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#define SPI_KALMAN                      103
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#define SPI_KALMAN                      103
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typedef struct
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typedef struct
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{
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{
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        uint8_t Command;
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        uint8_t Command;
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        int16_t GPS_Nick;
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        int16_t GPSStickNick;
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        int16_t GPS_Roll;
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        int16_t GPSStickRoll;
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        int16_t GPS_Yaw;
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        int16_t GPS_Yaw;
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        int16_t CompassHeading;
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        int16_t CompassHeading;
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        int16_t Status;
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        int16_t Status;
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        uint16_t BeepTime;
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        uint16_t BeepTime;