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 * in filtering, and when a gyro becomes near saturated.
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 * in filtering, and when a gyro becomes near saturated.
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 * Maybe this distinction is not really necessary.
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 * Maybe this distinction is not really necessary.
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 */
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 */
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extern int16_t gyro_PID[2];
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extern int16_t gyro_PID[2];
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extern int16_t gyro_ATT[2];
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extern int16_t gyro_ATT[2];
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#define GYRO_D_WINDOW_LENGTH 3
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#define GYRO_D_WINDOW_LENGTH 8
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extern int16_t gyroD[2];
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extern int16_t gyroD[2];
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extern int16_t yawGyro;
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extern int16_t yawGyro;
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extern volatile uint16_t ADCycleCount;
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extern volatile uint16_t ADCycleCount;
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extern int16_t UBat;
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extern int16_t UBat;