         stateGreen=!stateGreen;
         blinkGreenTimer=millis();
         digitalWrite(LED_GREEN, stateGreen);
-        digitalWrite(LED_YELLOW, LOW);
       }
     } 
     else {
-      //if we didn't receive nothing from adk and last receiver (blink) was more than 600ms ago
-      if (millis()-blinkYellowTimer>300&& millis()-blinkGreenTimer>600){
-        digitalWrite(LED_GREEN, LOW);
-        stateYellow=!stateYellow;
-        blinkYellowTimer=millis();
-        digitalWrite(LED_YELLOW, stateYellow);   
+      if (millis()-blinkRedTimer>300){
+        stateRed=!stateRed;
+        blinkRedTimer=millis();
+        digitalWrite(LED_YELLOW, stateRed);   
       }
       Serial.print("*");
     }

  delay(1000);
  Serial.println("All power to the engines!");
  stop(SOFT);
  blinkGreenTimer=blinkYellowTimer= millis();
  stateGreen=stateYellow=true;
  emergency_mode=warning=false;
  digitalWrite(LED_GREEN, LOW);
  digitalWrite(LED_YELLOW, LOW);

char inStringBuffer[BUFFSIZE];
char outStringBuffer[BUFFSIZE];
uint32_t bytesRead = 0;
int blinkGreenTimer, blinkRedTimer;
bool stateRed,stateGreen;
bool emergency_mode,warning;
int emergency_sensor_threshold =900;

