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writePLog();
#endif
}
}

// ******** Main Loop *********
void loop () {
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurem
ent at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t axis,i;
int16_t error,errorAngle;
int16_t delta;
int16_t PTerm = 0,ITerm = 0,DTerm, PTermACC, ITermACC;
static int16_t lastGyro[2] = {0,0};
static int16_t errorAngleI[2] = {0,0};
#if PID_CONTROLLER == 1
static int32_t errorGyroI_YAW;
static int16_t delta1[2],delta2[2];
static int16_t errorGyroI[2] = {0,0};
#elif PID_CONTROLLER == 2
static int16_t delta1[3],delta2[3];
static int32_t errorGyroI[3] = {0,0,0};
static int16_t lastError[3] = {0,0,0};
int16_t deltaSum;
int16_t AngleRateTmp, RateError;
#endif
static uint16_t rcTime = 0;
static int16_t initialThrottleHold;
int16_t rc;
int32_t prop = 0;

#if defined(SERIAL_RX)
if (spekFrameFlags == 0x01) readSerial_RX();
#endif
#if defined(OPENLRSv2MULTI)
Read_OpenLRS_RC();
#endif

#if defined(SERIAL_RX)
if ((spekFrameDone == 0x01) || ((int16_t)(currentTime-rcTime) >0 )) {
spekFrameDone = 0x00;
#else
if ((int16_t)(currentTime-rcTime) >0 ) { // 50Hz
#endif

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