 
 // RX
 int throttle = THROTTLE_RMIN;
-volatile int input[5];
-volatile unsigned long chrono_start0, chrono_start1, chrono_start2, chrono_start3,chrono_start4;
+volatile int input[4], arm;
+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;
 
 // IMU


// Fonction qui s'execute a chaque cycle
void loop() {
  bno_get_values();
  control_update();
  print_motors();
}

  motorFL = throttle + pid_pitch_out - pid_roll_out + pid_yaw_out;
  motorBL = throttle - pid_pitch_out - pid_roll_out - pid_yaw_out;
  motorBR = throttle - pid_pitch_out + pid_roll_out + pid_yaw_out;


  esc_1.writeMicroseconds(motorFR);
  esc_2.writeMicroseconds(motorFL);
  esc_3.writeMicroseconds(motorBL);
  esc_4.writeMicroseconds(motorBR);

}

// Fonction qui empeche les moteurs de tourner
