 
 
   //PITCH calculations
-  pid_pitch_setpoint = 0;
-  if (input1 > THROTTLE_RMID + 10)pid_pitch_setpoint = (input1 - THROTTLE_RMID + 10) / 2.0;
-  else if (input1 < THROTTLE_RMID - 10)pid_pitch_setpoint = (input1 - THROTTLE_RMID - 10) / 2.0;
-
   pitch_error = pitch_speed - pid_pitch_setpoint;
 
   Proportional_pitch = PITCH_PID_KP * pitch_error;

// PID
bool auto_stabilisation_mode = false; // Activer ou pas le mode auto-stabilisé
int dt = 3;
float pid_roll_out,   pid_roll_setpoint,  roll_error, Proportional_roll,  Integral_roll,  Derivative_roll,  last_roll_error, AS_roll_error, AS_Integral_roll, AS_Derivative_roll, AS_last_roll_error = 0;
float pid_pitch_out,  pid_pitch_setpoint, pitch_error, Proportional_pitch, Integral_pitch, Derivative_pitch, last_pitch_error, AS_pitch_error, AS_Integral_pitch, AS_Derivative_pitch, AS_last_pitch_error = 0;
float pid_yaw_out,    pid_yaw_setpoint,   yaw_error,  Proportional_yaw,   Integral_yaw,   Derivative_yaw,   last_yaw_error = 0;

// MOTORS
int motorFR, motorBL, motorFL, motorBR;

// RX
int throttle = THROTTLE_RMIN;
volatile int input0, input1, input2, input3, input4;
volatile unsigned long chrono_start0, chrono_start1, chrono_start2, chrono_start3, chrono_start4;
volatile int last_interrupt_time0, last_interrupt_time1, last_interrupt_time2, last_interrupt_time3, last_interrupt_time4;

  }

  print_rx();
  delay(20);
}
