   tmValues += padding("RCR=" + String(rcRoll), 8) + ";";
   tmValues += padding("RCO=" + String(rcOnOff), 8) + ";";
   tmValues += padding("RCD=" + String(rcDimmer), 8) + ";";
-  tmValues += padding("DMP=" + String(ypr[DMP_PITCH]), 10) + ";";
-  tmValues += padding("DMR=" + String(ypr[DMP_ROLL]), 10) + ";";
-  tmValues += padding("DMY=" + String(ypr[DMP_YAW]), 10) + ";";
+  tmValues += padding("DMP=" + String(ypr_degree[DMP_PITCH]), 10) + ";";
+  tmValues += padding("DMR=" + String(ypr_degree[DMP_ROLL]), 10) + ";";
+  tmValues += padding("DMY=" + String(ypr_degree[DMP_YAW]), 10) + ";";
   tmValues += padding("PIP=" + String(pitch_stab_output), 7) + ";";
   tmValues += padding("PIR=" + String(roll_stab_output), 7) + ";";
   tmValues += padding("PIY=" + String(yaw_stab_output), 7) + ";";

    // is pilot asking for yaw change - if so feed directly to rate pid (overwriting yaw stab output)
    if(abs(rcYaw ) > 5) {
      yaw_stab_output = rcYaw;
      yaw_target = ypr[DMP_YAW];   // remember this yaw for when pilot stops
    }

    // pid_pitch_rate.calculate()

      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

      /* Converte para graus/segundo */
      for (int i = 0; i < 3; i++) {
        ypr_degree[i] = ypr[i] * 180/M_PI;
      }
    }
  }
}
