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 * Update variables.
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 * Update variables.
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 * Decode commands but do not execute them.
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 * Decode commands but do not execute them.
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 */
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 */
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void controlMixer_periodicTask(void) {
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void controlMixer_periodicTask(void) {
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  int16_t tempPRTY[4] = { 0, 0, 0, 0 };
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  int16_t tempPRYT[4] = { 0, 0, 0, 0 };
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  // Decode commands.
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  // Decode commands.
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    isCommandRepeated = 0;
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    isCommandRepeated = 0;
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    lastCommand = COMMAND_NONE;
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    lastCommand = COMMAND_NONE;
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  }
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  }
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  // This will init the values (not just add to them).
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  // This will init the values (not just add to them).
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  RC_periodicTaskAndPRTY(tempPRTY);
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  RC_periodicTaskAndPRYT(tempPRYT);
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  // Add external control to RC
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  // Add external control to RC
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  EC_periodicTaskAndPRTY(tempPRTY);
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  EC_periodicTaskAndPRYT(tempPRYT);
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  FC_periodicTaskAndPRTY(tempPRTY);
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  FC_periodicTaskAndPRYT(tempPRYT);
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  // Commit results to global variable and also measure control activity.
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  // Commit results to global variable and also measure control activity.
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  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
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  controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE];
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  controls[CONTROL_ELEVATOR] = tempPRTY[CONTROL_ELEVATOR];
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  controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR];
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  controls[CONTROL_AILERONS] = tempPRTY[CONTROL_AILERONS];
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  controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS];
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  controls[CONTROL_RUDDER] = tempPRTY[CONTROL_RUDDER];
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  controls[CONTROL_RUDDER] =   tempPRYT[CONTROL_RUDDER];