     SPI settings
   */
 
-  //SPI.setDataMode(SPI_MODE0);
-
   // Declare MISO as output : have to send on
   //master in, *slave out*
   pinMode(MISO, OUTPUT);

#define PITCH_IN_PIN 10
#define ROLL_IN_PIN 9


// holds the update flags defined above
volatile uint8_t bUpdateFlagsShared;

// shared variables are updated by the ISR and read by loop.
// In loop we immediatley take local copies so that the ISR can keep ownership of the

//define Servo variables
Servo MOTOR[SERVO_NUM];

//define SPI data
byte cmd;
volatile union int_byt{
  uint8_t u8[2];
  uint16_t u16;
} rc_data[4], esc_data[4];

//setup function
void setup()
