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#include "uart0.h"
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#include "uart0.h"
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#include "twimaster.h"
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#include "twimaster.h"
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#include "attitude.h"
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#include "attitude.h"
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#include "controlMixer.h"
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#include "controlMixer.h"
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#include "commands.h"
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#include "commands.h"
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#ifdef USE_MK3MAG
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#include "gps.h"
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#endif
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#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
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#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
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  // High resolution motor values for smoothing of PID motor outputs
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  // High resolution motor values for smoothing of PID motor outputs
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  static int16_t motorFilters[MAX_MOTORS];
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  static int16_t motorFilters[MAX_MOTORS];
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  uint8_t i, axis;
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  // Fire the main flight attitude calculation, including integration of angles.
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  // We want that to kick as early as possible, not to delay new AD sampling further.
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  calculateFlightAttitude();
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  uint8_t i, axis;
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  controlMixer_update();
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  throttleTerm = controls[CONTROL_THROTTLE];
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  throttleTerm = controls[CONTROL_THROTTLE];
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