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Rev 1612 Rev 1634
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  if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
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  if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
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#endif
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#endif
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  if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz)
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  if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz)
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    cnt = 9;
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    cnt = 9;
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    cnt_1ms++;
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    cnt_1ms %= 2;
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    cnt_1ms^=1;
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    if(!cnt_1ms) runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
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    if(!cnt_1ms) runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
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    CountMilliseconds++; // increment millisecond counter
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    CountMilliseconds++; // increment millisecond counter
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  }
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  }