diff --git a/UAV-ControlSystem/src/drivers/accel_gyro.c b/UAV-ControlSystem/src/drivers/accel_gyro.c
index 2a40d42..ad788e8 100644
--- a/UAV-ControlSystem/src/drivers/accel_gyro.c
+++ b/UAV-ControlSystem/src/drivers/accel_gyro.c
@@ -581,7 +581,8 @@ void mpu6000_read_angle(accel_t* accel, gyro_t* gyro)
 	accel->pitchAngle 	+= deltaGyroAngleFloat[0];
 
 	//If the g forces of the accelerometer is within the given magnitude we will also add accelerometer data to the calculation
-	if (Low_Magnitude < magnitude && magnitude < High_Magnitude)
+	//if (Low_Magnitude < magnitude && magnitude < High_Magnitude)
+	if(0)
 	{
 		//Calculate the pure angle given by the accelerometer data
 		float a_RollAngle 	 = -atan2(accelConv[0], sqrt(accelConv[1]*accelConv[1] + accelConv[2]*accelConv[2]))*180/M_PI;
@@ -593,8 +594,11 @@ void mpu6000_read_angle(accel_t* accel, gyro_t* gyro)
 //		accel->pitchAngle	 += (a_PitchAngle - accel->pitchAngle) / GYRO_ACC_DIV_FACTOR;
 
 
-		accel->rollAngle 	 += (a_RollAngle/4 - accel->rollAngle/GYRO_ACC_DIV_FACTOR);
-		accel->pitchAngle	 += (a_PitchAngle/4 - accel->pitchAngle/GYRO_ACC_DIV_FACTOR);
+//		accel->rollAngle 	 += (a_RollAngle/4 - accel->rollAngle/GYRO_ACC_DIV_FACTOR);
+//		accel->pitchAngle	 += (a_PitchAngle/4 - accel->pitchAngle/GYRO_ACC_DIV_FACTOR);
+
+		accel->rollAngle 	 = (a_RollAngle);
+		accel->pitchAngle	 = (a_PitchAngle);
 	}
 
 	//Always constran the angular values within the possible ranges 90 to -90