Problem quadcopter

Hello to all boys , I had an important question to ask you , I made this code for a quadricopter , for now I'm testing just throttle , making 0 yaw , pitch and roll , the problem is that the roll sensor reading is always MPU6000 zero and also the engines always trying to push to the maximum and only two turn , I already verified whether the engines are broken and they are not, I can not understand , I hope you manage to help me . 

I leave the code attached

Thank you

AP_Motors_test2.ino

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