Multiwii drone arduino

I'm working on a little project of a multiwii quadcopter but I got a few problems. I can see by the GUI that the firmware receives all channels pwm signlas but, when try to fly it doesn't start. Only Af I set the yaw command to maximum all four motor starts at almost half of the speed and their velocity can be now regulated with throttle. All other commands don't work in flight, please could you help me?

Welcome to the forum @emapower

Can we see some code or even just some schematics

the code is the multiwii 2.4 default one, I can't upload it here's the link for the default one

https://code.google.com/archive/p/multiwii/
and schematic is that

Do you have the code

At first check your battery voltage. If the battery voltage is down, you'll not get the desired movement.

battery voltage is ok, I checked almost everything. As I sayed hardware is ok because I tested every motor by plugging them directly to the receiver and I calibrated the esc. I double checked the wiring and it resemble the schematic. I think the problem is in the code or in config file but i don't know exactly.

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