@Muhammad... Disconnect the motors, turn off safe mode by commenting the line
Config.h
#define SAFE //Arming procedure
Turn on debug mode and check and see if you get any response..
@Satiro: I'll be back with a better drawing of my setup..
@TheAviator.. I'm not using a kalman filter.. Instead I'm using a complementary filter.. You can see it at lines 27 and 28 in Sensor.ino .. I'm using a low-pass filter for the accelerometer and a two-step moving average filter for the gyrometer...
"avr/pgmspace.h" this file does exist if you're using avrgcc.. No it's not a arduino library, it's a header and is part of the avrgcc compiler..
//Basel