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Rev 903 Rev 916
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        uint8_t UserParam4;
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        uint8_t UserParam4;
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        uint8_t UserParam5;
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        uint8_t UserParam5;
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        uint8_t UserParam6;
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        uint8_t UserParam6;
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        uint8_t UserParam7;
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        uint8_t UserParam7;
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        uint8_t UserParam8;
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        uint8_t UserParam8;
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        uint8_t ServoPitchControl;
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        uint8_t ServoNickControl;
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        uint8_t LoopThrustLimit;
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        uint8_t LoopGasLimit;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t DynamicStability;
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        uint8_t DynamicStability;
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} fc_param_t;
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} fc_param_t;
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extern fc_param_t FCParam;
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extern fc_param_t FCParam;
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extern volatile uint16_t I2CTimeout;
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extern volatile uint16_t I2CTimeout;
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// attitude
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// attitude
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extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;
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extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw;
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extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
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extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
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// offsets
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// offsets
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// hight control
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// hight control
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extern int ReadingHeight;
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extern int ReadingHeight;
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extern int SetPointHeight;
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extern int SetPointHeight;
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// mean accelerations
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// mean accelerations
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extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
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extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
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// acceleration send to navi board
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// acceleration send to navi board
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extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc;
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extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
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// looping params
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// looping params
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extern long TurnOver180Pitch, TurnOver180Roll;
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extern long TurnOver180Nick, TurnOver180Roll;
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#else
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#else
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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#endif
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#endif
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// current stick values
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// current stick values
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extern int16_t StickPitch;
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extern int16_t StickNick;
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extern int16_t StickRoll;
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extern int16_t StickRoll;
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extern int16_t StickYaw;
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extern int16_t StickYaw;
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extern int16_t GPS_Pitch;
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extern int16_t GPS_Nick;
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extern int16_t GPS_Roll;
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extern int16_t GPS_Roll;
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// current stick elongations
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// current stick elongations
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extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern uint8_t MotorsOn;
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extern uint8_t MotorsOn;