Problem with diy quad arduino code!

Hello everybody, I am making my first Quad. I decided to program the flight Controller myself using snippets of published code in hope to learn a few things. I am almost finished with the code, however I ran into a problem that I have been unable to solve.

When I have the arduino plugged into my CP via USB cable, the PID calculations run on the Motors, however as soon as I plug the Lithium Polymer battery in, I can only run the motors without the gyro readings. That also makes the PID calculations useless.

Does anyone know why I can't run the motors and read the gyro at the same time?

I thank you in advance for your help!

Chris

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