  *
  */
 
-int velocity;                         // global velocity
+int velocity;                          // global velocity
 
 float bal_ac, bal_bd;                 // motor balances can vary between -100 & 100
 float bal_axes;                       // throttle balance between axes -100:ac , +100:bd
 
-int va, vb, vc, vd;                   //velocities
-int v_ac, v_bd;                       // velocity of axes
+int va, vb, vc, vd;                    //velocities
+int v_ac, v_bd;                        // velocity of axes
 
 Servo a,b,c,d;
 

  ch2Last = ch2;
  ch4Last = ch4;
  
  Serial.println(ch2);
  
  ypr[0] = ypr[0] * 180/M_PI;
  ypr[1] = ypr[1] * 180/M_PI;
  ypr[2] = ypr[2] * 180/M_PI;
  
  pitchReg.Compute();
  rollReg.Compute();
  yawReg.Compute();

}


 */

void computePID(){

  roundInput();
  
  ch2 = map(ch2, RC_LOW_CH2, RC_HIGH_CH2, PITCH_MIN, PITCH_MAX);
  ch1 = map(ch1, RC_LOW_CH1, RC_HIGH_CH1, ROLL_MIN, ROLL_MAX);
  ch4 = map(ch4, RC_LOW_CH4, RC_HIGH_CH4, YAW_MIN, YAW_MAX);
