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        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
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        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
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      } else {
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      } else {
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        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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        J4HIGH;
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        // This is probably the correct order:
- 
 
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        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
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        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
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        J4HIGH;
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        // Flight control uses results from both.
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        calculateFlightAttitude();
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        calculateFlightAttitude();
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        controlMixer_periodicTask();
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        controlMixer_periodicTask();
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        flight_control();
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        flight_control();