arduino quadcopter freezing while reading MPU6050/RC Receiver

I am trying to build an Arduino Flight controller. I have an MPU6050 (Gyroscope/Accelerometer) on board that is helping me configure my stabilization software. I also have my ESC’s, and receiver plugged in to my Arduino. At some point during the code running, receiving and processing data from the Gyroscope and Receiver, the Arduino Uno freezes and I am not sure what is causing this problem. Any advice on how to fix this is greatly appreciated.

My code is too big too post in here so I attached it.

Quadcopter__Controller_.ino (16.3 KB)