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extern s32 Kalman_MaxFusion;
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extern s32 Kalman_MaxFusion;
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extern s32 ToFcGpsZ;
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extern s32 ToFcGpsZ;
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extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
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extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
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extern s32 HeadFreeStartAngle;
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extern s32 HeadFreeStartAngle;
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extern s16 FC_WP_EventChannel;
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extern s16 FC_WP_EventChannel;
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extern u32 ToFC_AltitudeSpeed;
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extern u32 ToFC_AltitudeRate;
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extern s32 ToFC_AltitudeSetpoint;
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extern s32 ToFC_AltitudeSetpoint;
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typedef struct
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typedef struct
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{
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{
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typedef struct
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typedef struct
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{
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{
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        u8 Command;
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        u8 Command;
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        GPS_Stick_t GPSStick;
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        GPS_Stick_t GPSStick;
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        s16 CompassHeading;
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        s16 CompassHeading;
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//      s16 MagVecX;
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        s16 MagVecX;
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//      s16 MagVecY;
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        s16 MagVecY;
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//      s16 MagVecZ;
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        s16 MagVecZ;
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        s16 NCStatus;
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        s16 NCStatus;
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        u16 BeepTime;
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        u16 BeepTime;
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        union
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        union
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        {
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        {
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                u8    Byte[12];
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                u8    Byte[12];