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Hi I have a few questions aswell.I am trying to figure out your code for the brushless dc driven as a servo, but i have yet had no luck. I used Elabz code and it worked and it could rotate my brushless dc motor but it is not a good example for servo use as you said. Then i tried the code that you gave us in step 10, but since i use the mpu 6050 dmp gyro the interface of communication is different from the one you used. Could you explain the phase shifts and the functions chkAndCtl() and calcPwms() so that i can do this myself? And since i am only using one gyro i would like it to work like you have done in step 8.RegardsGustaf Edén