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 */
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 */
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extern int16_t gyro_PID[3];
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extern int16_t gyro_PID[3];
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extern int16_t gyro_ATT[3];
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extern int16_t gyro_ATT[3];
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extern int16_t gyroD[3];
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extern int16_t gyroD[3];
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#define GYRO_D_WINDOW_LENGTH 8
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#define GYRO_D_WINDOW_LENGTH 16
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extern uint16_t UBat;
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extern uint16_t UBat;