomeFlag = false;
      digitalWrite(inputB, LOW);
      finState = false;
      }
    else if(event.gyro.z < 0)
      {
      digitalWrite(inputA, LOW);
      servoHomeFlag = false;
      digitalWrite(inputB, HIGH);
      finState = true;
      }
  }
